Control system, clock synchronization method, controller, node device, and vehicle
View Patent ↗The present disclosure relates to control systems, clock synchronization methods, controllers, node devices, and vehicles. In one example control system provided in this application, a primary controller directly sends a reference clock signal to at least one node device by using a ring network, so that the at least one node device can perform timing based on a frequency of the reference clock signal.
1. A control system, wherein:
the control system comprises a ring network, and the ring network comprises a primary controller and at least one node device;
the primary controller is configured to:
perform timing and execute a first task based on a frequency of a local clock signal of the primary controller; and
send a reference clock signal to the at least one node device by using the ring network, wherein the reference clock signal is obtained by performing frequency division on the local clock signal of the primary controller; and
the at least one node device is configured to perform timing and execute a second task based on a frequency of the reference clock signal.
2. The control system according to claim 1 , wherein the at least one node device comprises a phase-locked loop, and the at least one node device is configured to:
correct a frequency of a local clock signal of the node device, based on the frequency of the reference clock signal by using the phase-locked loop, to maintain a target ratio between the frequency of the local clock signal of the node device and the frequency of the reference clock signal; and
perform timing based on the frequency of the local clock signal of the node device.
3. The control system according to claim 1 , wherein the at least one node device is at least one secondary controller, the control system further comprises at least one sensor and at least one executor, the at least one sensor is connected to the primary controller or the at least one secondary controller, and the at least one executor is connected to the primary controller or the at least one secondary controller; and
wherein a task that needs to be executed by the primary controller and a task that needs to be executed by the at least one secondary controller each comprise one or more of a data transmission task, a data processing task, a sending task of an instruction, and an output task of a drive signal, and wherein the instruction is used to instruct the at least one sensor to collect data or to output the drive signal to the at least one executor.
4. The control system according to claim 3 , wherein the primary controller is further configured to:
determine the task that needs to be executed by the primary controller and an execution moment of the task that needs to be executed by the primary controller;
determine the task that needs to be executed by the at least one secondary controller and an execution moment of the task that needs to be executed by the at least one secondary controller;
execute a task at the execution moment of the task that needs to be executed by the primary controller; and
send a task scheduling table to the at least one secondary controller, wherein the task scheduling table received by the at least one secondary controller comprises the task that needs to be executed by the at least one secondary controller and the execution moment of the task that needs to be executed by the at least one secondary controller; and
wherein the at least one secondary controller is configured to execute, based on the task scheduling table, a task at the execution moment of the task that needs to be executed by the at least one secondary controller.
5. The control system according to claim 3 , wherein the primary controller is further configured to:
divide a general data processing task into a plurality of data processing tasks; and
determine, based on load of the primary controller and load of the at least one secondary controller, a data processing task that needs to be executed by the primary controller and a data processing task that needs to be executed by the at least one secondary controller.
6. The control system according to claim 3 , wherein the at least one secondary controller further stores a priority list, the priority list comprises a priority of the at least one secondary controller, and the at least one secondary controller is further configured to:
if it is determined that the primary controller is faulty or any signal cable connected to the primary controller is faulty, determine a new primary controller from the at least one secondary controller based on the priority list.
7. The control system according to claim 3 , wherein the primary controller and the at least one secondary controller are further configured to:
send target data to another controller in the control system by using the ring network; and
if the target data transmitted by using the ring network is not received or received target data transmitted by using the ring network is inconsistent with the sent target data, perform at least one of fault detection on the ring network or resending the target data.
8. The control system according to claim 7 , wherein the control system further comprises a gateway, the gateway is connected to the primary controller or the at least one node device, and the gateway is configured to:
send, to an external device, data from a device connected to the gateway; and
send, to the device connected to the gateway, data from the external device, wherein the external device is a device independent of the control system.
9. The control system according to claim 1 , wherein the at least one node device is configured to maintain a target ratio between a frequency of a local clock signal of the node device and the frequency of the reference clock signal.
10. A clock synchronization method, applied to a primary controller in a control system, wherein the control system comprises a ring network, the ring network comprises the primary controller and at least one node device, and the method comprises:
performing timing and executing a first task based on a frequency of a local clock signal of the primary controller; and
sending a reference clock signal to the at least one node device by using the ring network, wherein the reference clock signal is obtained by performing frequency division on the local clock signal of the primary controller, and the reference clock signal is used by the at least one node device to perform timing and execute a second task based on a frequency of the reference clock signal.
