CN108334087B - Software definition-based platform advanced driving assistance system - Google Patents
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- G—PHYSICS
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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Abstract
The invention relates to a software definition-based platform advanced driving assistance system, which comprises a hardware infrastructure layer, a control layer, a data and algorithm layer, a platform whole vehicle signal interface layer and an application layer, wherein the control layer, the data and algorithm layer, the platform whole vehicle signal interface layer and the application layer are positioned on the hardware infrastructure layer. The method combines a platform design idea, a software definition concept and a layering concept to realize that all resources in the ADAS can be managed in the ADAS platform computing environment through software definition, so that the elastic adjustment of hardware, the dynamic allocation of resources and the programmable configuration of the ADAS function are realized, an ADAS solution can be rapidly promoted, and the whole vehicle applicability and the function expansibility of the ADAS are effectively improved.
Description
Technical Field
The invention belongs to the technical field of vehicle intelligent control systems, and particularly relates to a software definition-based platform Advanced Driving Assistance System (ADAS), which combines a platform design idea, a software definition concept and a layering concept to realize that all resources in the ADAS can be defined by software.
Background
Advanced vehicle driving assistance systems (ADAS) generally include a navigation and real-time traffic system TMC, a vehicle networking (Vehicular communication systems), an adaptive cruise (adaptive cruise control), a Lane departure warning system ldws (Lane departure warning system), a Lane keeping system (Lane keep assistant), a Collision avoidance or pre-Collision system (Collision avoidance system), a Pedestrian protection system (Pedestrian protection system), an Automatic parking system (Automatic parking), traffic sign recognition (traffic sign recognition), Blind spot detection (Blind spot detection), Driver fatigue detection (Driver fatigue detection), etc., which monitor the vehicle itself and its environment through various sensors such as a camera, radar, laser, and ultrasonic waves, etc., and when a potential danger is detected, alert a Driver to the abnormal or driving situation of the vehicle.
Because sensor manufacturers such as cameras, radars, lasers, ultrasonic waves and the like are different, the data acquisition modes, the data acquisition precision and the calling interfaces of the sensors are different; meanwhile, different combinations of multiple sensors (such as camera + laser, camera + radar + ultrasonic) are also adopted in ADAS produced by different manufacturers, and the adaptive vehicle models, calling interfaces and data processing flows given by the different combinations are different. More importantly, with the diversification of the whole vehicle system and the difference of the whole vehicle configuration, the different software signals of the whole vehicle cause that the ADAS of the vehicles with different configurations cannot be used universally or continuously, the applicability of the whole vehicle is low, the whole vehicle, different ADAS systems and different sensors need to be adapted according to different configurations, the software design is complicated, the ADAS development period is long, the development workload is large, and the development cost is high. Moreover, when the ADAS performs function expansion, software signals of the ADAS need to be greatly changed, even signals of the whole vehicle cannot meet the requirement of the ADAS function expansion, and signals of the whole vehicle need to be greatly changed or adapted.
Therefore, there is a need in the art to develop a solution to the above-mentioned problems of advanced driving assistance systems (i.e., ADAS) for vehicles.
Disclosure of Invention
The invention aims to disclose a software-definition-based platform advanced driving assistance system, aiming at the problems that in the prior art, the ADAS sensor is diversified, the software design is complicated and the like cause low overall vehicle applicability and difficult function expansion of the ADAS.
