CN108382334A - A kind of intelligent driving automobile controller structure - Google Patents
A kind of intelligent driving automobile controller structure Download PDFInfo
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- CN108382334A CN108382334A CN201810285738.5A CN201810285738A CN108382334A CN 108382334 A CN108382334 A CN 108382334A CN 201810285738 A CN201810285738 A CN 201810285738A CN 108382334 A CN108382334 A CN 108382334A
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- intelligent driving
- driving automobile
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40013—Details regarding a bus controller
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- Engineering & Computer Science (AREA)
- Small-Scale Networks (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
Abstract
The invention discloses a kind of intelligent driving automobile controller structures, including hardware layer, system layer and application layer；The hardware layer includes four modules, is the first module, the second module, third module and the 4th module respectively；First module is computing module, for intelligent driving automobile environment sensing with merge, path planning and decision；Second module is MCU module, is used for the control of intelligent driving automobile；Third module is operation monitoring module, is used for the operation monitor and diagnosis of intelligent driving automobile；4th module is Switching Module, and the heterogeneous network for intelligent driving automobile exchanges；The system layer is used to provide software systems and the driving of hardware layer modules；The application layer is for providing various application software APP.Hardware layer, system layer and application layer are separated and are designed respectively, substantially increased the Universal and scalability of controller architecture, decrease cost and the period of secondary development by stratified energy mechanism by the controller architecture.
Description
Technical field
The invention belongs to automobile intelligent driving technology fields, are related to automobile controller, and in particular to a kind of intelligent driving
Automobile controller structure.
Background technology
With economic continuous development, people’s lives level is continuously improved, and the use of automobile is more and more common, but therewith
And the traffic accident come is also increasing, wherein sizable part is related with fatigue driving.In order to which relieving fatigue drives problem,
People begin one's study intelligent driving automobile, it is desirable to be solved people from the post of driving by way of nobody or intelligent driving
It takes off.
For intelligent driving automobile, most important part is controller, and controller architecture carries vehicle power
The vital tasks such as distribution, energy management, diagnosis and monitoring.Due to the particularity of intelligent driving automobile, controller architecture is usual
Including hardware and software part, generally require to carry out special design according to the specific requirement of whole automobile control function.It is fixed in design
After type, there are larger limitations, software architecture also to have suitable in terms of portable and scalability for hardware structure
The monopoly of degree.Generally, existing controller architecture there are versatility not enough, scalability is not strong the shortcomings of, having
Body using when also result in cost increase, the development cycle extend.
Invention content
For the above-mentioned problems in the prior art, the present invention provides a kind of intelligent driving automobile controller structure,
Hardware layer, system layer and application layer are separated and are designed respectively, greatly improved by stratified energy mechanism by the controller architecture
The Universal and scalability of controller architecture, decreases cost and the period of secondary development.
For this purpose, present invention employs following technical schemes：
A kind of intelligent driving automobile controller structure, including hardware layer, system layer and application layer；The hardware layer includes four
A module is the first module, the second module, third module and the 4th module respectively；First module is computing module, is used for
The environment sensing of intelligent driving automobile with merge, path planning and decision；Second module is MCU module, is driven for intelligence
Sail the control of automobile；The third module is operation monitoring module, is used for the operation monitor and diagnosis of intelligent driving automobile；It is described
4th module is Switching Module, and the heterogeneous network for intelligent driving automobile exchanges；The system layer is each for providing hardware layer
The software systems of a module and driving；The application layer is for providing various application software APP.
Preferably, communication uses vehicle-mounted Ethernet, compatible gigabit, 100,000,000 vehicle-mounted Ethernets between the hardware layer modules
Network.
Preferably, first module supports AI algorithms, accelerates computing unit with AI algorithms.
Preferably, second module supports AUTOSAR OS systems, hardware security to meet ASIL D.
Preferably, the operation conditions of the third module real-time monitoring intelligent driving controller modules, and carry out intelligence
Can drive a car the fault diagnosis of software and hardware system, and hardware security meets ASIL D.
Preferably, the 4th module supports vehicle-mounted Ethernet and bus-type In-vehicle networking, including CAN bus, CAN-FD
Bus, LIN buses and Flexray buses, hardware security meet ASIL D.
Preferably, the software systems support RTOS systems, the real-time for enhancing intelligent driving automobile controller.
Preferably, the API when software systems use identical operation, the reliability for enhancing application software and multiplexing
Property.
Preferably, the application software APP uses identical API design, and the information communication between APP is using based on multicast
Communication mode.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) versatile, scalability is good, can reduce period and the cost of secondary development.
(2) powerful, reliability is high, real-time, and bandwidth is high, meets intelligent driving automobile information using processing and control
The needs of system.
(3) easy to operate, using flexible, safety greatly enhances.
Description of the drawings
Fig. 1 is a kind of basic composed structure schematic diagram of intelligent driving automobile controller structure provided by the present invention.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment come the present invention will be described in detail, specific embodiment therein and explanation only
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, the invention discloses a kind of intelligent driving automobile controller structure, including hardware layer, system layer and
Application layer；The hardware layer includes four modules, is the first module, the second module, third module and the 4th module respectively；It is described
First module is computing module, for intelligent driving automobile environment sensing with merge, path planning and decision；Second mould
Block is MCU module, is used for the control of intelligent driving automobile；The third module is operation monitoring module, is used for intelligent driving vapour
The operation monitor and diagnosis of vehicle；4th module is Switching Module, and the heterogeneous network for intelligent driving automobile exchanges；It is described
System layer is used to provide software systems and the driving of hardware layer modules；The application layer is for providing various application software
APP。
Specifically, communication uses vehicle-mounted Ethernet, compatible gigabit, 100,000,000 vehicle-mounted Ethernets between the hardware layer modules
Network.
