CN108279603A - A kind of running control system, method and storage medium - Google Patents
A kind of running control system, method and storage medium Download PDFInfo
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- CN108279603A CN108279603A CN201810090359.0A CN201810090359A CN108279603A CN 108279603 A CN108279603 A CN 108279603A CN 201810090359 A CN201810090359 A CN 201810090359A CN 108279603 A CN108279603 A CN 108279603A
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- operational subsystems
- extender
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
The present invention provides a kind of running control systems.The Basic application of the operation of the automobile is controlled by the operation of the first operational subsystems；And further through the second operational subsystems, run based on first operational subsystems, and the second operational subsystems control the first extender of operation, and the operation of first extender or the control function for supplementing Basic application.Therefore, when user needs the program update to the second operational subsystems, by being divided into two operating systems, can debugging only be updated to the program of the second operational subsystems, without regard to the first operational subsystems, the efficiency for thus not only increasing software development, also avoids the safety and stability that Basic application in the first operational subsystems is destroyed because of the update of the second operational subsystems.
Description
Technical field
The present invention relates to thermoacoustic prime engine fields, in particular to a kind of running control system and method and storage medium.
Background technology
With automotive circuit diagram, intelligentized development, automobile is also more and more to have used car-mounted computer to run driving
Control system, such as automated driving system or DAS (Driver Assistant System).Vehicle will face increasingly severeer functional safety, vehicle
Technical bottlenecks and the technical needs such as energy consumption increase, with the demand of user more and more various complicated and automatic Pilot technology, people
Work intellectual technology being popularized and gradually applying, and the exploitation of vehicle and vehicle iteration efficiency face great challenge.Meanwhile equipped with
The automobile of vehicle computing is after manufacture, due to subsequent upgrading or improvement, needs functionally to write running control system
Modification, can make running control system stability occur, the risk in terms of safety.Moreover, to original running control system
The upper modification for carrying out software view, has larger cost of labor.
Invention content
In view of this, the purpose of the present invention is to provide a kind of running control system, method and storages to be situated between, to be effectively improved
Drawbacks described above.
The embodiment of the present invention is realized in the following way：
In a first aspect, the present invention provides a kind of running control system, it is applied to the driving computer of automobile, the driving
Control system includes：First operational subsystems, the Basic application for running the operation for controlling the automobile；Second operation subsystem
System is run based on first operational subsystems, for controlling the first extender of operation, the operation of first extender
Control function for supplementing the Basic application.
Further, the running control system further includes：Virtual machine；The virtual machine is based on first operator
System operation, second operational subsystems are based on the virtual machine and first operational subsystems are run.
Further, the running control system further includes：Service library, for being carried for the operation of the Basic application
It calls and services for Basic application, and service is called for providing the first extender for the operation of first extender.
Further, the service library includes：Infrastructure service program word bank and expansion service program word bank；The base
Plinth service routine word bank calls service for providing Basic application for the operation of the Basic application；The expansion service program
Word bank calls service for providing the first extender for the operation of first extender.
Further, there are many infrastructure service canned programs for storage in the infrastructure service program word bank；Wherein, described
One operational subsystems need to control the operation that the automobile executes according to current, from a variety of infrastructure service canned programs
It calls corresponding infrastructure service canned program to run the Basic application, is controlled with executing the operation.
Further, there are many first expansion service canned programs for storage in the expansion service program word bank；Described
Two operational subsystems are run based on first operational subsystems, and first extender is run for controlling, and described first
Control function of the operation of extender for supplementing the Basic application；Wherein, second operational subsystems are according to current
It needs to supplement the operation control that the automobile executes, be called from a variety of first expansion service canned programs
Corresponding first expansion service canned program runs first extender, to supplement operation control.
Further, the running control system further includes：Third operational subsystems；The third operational subsystems base
It is run in the virtual machine and first operational subsystems, for controlling the second extender of operation, the second extension journey
Control function of the operation of sequence for supplementing the Basic application.
Second aspect, an embodiment of the present invention provides a kind of traffic control methods, are applied to the driving computer of automobile
Running control system, the running control system include：First operational subsystems and the second operational subsystems, the method packet
It includes：The first operational subsystems operation controls the Basic application of the operation of the automobile；Second operational subsystems are based on
The first operational subsystems operation, control the first extender of operation, the operation of first extender is for supplementing institute
State the control function of Basic application.