The invention discloses a software definition-based platform advanced driving assistance system, which comprises a hardware infrastructure layer, a control layer, a data and algorithm layer, a platform whole vehicle signal interface layer and an application layer, wherein the control layer, the data and algorithm layer, the platform whole vehicle signal interface layer and the application layer are positioned on the hardware infrastructure layer;
the hardware infrastructure layer comprises ADAS sensor hardware and an ADAS sensor hardware combination and provides physical bearing for the control layer, the data and algorithm layer, the platform finished automobile signal interface layer and the application layer;
the control layer comprises a data service module taking ADAS application as a center and a control strategy and configuration and monitoring module; the data service module is used for encapsulating control and data interaction services for the hardware infrastructure layer; the control strategy, configuration and monitoring module is used for setting a control strategy in a control mode and a corresponding control mode, configuring an ADAS sensor hardware combination operation mode and rule, and monitoring the operation state of the ADAS sensor hardware and the operation state of the data service module;
the data and algorithm layer is positioned above the control layer and comprises a data module and an algorithm module; the data module is used for defining, configuring and managing an ADAS sensor hardware data interaction standard and a data format standard required by the algorithm module; the algorithm module is used for realizing and packaging a data processing algorithm, a data fusion algorithm and an ADAS application algorithm, processing data and realizing functionalization to form a core algorithm library of the ADAS system, and is used for converting the functions of the ADAS system including a lane deviation alarm system, a lane keeping system, a collision avoidance or pre-collision system and a pedestrian protection system into the calling of the algorithm;
the platform finished automobile signal interface layer comprises a finished automobile signal access module and a finished automobile signal output module; the whole vehicle signal access module is used for packaging a power system signal, an operation system signal, a safety system signal, an electric power system signal and an entertainment system signal to form a platformized whole vehicle access signal and outputting signals and data required by calculation to the algorithm module; the vehicle signal output module is used for packaging an execution result of the platform advanced driving auxiliary system to form a platform vehicle output signal and outputting a corresponding control signal to the vehicle;
the application layer is positioned on the data and algorithm layer and the signal interface layer of the platform whole vehicle and comprises an ADAS application module and a development environment module; the ADAS application module is used for specifically realizing various functions of the platform advanced driving assistance system and outputting vehicle control signals to the whole vehicle signal output module; the development environment module is used for providing a development environment for the ADAS application module, the data and algorithm layer, the platform whole vehicle signal interface layer and the control layer, and providing a service component, a programming interface, a development document and a development example for a software developer.
In a further aspect of the present invention, the ADAS sensor hardware includes at least one of a camera, a radar, a laser, and an ultrasonic wave.
In a further aspect of the present invention, the data service module of the control layer includes a resource dynamic allocation service, an interface encapsulation service, a hardware infrastructure control service, a hardware infrastructure data service, and a data and algorithm layer oriented data flow service.
In a further scheme of the invention, the algorithm module of the data and algorithm layer comprises a data preprocessing algorithm, a data fusion algorithm, a feature extraction algorithm, a deep learning algorithm, a pattern recognition algorithm and an algorithm oriented to ADAS specific application.
In a further scheme of the invention, the vehicle signal access module of the platform vehicle signal interface layer comprises an access and encapsulation vehicle power system signal, an operation system signal, a safety system signal, an electric power system signal and an entertainment system signal; and the finished automobile signal output module of the platform finished automobile signal interface layer encapsulates and outputs signals to a power system control signal, an operation and control system control signal, a safety system control signal, an electric power system control signal and an entertainment system control signal of the automobile.
In a further aspect of the present invention, the development environment module of the application layer includes a software development language compiler, a workflow integrator, a data extractor, a data converter, a loading designer, a debugging tool, a service and interface wrapper.
In a further aspect of the present invention, the ADAS application module of the application layer includes a navigation and real-time traffic system, an internet of vehicles system, an adaptive cruise system, a lane departure warning system, a lane keeping system, a collision avoidance or pre-collision system, a pedestrian protection system, an automatic parking system, a traffic sign recognition system, a blind spot detection system, and a driver fatigue detection system.
Has the advantages that: the invention overcomes the defects of diversification of ADAS sensors and complexity of software design, decouples the hardware and software design of the traditional sensor, modularizes the control function, constructs an algorithm and a data processing platform integrating data processing and an algorithm library, and a platform vehicle signal interface, virtualizes the componentized control, data and algorithm into service through a software definition method to be provided for the ADAS application software design, so that all resources in the complete ADAS can be managed in the ADAS platform computing environment through software definition, thereby realizing the elastic adjustment of hardware, the dynamic allocation of resources and the programmable allocation of ADAS functions, rapidly promoting the ADAS solution, and effectively improving the whole vehicle applicability and function expansibility of the ADAS.
