CN108891409A - A kind of intelligent driving system and central domain controller and its method - Google Patents
A kind of intelligent driving system and central domain controller and its method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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Abstract
The present invention relates to a kind of intelligent driving system and central domain controller and its methods.Intelligent driving system, including：One or more input modules at least partly are used to obtain the ambient condition information of automobile；Central domain controller is used to recognize the environment of motor vehicle environment, the decision for movement of making a response according to the ambient condition information of automobile, and the decision that reaction acts is converted into one or more control instructions；And one or more domain controllers, it is used to control one or more vehicle subsystems execution reaction movements according to one or more control instructions.Intelligent driving system of the invention provides a kind of practicable intelligent driving solution.
Description
Technical field
The present invention relates to intelligent driving field, particularly a kind of intelligent driving system and central domain controller and its side
Method.
Background technique
With gradualling mature for artificial intelligence technology, intelligent driving is increasingly paid close attention to by people.As intelligent driving
Ultimate aim, it is unmanned to also obtain huge progress.Intelligent driving system includes perception, cognition, decision, control and execution
Five functional module.Automobile obtains environmental information locating for automobile using onboard sensor by sensing module, and cognition module is known
Environment locating for other automobile, decision-making module carry out calculation process using artificial intelligence approach by computing platform and determine that reaction is dynamic
Make, control module is acted to issue to execution module according to the reaction from decision-making module and be instructed, and execution module executes to be referred to accordingly
Order, to assist the control of driver or substitution driver completion vehicle completely, such as acceleration, deceleration, brake, lane change and parking.
Requirement of the intelligent driving system for computing platform operational capability greatly improves.Fig. 1 is in the prior art in intelligence
The solution of the integration domain control system of driving.As shown, each domain controller, such as vehicle body domain controller, bottom
Discus controller, transmission domain controller, driving auxiliary domain controller, amusement domain controller etc., it is defeated by gateway and each data
Enter the communication such as system, such as wireless communication module, perception information module, navigation positioning module and inertial navigation module.Each domain control
Device provides calculation function using industrial personal computer.Since capability requirement is huge, industrial personal computer becomes heavy, bulky, Hen Duoshi
Time needs to occupy vehicle body standby box space.For this problem, solution there is no in this field.
Summary of the invention
For the technical problems in the prior art, the invention proposes a kind of intelligent driving systems, including：One or
Multiple input modules at least partly are used to obtain the ambient condition information of automobile；Central domain controller, is used for according to automobile
Ambient condition information cognition motor vehicle environment environment, the decision for movement of making a response, and by reaction act decision be converted into
One or more control instructions；And one or more domain controllers, it is used to control one according to one or more control instructions
A or multiple vehicle subsystems execute reaction movement.
System as described above, wherein one or more input modules include sensing module.
System as described above, wherein one or more input modules include wireless communication module, navigation positioning module and
One or more of inertial navigation module.
System as described above is used to receive from one or more input moulds wherein central domain controller includes CPU
The ambient condition information of block.
System as described above, wherein central domain controller includes GPU, by executing based on intelligent algorithm
Calculation task.
System as described above is used to forward and be determined based on reaction movement wherein central domain controller includes supplementary module
One or more control instructions of plan.
System as described above, wherein one or more domain controllers are based on advanced auxiliary and drive ADAS system.
System as described above, wherein one or more domain controllers do not include additional computing unit.
According to another aspect of the invention, it is proposed that a kind of center domain controller, including：One or more input/output connect
Mouthful, at least partly it is used to obtain the ambient condition information of automobile；CPU is used to receive from one or more input modules
Ambient condition information；GPU is used to recognize the environment of motor vehicle environment according to the ambient condition information of automobile, makes a response dynamic
The decision of work, wherein CPU is further converted into one or more control instructions with the decision for acting reaction；And auxiliary
Module is used to one or more control instructions being forwarded to one or more domain controllers.
Center domain controller as described above, wherein at least part input/output interface is directly connected to corresponding on CPU
CPU input/output interface.
Center domain controller as described above, wherein at least part input/output interface are directly connected on supplementary module
Corresponding supplementary module input/output interface.
Center domain controller as described above further comprises that FPGA accelerates computing module, is connected to CPU.
Center domain controller as described above, wherein CPU is pluggable CPU module.
Center domain controller as described above, further comprises power management module, is electrically connected with supplementary module.
Center domain controller as described above, further comprises Ethernet GbE Switching Module, is connected to one or more
Between input/output interface and CPU.
Center domain controller as described above, wherein central domain controller is implemented on single pcb board.
According to another aspect of the present invention, a kind of automobile control method is proposed, including：Based on from one or more defeated
Enter the data of module, generates the action command for one or more domain controllers；It will be for one or more domain controllers
Action command is forwarded to one or more domain controllers；And it controls one or more vehicle subsystems and executes action command.
Method as described above further comprises the decision of movement of being made a response using intelligent algorithm.