Further, the running control system further includes：Third operational subsystems；It is transported in first operational subsystems
After row controls the Basic application of the operation of the automobile, the method further includes：The third operational subsystems are based on described
First operational subsystems are run, and control the second extender of operation, the operation of second extender is for supplementing the base
The control function of plinth program.
The third aspect, the present invention provides a kind of calculating with the executable non-volatile program code of driving computer
Machine readable storage medium storing program for executing, said program code make the driving computer execute the method.
The advantageous effect of the embodiment of the present invention is：
The Basic application of the operation of the automobile is controlled by the operation of the first operational subsystems；And further through the second operation
Subsystem is run based on first operational subsystems, and the second operational subsystems control the first extender of operation, and this
The operation of one extender or the control function for supplementing Basic application.Therefore, by being divided into two operating systems, thus it is right
Second operational subsystems program update when, can debugging only be updated to the program of the second operational subsystems, without regard to
First operational subsystems, thus the efficiency of software development is not only increased, it also avoids breaking because of the update of the second operational subsystems
The safety and stability of Basic application in bad first operational subsystems.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of structure diagram for running control system that first embodiment of the invention provides；
Fig. 2 shows a kind of another structure diagrams for running control system that first embodiment of the invention provides；
Fig. 3 shows a kind of another structure diagram for running control system that first embodiment of the invention provides；
Fig. 4 shows a kind of module signal of the service library for running control system that first embodiment of the invention provides
Figure.Second embodiment, the figure of 3rd embodiment, you also do not refer in the body of the email
Icon：10- running control systems；The first operational subsystems of 100-；The second operational subsystems of 200-；13- thirds are grasped
Make subsystem；110- virtual machines；300- service libraries；310- infrastructure service program word banks；320- expansion service program word banks.
Specific implementation mode
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Range, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
The every other embodiment obtained under the premise of going out creative work, shall fall within the protection scope of the present invention.
First embodiment
Referring to Fig. 1, first embodiment of the invention provides a kind of running control system 10, the running control system 10
Including：First operational subsystems 100, the second operational subsystems 200.Wherein, first operational subsystems 100, described second
Operating system is the existing operating system of the public domains such as Windows, Linux or Unix dawn.Operating system (be management and
The computer program of control computer hardware and software resource is the most basic system software run directly on " bare machine ",
Any other software must could all be run under the support of operating system.Operating system is the interface of user and computer, together
When be also computer hardware and the interface of other software.The function of operating system includes managing hardware, the software of computer system
And data resource, control program operation improve man-machine interface, support are provided for other application software, make computer system all
Resource plays a role to the maximum extent, provides various forms of user interfaces, and making user, there are one good working environments, are other
The exploitation of software provides necessary service and corresponding interface etc..In fact, user is without touch operation system, operation system
It is under the overall leadership to manage computer hardware resource, while according to the resource request of application program, resource is distributed, such as：The CPU time is divided, it is interior
Opening up for space is deposited, printer etc. is called.In the present embodiment, the main Basic application of automobile and first in order to control of operating system
The software environment of the offers such as extender operation.
First operating system is used to run the Basic application for the operation for controlling the automobile.Wherein, the Basic application
In automatic Pilot or in assisting driving of automobile is can be applicable to, automobilism is controlled.The operation of the Basic application can
The control operation realized and voluntarily executed according to the current operating status of automobile is thought, alternatively, the operation of the Basic application also may be used
Think the control operation executed in response to the operation of driver.For example, the Basic application of the operation of the automobile of control can be with
Including but not limited to：Driver is prompted according to the operating status of automobile, for example, the prompt that do not fasten the safety belt, according to
Spacing voluntarily controls or controls car deceleration in response to the control of driver, and automobile starting is controlled in response to the control of driver
Deng.Certainly, above-mentioned enumerate is understanding for ease of to the present embodiment, should not be taken as being the restriction to the present embodiment.