Drawings
FIG. 1 is a block diagram of an embodiment of a disclosed software definition-based platform advanced driving assistance system architecture.
Fig. 2 is a detailed block diagram of the ADAS application-centric data service module of fig. 1.
Fig. 3 is a detailed block diagram of the algorithm block of fig. 1.
Fig. 4 is a signal type diagram of the vehicle signal access module and the vehicle signal output module in fig. 1.
FIG. 5 is a detailed block diagram of the development environment module of FIG. 1.
Fig. 6 is a detailed block diagram of the ADAS application module of fig. 1.
Detailed Description
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings and examples.
Referring to fig. 1, the embodiment discloses a software-defined based platform advanced driving assistance system, which includes a hardware infrastructure layer 102, and a control layer 104, a data and algorithm layer 106, a platform vehicle signal interface layer 108, and an application layer 110 on the hardware infrastructure layer 102.
(1) Hardware infrastructure layer
The hardware infrastructure layer 102 includes ADAS sensor hardware and a combination of ADAS sensor hardware, providing a physical bearer 110 for the control layer 104, the data and algorithm layer 106, the platformized vehicle signal interface layer 108, and the application layer.
ADAS sensor hardware includes, but is not limited to, at least one of a camera, radar, laser, ultrasound. The hardware combination of the ADAS sensor refers to the combination of multiple types and quantities in sensor hardware such as a camera, a radar, a laser and an ultrasonic wave.
(2) Control layer
The control layer 104 includes a data service module with ADAS application as the center, a control strategy and configuration and monitoring module;
and the data service module is used for encapsulating control and data interaction services for the hardware infrastructure layer 102. As shown in fig. 2, the data service module includes a resource dynamic allocation service, an interface encapsulation service, a hardware infrastructure control service, a hardware infrastructure data service, and a data flow service oriented to data and algorithm layers.
And the control strategy and configuration and monitoring module is used for setting a control mode and a control strategy (comprising an ADAS sensor hardware combination type and a service type of the data service module) under the corresponding control mode, configuring an ADAS sensor hardware combination operation mode and rule, and monitoring the operation state of the ADAS sensor hardware and the operation state of the data service module.
(3) Data and algorithm layer
Data and algorithm layer 106 is located above control layer 104 and includes data modules and algorithm modules.
And the data module is used for defining, configuring and managing the ADAS sensor hardware data interaction standard and the data format standard required by the algorithm module.
And the algorithm module is used for realizing and packaging a data processing algorithm, a data fusion algorithm and an ADAS application algorithm, processing data and realizing functionalization to form a core algorithm library of the ADAS system, and is used for converting the functions of the ADAS system including a lane deviation alarm system, a lane keeping system, a collision avoidance or pre-collision system and a pedestrian protection system into the calling of the algorithm. As shown in fig. 3, the algorithm module specifically includes a data preprocessing algorithm, a data fusion algorithm, a feature extraction algorithm, a deep learning algorithm, a pattern recognition algorithm, and an algorithm oriented to ADAS specific application.
(4) Signal interface layer of platform-based whole vehicle
The signal interface layer 108 of the platform-based whole vehicle comprises a whole vehicle signal access module and a whole vehicle signal output module.
And the whole vehicle signal access module is used for packaging the power system signal, the control system signal, the safety system signal, the electric power system signal and the entertainment system signal to form a platformized whole vehicle access signal and outputting the signal and data required by calculation to the algorithm module.
And the vehicle signal output module is used for packaging the execution result (comprising a power system control signal, an operation and control system control signal, a safety system control signal, an electric power system control signal and an entertainment system control signal) of the platform advanced driving auxiliary system to form a platform vehicle output signal and output a corresponding control signal to the vehicle.