Specifically, first module supports AI algorithms, accelerates computing unit with AI algorithms.
Specifically, second module supports AUTOSAR OS systems, hardware security to meet ASIL D.
Specifically, the operation conditions of the third module real-time monitoring intelligent driving controller modules, and carry out intelligence
Can drive a car the fault diagnosis of software and hardware system, and hardware security meets ASIL D.
Specifically, the 4th module supports vehicle-mounted Ethernet and bus-type In-vehicle networking, including CAN bus, CAN-FD
Bus, LIN buses and Flexray buses, hardware security meet ASIL D.
Specifically, the software systems support RTOS systems, the real-time for enhancing intelligent driving automobile controller.
Specifically, the API when software systems use identical operation, the reliability for enhancing application software and multiplexing
Property.
Specifically, the application software APP uses identical API design, and the information communication between APP is using based on multicast
Communication mode, to carry out information sharing and software to be gone to couple.
Embodiment
A kind of intelligent driving automobile controller structure, specific composition are as follows：
First module hardware uses the Nvidia Jetson TX2 modules with GPU accelerating modules, operation Ubuntu operations
System, RTE use ROS2 systems, and the communication based on vehicle-mounted Ethernet is used with other modules.First module, which is mainly responsible for, to be based on
The environment sensing of AI with merge and path planning and decision.
Second module hardware uses NXP MPC5748G modules, runs AUTOSAR OS systems, and RTE uses embedded ROS2
System uses the communication based on vehicle-mounted Ethernet with other modules.Second module is mainly responsible for vehicle lateral control and longitudinal control
The generation of algorithm processed and control instruction.
Third module hardware uses NXP S32K148 modules, runs RTOS systems, and RTE uses embedded ROS2 systems, with
Other modules use the communication based on vehicle-mounted Ethernet.Third module is mainly responsible for system voltage, system heart-throb packet is safeguarded and inspection
It surveys, is responsible for other modules operation detection and hardware reset and restores.
4th module hardware uses NXP MPC5748G and Microchip KSZ8567R modules, operation AUTOSAR OS systems
System, RTE use embedded ROS2 systems, and the communication based on vehicle-mounted Ethernet is used with other modules.4th module is mainly responsible for
The interface conversion and data of CAN, LIN and Flexray bus to Ethernet parse function.Microchip KSZ8567R chip masters
It is responsible for the data exchange of vehicle-mounted Ethernet.
Modules A PP application ROS2 systems API is programmed, using the communication based on vehicle-mounted Ethernet.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to restrict the invention, all essences in the present invention
Any modification, equivalent replacement and improvement etc., should be included in protection scope of the present invention made by within refreshing and spirit
Within.
Claims (9)
1. a kind of intelligent driving automobile controller structure, including hardware layer, system layer and application layer, it is characterised in that：It is described hard
Part layer includes four modules, is the first module, the second module, third module and the 4th module respectively；First module is meter
Calculate module, for intelligent driving automobile environment sensing with merge, path planning and decision；Second module is MCU module,
Control for intelligent driving automobile；The third module is operation monitoring module, and the operation for intelligent driving automobile monitors
With diagnosis；4th module is Switching Module, and the heterogeneous network for intelligent driving automobile exchanges；The system layer is for carrying
Software systems for hardware layer modules and driving；The application layer is for providing various application software APP.
2. a kind of intelligent driving automobile controller structure according to claim 1, it is characterised in that：The hardware layer is each
Intermodule communication uses vehicle-mounted Ethernet, compatible gigabit, 100,000,000 vehicle-mounted ethernet networks.
3. a kind of intelligent driving automobile controller structure according to claim 1, it is characterised in that：The first module branch
AI algorithms are held, accelerate computing unit with AI algorithms.
4. a kind of intelligent driving automobile controller structure according to claim 1, it is characterised in that：The second module branch
AUTOSAR OS systems are held, hardware security meets ASIL D.
5. a kind of intelligent driving automobile controller structure according to claim 1, it is characterised in that：The third module is real
When monitoring intelligent driving controller modules operation conditions, and the failure for carrying out intelligent driving automobile software and hardware system is examined
Disconnected, hardware security meets ASIL D.
6. a kind of intelligent driving automobile controller structure according to claim 1, it is characterised in that：The 4th module branch
Hold vehicle-mounted Ethernet and bus-type In-vehicle networking, including CAN bus, CAN-FD buses, LIN buses and Flexray buses, hardware
Safety meets ASIL D.
7. a kind of intelligent driving automobile controller structure according to claim 1, it is characterised in that：The software systems branch
RTOS systems are held, the real-time for enhancing intelligent driving automobile controller.
8. a kind of intelligent driving automobile controller structure according to claim 7, it is characterised in that：The software systems are adopted
With API when identical operation, reliability and durability for enhancing application software.
9. according to a kind of intelligent driving automobile controller structure of claim 1 to 8 any one of them, it is characterised in that：It is described
Application software APP uses identical API design, and the information communication between APP uses the communication mode based on multicast.
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| CN201810285738.5A CN108382334A (en) | 2018-04-03 | 2018-04-03 | A kind of intelligent driving automobile controller structure |
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| CN111483466A (en) * | 2019-01-28 | 2020-08-04 | 北京新能源汽车股份有限公司 | Decision planning control system, method and equipment and automobile |
| CN111831265A (en) * | 2020-07-27 | 2020-10-27 | 吉林大学 | Method for designing signal processing assembly interface of electric vehicle sensor based on AUTOSAR |
| CN112968894A (en) * | 2021-02-19 | 2021-06-15 | 北京物芯科技有限责任公司 | Interface conversion device and computing equipment |
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Application publication date: 20180810 |