Second operational subsystems 200 are run based on first operational subsystems 100, for controlling operation first
Extender, the control function of the operation of first extender for supplementing the Basic application.Wherein, described first expands
Exhibition program operates in the second operational subsystems 200, supplements the control function of the Basic application, for example, working as automobile
Normal driving can not be realized under the control of base control program in the extreme terrains such as desert or shallow water beach, then operating in second
The first extender in operational subsystems 200 can be run and the different function of Basic application.For example, fundamental operation journey
Sequence can not realize the control of automatic anti-lock in ice and snow weather, the first extender can based on program supplement, it is real
Anti-lock control is now carried out automatically in ice and snow weather to automobile.It should be understood that realized in the second operational subsystems 200
Control function can be individual's customization for each user's self-demand.
Referring to Fig. 2, in a kind of running control system 10 that first embodiment of the invention is provided, as realization second
A kind of realization method that operational subsystems 200 are run.
The running control system 10 further includes：Virtual machine 110 (Virtual Machine).The virtual machine 110, base
It is run in first operational subsystems 100, second operational subsystems 200 are based on the virtual machine 110 and described first
Operational subsystems 100 are run.
The virtual machine 110 is the virtual machine of the conventional selection of this field those having ordinary skill in the art, and virtual machine refers to passing through
Software simulation with complete hardware system function, operate in complete computer in a completely isolated environment.Institute
Virtual machine 110 is stated, is character device outside the second operating system analog portion.The virtual machine 110 for described second by grasping
Make subsystem 200 and simulate a complete hardware environment, to allow the second operational subsystems 200 to be based on the first operational subsystems
The complete hardware environment simulated in 100 operations and run.
The running control system 10 further includes：The service library 300, for being carried for the operation of the Basic application
It calls and services for Basic application, and service is called for providing the first extender for the operation of first extender.
The service library 300 includes：Infrastructure service program word bank 310 and expansion service program word bank 320；The infrastructure service journey
Sequence word bank 310 calls service for providing Basic application for the operation of the Basic application；The expansion service program word bank
320, call service for providing the first extender for the operation of first extender.
There are many infrastructure service canned programs for storage in the infrastructure service program word bank 310.
Wherein, first operational subsystems 100 need to control the operation that the automobile executes according to current, from
Corresponding infrastructure service canned program is called to run the Basic application in a variety of infrastructure service canned programs, to hold
The row operation control.Infrastructure service canned program is some functions and little Cheng that basic program can be called often at runtime
Sequence etc..Basic application itself does not include infrastructure service canned program, by the way that common service canned program is stored in basic clothes
In program of being engaged in word bank 310, for Basic application run time call.The Basic application in the present embodiment, does not limit to and applies journey
Sequence, the Basic application can also be the system program in the first operational subsystems 100.
For example, a Basic application, by the collected picture of monitor on vehicle body, which needs by described
Collected picture carries out three-dimensional simulation, to calculate the information such as distance.Due to the programmed algorithm of three-dimensional simulation, there is ratio
It is more ripe existing, and in actual use, frequency of use is higher.So the relevant programmed algorithm of three-dimensional simulation is encapsulated into
In infrastructure service program word bank 310, become infrastructure service canned program, the Basic application for calculating the information such as distance calls.
There are many first expansion service canned programs for storage in the expansion service program word bank 320；Second operation
Subsystem 200 is run based on first operational subsystems 100, for controlling the first extender of operation, first extension
Control function of the operation of program for supplementing the Basic application.The base control program is based on the first operational subsystems
100 operations are tested by stringent manufacture in automobile making, operate in Basic application in the first operating system and be not easy to carry out
Functional modify or supplement.At this time, the second operational subsystems 200 based on the first operational subsystems 100 and virtual machine 110
Upper the first extender with regard to being used for running the functional supplement of control progress or modification to the Basic application.Thus realize
Not to the first operational subsystems 100 and operate in the first operational subsystems 100 first for the Basic application into
In the case of row modification, to the supplement of control function.
In another example one first extender is used to control the operation of the automatic rain brush of automobile, first extender operation
When, need the offer of running control system 10 to judge whether the information such as the intensity of rain and rainfall, these information are also frequently necessary to
It is called by other first extenders, so the program of acquisition and the judgement of the information is packaged into one first expansion service encapsulation journey
Sequence is stored in expansion service program word bank 320.