Further specifically, as shown in fig. 4, the entire vehicle signal access module accesses and encapsulates a vehicle power system signal, an operation system signal, a security system signal, an electric power system signal, and an entertainment system signal. The whole vehicle signal output module packages and outputs signals to a power system control signal, an operation system control signal, a safety system control signal, an electric power system control signal and an entertainment system control signal of a vehicle.
(5) Application layer
The application layer 110 is located above the data and algorithm layer 106 and the finished vehicle signal interface layer 108, and includes an ADAS application module and a development environment module.
And the ADAS application module is used for specifically realizing various functions of the platform advanced driving auxiliary system and outputting vehicle control signals to the whole vehicle signal output module.
And the development environment module is used for providing development environment for the ADAS application module, namely the data and algorithm layer 106, the platform finished automobile signal interface layer 108 and the control layer 104, and providing service components, programming interfaces, development documents and development examples for software developers.
More specifically, as shown in fig. 5, the development environment module includes a software development language compiler, a workflow integrator, a data extractor, a data converter, a loading designer, a debugging tool, a service and an interface wrapper. As shown in fig. 6, the ADAS application module includes a navigation and real-time traffic system, an internet of vehicles system, an adaptive cruise system, a lane departure warning system, a lane keeping system, a collision avoidance or pre-collision system, a pedestrian protection system, an automatic parking system, a traffic sign recognition system, a blind spot detection system, a driver fatigue detection system.
The embodiment overcomes the defects of diversification of ADAS sensors and complexity of software design, decouples the hardware and software design of the traditional sensor, modularizes the control function, constructs an algorithm and a data processing platform integrating data processing and an algorithm library, and a platform vehicle signal interface, virtualizes the componentized control, data and algorithm into service through a software definition method to be provided for the ADAS application software design, so that all resources in the complete ADAS can be managed in an ADAS platform computing environment through software definition, the elastic adjustment of hardware, the dynamic allocation of resources and the programmable allocation of ADAS functions are realized, an ADAS solution can be rapidly promoted, and the whole vehicle applicability and the function expansibility of the ADAS are effectively improved.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. A software definition-based platform advanced driving assistance system is characterized by comprising a hardware infrastructure layer, a control layer, a data and algorithm layer, a platform finished automobile signal interface layer and an application layer, wherein the control layer, the data and algorithm layer, the platform finished automobile signal interface layer and the application layer are positioned on the hardware infrastructure layer;
the hardware infrastructure layer comprises ADAS sensor hardware and an ADAS sensor hardware combination and provides physical bearing for the control layer, the data and algorithm layer, the platform finished automobile signal interface layer and the application layer;
the control layer comprises a data service module taking ADAS application as a center and a control strategy and configuration and monitoring module; the data service module is used for encapsulating control and data interaction services for the hardware infrastructure layer; the control strategy, configuration and monitoring module is used for setting a control strategy in a control mode and a corresponding control mode, configuring an ADAS sensor hardware combination operation mode and rule, and monitoring the operation state of the ADAS sensor hardware and the operation state of the data service module;
the data and algorithm layer is positioned above the control layer and comprises a data module and an algorithm module; the data module is used for defining, configuring and managing an ADAS sensor hardware data interaction standard and a data format standard required by the algorithm module; the algorithm module is used for realizing and packaging a data processing algorithm and a data fusion algorithm, processing data and realizing functionalization to form a core algorithm library of the ADAS system, and is used for converting the functions of the ADAS system including a lane deviation alarm system, a lane keeping system, a collision avoidance or pre-collision system and a pedestrian protection system into the calling of the algorithm;
the platform finished automobile signal interface layer comprises a finished automobile signal access module and a finished automobile signal output module; the whole vehicle signal access module is used for packaging a power system signal, an operation system signal, a safety system signal, an electric power system signal and an entertainment system signal to form a platformized whole vehicle access signal and outputting signals and data required by calculation to the algorithm module; the vehicle signal output module is used for packaging an execution result of the platform advanced driving auxiliary system to form a platform vehicle output signal and outputting a corresponding control signal to the vehicle;
the application layer is positioned on the data and algorithm layer and the signal interface layer of the platform whole vehicle and comprises an ADAS application module and a development environment module; the ADAS application module is used for specifically realizing various functions of the platform advanced driving assistance system and outputting vehicle control signals to the whole vehicle signal output module; the development environment module is used for providing a development environment for the ADAS application module, the data and algorithm layer, the platform whole vehicle signal interface layer and the control layer, and providing a service component, a programming interface, a development document and a development example for a software developer.