11. The method according to claim 10 , wherein the at least one node device is at least one secondary controller, the control system further comprises at least one sensor and at least one executor, the at least one sensor is connected to the primary controller or the at least one secondary controller, and the at least one executor is connected to the primary controller or the at least one secondary controller; and
wherein a task that needs to be executed by the primary controller and a task that needs to be executed by the at least one secondary controller each comprise one or more of a data transmission task, a data processing task, a sending task of an instruction, and an output task of a drive signal, and wherein the instruction is used to instruct the at least one sensor to collect data or to output the drive signal to the at least one executor.
12. The method according to claim 10 , wherein the method further comprises:
if it is detected that any task is not executed at an execution moment of the any task, performing a fault response operation, wherein the fault response operation comprises one or more of the following operations:
restarting a device for executing the any task, wherein the device is the primary controller or the at least one node device;
restarting at least one of a sensor or an executor connected to the device for executing the any task; and
executing a security task configured in the primary controller.
13. A vehicle, wherein the vehicle comprises a control system, the control system comprises a ring network, and the ring network comprises a primary controller and at least one node device;
wherein the primary controller is configured to:
perform timing and execute a first task based on a frequency of a local clock signal of the primary controller; and
send a reference clock signal to the at least one node device by using the ring network, wherein the reference clock signal is obtained by performing frequency division on the local clock signal of the primary controller; and
wherein the at least one node device is configured to perform timing and execute a second task based on a frequency of the reference clock signal.
14. The vehicle according to claim 13 , wherein the at least one node device comprises a phase-locked loop, and the at least one node device is configured to:
correct a frequency of a local clock signal of the node device, based on the frequency of the reference clock signal by using the phase-locked loop, to maintain a target ratio between the frequency of the local clock signal of the node device and the frequency of the reference clock signal; and
perform timing based on the frequency of the local clock signal of the node device.
15. The vehicle according to claim 13 , wherein the at least one node device is at least one secondary controller, the control system further comprises at least one sensor and at least one executor, the at least one sensor is connected to the primary controller or the at least one secondary controller, and the at least one executor is connected to the primary controller or the at least one secondary controller; and
wherein a task that needs to be executed by the primary controller and a task that needs to be executed by the at least one secondary controller each comprise one or more of a data transmission task, a data processing task, a sending task of an instruction, and an output task of a drive signal, and wherein the instruction is used to instruct the at least one sensor to collect data or to output the drive signal to the at least one executor.
16. The vehicle according to claim 15 , wherein the primary controller is further configured to:
determine the task that needs to be executed by the primary controller and an execution moment of the task that needs to be executed by the primary controller;
determine the task that needs to be executed by the at least one secondary controller and an execution moment of the task that needs to be executed by the at least one secondary controller;
execute a task at the execution moment of the task that needs to be executed by the primary controller; and
send a task scheduling table to the at least one secondary controller, wherein the task scheduling table received by the at least one secondary controller comprises the task that needs to be executed by the at least one secondary controller and the execution moment of the task that needs to be executed by the at least one secondary controller; and
wherein the at least one secondary controller is configured to execute, based on the task scheduling table, a task at the execution moment of the task that needs to be executed by the at least one secondary controller.
17. The vehicle according to claim 15 , wherein the primary controller is further configured to:
divide a general data processing task into a plurality of data processing tasks; and
determine, based on load of the primary controller and load of the at least one secondary controller, a data processing task that needs to be executed by the primary controller and a data processing task that needs to be executed by the at least one secondary controller.
18. The vehicle according to claim 15 , wherein the at least one secondary controller further stores a priority list, the priority list comprises a priority of the at least one secondary controller, and the at least one secondary controller is further configured to:
if it is determined that the primary controller is faulty or any signal cable connected to the primary controller is faulty, determine a new primary controller from the at least one secondary controller based on the priority list.
19. The vehicle according to claim 15 , wherein the primary controller and the at least one secondary controller are further configured to:
send target data to another controller in the control system by using the ring network; and
if the target data transmitted by using the ring network is not received or received target data transmitted by using the ring network is inconsistent with the sent target data, perform at least one of fault detection on the ring network or resending the target data.
20. The vehicle according to claim 19 , wherein the control system further comprises a gateway, the gateway is connected to the primary controller or the at least one node device, and the gateway is configured to:
send, to an external device, data from a device connected to the gateway; and
send, to the device connected to the gateway, data from the external device, wherein the external device is a device independent of the control system.