It follows that the first extender calls different service journeys from Basic application respectively in service library 300
Sequence word bank.Infrastructure service canned program in infrastructure service program word bank 310 is running the base for the first operational subsystems 100
It is called when plinth program, the first expansion service canned program in expansion service program word bank 320 is transported for the second operational subsystems 200
It is called when row first extender.Because in the second operating system, the first extender with do not go additions and deletions substantially or repair
The basis changed is different, and the first extender can have the demand of additions and deletions or modification according to the variation of user and objective environment, so that
It can also be corresponded in the first expansion service canned program being stored in service library 300 and carry out additions and deletions or modification.In order to ensure
Additions and deletions or modification to the first expansion service canned program will not lead to the first subsystem and operation because maloperation etc. is unexpected
There are the failures such as routed, deadlock of running quickly in Basic application in the first operational subsystems 100, it would be desirable to carry out the first of additions and deletions or modification
Expansion service canned program is individually divided into service library 300 in a storage region, to the first extension and extension
When servicing canned program progress additions and deletions or modification, it is possible to prevente effectively from causing to change Basic application because maloperation etc. is unexpected
Become, and influences the stability of the first operational subsystems 100.
Wherein, second operational subsystems 200 according to it is current need to the operation that the automobile executes control into
Row supplement, calls corresponding first expansion service canned program to run from a variety of first expansion service canned programs
The first extender is stated, to supplement operation control.
In addition, the running control system 10, further includes：Third operational subsystems 13.
The third operational subsystems 13 are based on the virtual machine 110 and first operational subsystems 100 are run, and are used for
Control the second extender of operation, the control function of the operation of second extender for supplementing the Basic application.With
The second extender of institute is corresponding, corresponding in expansion service program word bank 320 to be stored with multiple second expansion service envelopes
Program is filled, the second expansion service canned program provides calling service when being run for the second extender.Third operates subsystem
System 13 and 200 function system of the second operational subsystems, are both used as the functionality to the first operational subsystems 100 and its Basic application
Supplement.When the operation of the second extender needs are isolated with the first extender, second is operated in by the first extender
In operational subsystems 200 and the second extender operates in the mode in third operational subsystems 13, can perfectly realize
One extender and the second extender are independent of each other, and avoid the first extender and go wrong or when deadlock, influence the
The normal operation of two extenders.
Certainly, the running control system 10 of the present embodiment further includes third operational subsystems 13, but in practical applications, root
According to actual performance, running control system 10 further includes the method for operation fourth operation similar with third operational subsystems 13
Subsystem, the 5th operational subsystems and/or the 6th operational subsystems etc., the quantity to making subsystem just do not do specific limit herein
It is fixed.
Second embodiment
Second embodiment of the invention provides a kind of traffic control method, is applied to the driving control of the driving computer of automobile
System processed, the running control system include：First operational subsystems and the second operational subsystems the method includes：
The first operational subsystems operation controls the Basic application of the operation of the automobile；
Second operational subsystems are run based on first operational subsystems, control the first extender of operation, institute
State control function of the operation of the first extender for supplementing the Basic application.
In addition the running control system further includes：Third operational subsystems；It runs and controls in first operational subsystems
After the Basic application for making the operation of the automobile, the method further includes：
The third operational subsystems are run based on first operational subsystems, control the second extender of operation, institute
State control function of the operation of the second extender for supplementing the Basic application.
3rd embodiment
An embodiment of the present invention provides a kind of computers with the executable non-volatile program code of driving computer
Readable storage medium storing program for executing, said program code make the driving computer execute the method.