2. The software definition based platformized advanced driving assistance system of claim 1, wherein the ADAS sensor hardware includes at least one of a camera, a radar, a laser, an ultrasound.
3. The software definition based platformized advanced driving assistance system according to claim 2, wherein the data service module of the control layer includes a resource dynamic allocation service, an interface encapsulation service, a hardware infrastructure control service, a hardware infrastructure data service, a data flow service oriented to a data and algorithm layer.
4. The software definition based platformized advanced driving assistance system according to claim 3, wherein the algorithm modules of the data and algorithm layer include a data preprocessing algorithm, a data fusion algorithm, a feature extraction algorithm, a deep learning algorithm, and a pattern recognition algorithm.
5. The software definition-based platformized advanced driving assistance system according to claim 4, wherein the vehicle signal access module of the platformized vehicle signal interface layer includes access and encapsulation of vehicle power system signals, control system signals, security system signals, power system signals, entertainment system signals; and the finished automobile signal output module of the platform finished automobile signal interface layer encapsulates and outputs signals to a power system control signal, an operation and control system control signal, a safety system control signal, an electric power system control signal and an entertainment system control signal of the automobile.
6. The software definition based platformized advanced driving assistance system according to claim 5, wherein the development environment modules of the application layer include a software development language compiler, a workflow integrator, a data extractor, a data converter, a loading designer, a debugging tool, a service and an interface wrapper.
7. The software-definition-based platformized advanced driving assistance system of claim 6, wherein the ADAS application module of the application layer comprises a navigation and real-time traffic system, an Internet of vehicles system, an adaptive cruise system, a lane departure warning system, a lane keeping system, a collision avoidance or pre-collision system, a pedestrian protection system, an automatic parking system, a traffic sign recognition system, a blind spot detection system, a driver fatigue detection system.
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| CN109271147B (en) * | 2018-09-13 | 2021-09-28 | 无锡车联天下信息技术有限公司 | Intelligent cabin system layered design method and intelligent cabin system |
| CN110221317B (en) * | 2018-11-30 | 2023-08-01 | 武汉滨湖电子有限责任公司 | Beidou north-seeking antenna high-precision installation method based on modularization |
| CN110281949B (en) * | 2019-06-28 | 2020-12-18 | 清华大学 | Unified hierarchical decision-making method for automatic driving |
| CN110427035B (en) * | 2019-08-13 | 2022-09-16 | 浙江吉利汽车研究院有限公司 | Target tracking method for vehicle |
| CN111193302B (en) * | 2019-12-23 | 2023-07-21 | 深圳市核达中远通电源技术股份有限公司 | Control method and system of bidirectional vehicle-mounted charger |
| CN113297024A (en) * | 2020-02-21 | 2021-08-24 | 北京猎户星空科技有限公司 | Hardware management method, algorithm execution method, related device and robot |
| CN112394918B (en) * | 2021-01-21 | 2021-08-03 | 国汽智控(北京)科技有限公司 | Development method, processing method and system of automatic driving application |
| CN115042781A (en) * | 2022-08-17 | 2022-09-13 | 北京理工大学 | Centralized software-defined lane keeping networked control system |
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