In conclusion an embodiment of the present invention provides a kind of running control systems 10.Applied to the driving computer of automobile,
The running control system 10 includes：First operational subsystems 100, the basic journey for running the operation for controlling the automobile
Sequence；Second operational subsystems 200 are run based on first operational subsystems 100, for controlling the first extender of operation,
Control function of the operation of first extender for supplementing the Basic application.Being run in first operating system has
Basic application, the Basic application and the first operational subsystems 100 are tested by stringent manufacture, and stability is strong.Second operation
Subsystem 200 is run dependent on the virtual machine 110 in the first operational subsystems 100, is upgraded in subsequent running control system 10
In, newly-increased functional programs can be fabricated to the first extender in the second operational subsystems 200, and subsystem is operated second
It is run on system 200, the first operational subsystems 100 and its Basic application safety and stability is destroyed to realize to emit
Risk.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, Ke Yitong
Other modes are crossed to realize.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of division of logic function, formula that in actual implementation, there may be another division manner, in another example, multiple units or component can be with
In conjunction with or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be indirect coupling by some communication interfaces, device or unit
It closes or communicates to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) execute all or part of step of each embodiment this method of the present invention.And
Memory above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic disc or CD.
It these are only the preferred embodiment of the present invention, be not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.Any modification made by all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should be noted that：Similar label and letter are under
Similar terms are indicated in the attached drawing in face, therefore, once being defined in a certain Xiang Yi attached drawing, are not then needed in subsequent attached drawing
It is further defined and explained.
More than, specific implementation mode only of the invention, but scope of protection of the present invention is not limited thereto, and it is any to be familiar with
Those skilled in the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all cover
Within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of running control system is applied to the driving computer of automobile, which is characterized in that the running control system packet
It includes：
First operational subsystems, the Basic application for running the operation for controlling the automobile；
Second operational subsystems are run based on first operational subsystems, for controlling the first extender of operation, described the
Control function of the operation of one extender for supplementing the Basic application.
2. running control system according to claim 1, which is characterized in that the running control system further includes：Virtually
Machine；
The virtual machine, based on first operational subsystems run, second operational subsystems be based on the virtual machine and
The first operational subsystems operation.
3. running control system according to claim 2, the running control system further include：
Service library calls service for providing Basic application for the operation of the Basic application, and for being described the
The operation of one extender provides the first extender and calls service.
4. running control system according to claim 3, which is characterized in that the service library includes：Infrastructure service
Program word bank and expansion service program word bank；
The infrastructure service program word bank calls service for providing Basic application for the operation of the Basic application；
The expansion service program word bank calls clothes for providing the first extender for the operation of first extender
Business.
5. running control system according to claim 4, which is characterized in that be stored in the infrastructure service program word bank
A variety of infrastructure service canned programs；
Wherein, first operational subsystems need to control the operation that the automobile executes according to current, from a variety of bases
Corresponding infrastructure service canned program is called to run the Basic application in plinth service canned program, to execute the operation
Control.
6. running control system according to claim 4, which is characterized in that be stored in the expansion service program word bank
A variety of first expansion service canned programs；
Second operational subsystems are run based on first operational subsystems, for controlling operation the first extension journey
Sequence, the control function of the operation of first extender for supplementing the Basic application；
Wherein, second operational subsystems need to supplement the operation control that the automobile executes according to current, from institute
It states and calls corresponding first expansion service canned program in a variety of first expansion service canned programs to run first extension
Program, to supplement operation control.
7. running control system according to claim 5, which is characterized in that the running control system further includes：Third
Operational subsystems；
The third operational subsystems are based on the virtual machine and first operational subsystems are run, for controlling operation second
Extender, the control function of the operation of second extender for supplementing the Basic application.
8. a kind of traffic control method, which is characterized in that be applied to the running control system of the driving computer of automobile, the row
Vehicle control includes：First operational subsystems and the second operational subsystems, the method includes：
The first operational subsystems operation controls the Basic application of the operation of the automobile；
Second operational subsystems are run based on first operational subsystems, control the first extender of operation, and described the
Control function of the operation of one extender for supplementing the Basic application.
9. traffic control method according to claim 8, which is characterized in that the running control system further includes：Third
Operational subsystems；After the Basic application for the operation that first operational subsystems operation controls the automobile, the method
Further include：
The third operational subsystems are run based on first operational subsystems, control the second extender of operation, and described the
Control function of the operation of two extenders for supplementing the Basic application.
10. a kind of computer readable storage medium with the executable non-volatile program code of driving computer, feature
It is, said program code makes the driving computer execute any claim the method in the claim 8-9.
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| CN201810090359.0A CN108279603A (en) | 2018-01-30 | 2018-01-30 | A kind of running control system, method and storage medium |
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