Method as described above further comprises the decision acted according to reaction, is determined for one or more domain controls
The action command of device.
Method as described above, wherein the data from one or more input modules include environment surrounding automobile information,
The method further includes recognizing environment surrounding automobile using intelligent algorithm.
According to another aspect of the present invention, it proposes a kind of intelligent driving method, includes the following steps：Pass through one or more
A sensor obtains the environmental information of motor vehicle environment；Using the environmental information of the motor vehicle environment from one or more sensors,
The environment of motor vehicle environment is recognized, and makes the decision of vehicle response movement；One is directed to according to the decision production of vehicle response movement
The control instruction of a or multiple domain controllers；And by for the action command of one or more domain controllers be forwarded to one or
Multiple domain controllers.
Wherein the method is implemented on central domain controller as described above.
According to another aspect of the present invention, a kind of computer-readable media is proposed, it is executable including what is be stored thereon
Code, the code execute following methods：Based on the data from one or more input modules, generate for one or more
The action command of domain controller；And it is controlled one or more domains are forwarded to for the action command of one or more domain controllers
Device processed executes action command to control one or more vehicle subsystems.
According to another aspect of the present invention, a kind of computer-readable media is proposed, it is executable including what is be stored thereon
Code, the code execute following methods：Obtain the environmental information of motor vehicle environment；Vapour is recognized using the environmental information of motor vehicle environment
Environment around vehicle makes the decision of vehicle response movement；According to the decision production of vehicle response movement for one or more domains
The control instruction of controller；And it is controlled one or more domains are forwarded to for the action command of one or more domain controllers
Device.
Intelligent driving system of the invention provides a kind of practicable intelligent driving solution.
Detailed description of the invention
In the following, the preferred embodiment of the present invention will be described in more detail in conjunction with attached drawing, wherein：
Fig. 1 is in the prior art in the solution of the integration domain control system of intelligent driving；
Fig. 2 is the structural schematic diagram of intelligent driving system according to an embodiment of the invention；
Fig. 3 is the appearance diagram of central domain controller according to an embodiment of the invention；
Fig. 4 is the structural schematic diagram of central domain controller according to an embodiment of the invention；
Fig. 5 is the flow chart of automobile control method according to an embodiment of the invention；And
Fig. 6 is the flow chart of intelligent driving method according to an embodiment of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the following detailed description, the specific embodiment for being used to illustrate the application as the application a part may refer to
Each Figure of description.In the accompanying drawings, similar appended drawing reference describes substantially similar component in different drawings.This Shen
Each specific embodiment please has carried out description detailed enough following, so that having the general of ability domain-dependent knowledge and technology
Logical technical staff can implement the technical solution of the application.It should be appreciated that can also be using other embodiments or to the application
Embodiment carry out structure, logic or electrical property change.
Aiming at the problems existing in the prior art, the invention proposes central domain controller solutions.Of the invention
Among scheme, the integration domain controller system of vehicle can be remained unchanged, for example, still can be (high using existing ADAS
Grade DAS (Driver Assistant System)).Between each data input module and ADAS system, increase the central domain with higher computational power
Controller solves the problems, such as computing capability.Central domain controller of the invention can realize by the way of veneer card, without
Multiple bulky industrial personal computers must be introduced, are intelligent driving or unpiloted chip-scale solution, being really can be with
Put into the solution of practical application.
Fig. 2 is the structural schematic diagram of intelligent driving system according to an embodiment of the invention.As shown, intelligent driving
System 200 include multiple input module 201-204, central domain controller 205, multiple domain controller 206-210 and with it is multiple
The vehicle subsystem 211-215 of domain controller 206 and 210.Multiple input module 201-204 obtain data from outside vehicle, this
Data include but is not limited to a bit：Vehicle network data, ambient data, positioning and navigation data etc..These data are sent to
Central domain controller 205.Central domain controller 205 receives the data from multiple input module 201-204, utilizes artificial intelligence
Algorithm determines the reaction movement of automobile, and these reactions movement is converted to the control instruction of multiple domain controller 206-210.
Multiple domain controller 206-210 receive the control instruction from central domain controller, and control vehicle subsystem 211-215 executes phase
The movement answered.
According to one embodiment of present invention, as shown in Fig. 2, multiple input module 201-204 are including but not limited to wireless
Communication module 201, perception information module 202, navigation positioning module 203 and inertial navigation module 204.
In some embodiments, wireless communication module 201 can realize the data communication of vehicle net with network connection.It is logical
Vehicle net is crossed, may be implemented to interconnect between vehicle and vehicle (V2V), Che Yulu (V2R), vehicle and net (V2I), vehicle and people (V2H).
Module 201 by wireless communication, the control of central domain can obtain motor vehicle environment or exercise traffic on route, facility, vehicle,
Situations such as pedestrian, so that the decision for central domain controller provides support.In some other embodiment, wireless communication module
201 can also only realize the communication functions such as the function, such as GPRS, 4G/LTE of wireless communication.It is provided using wireless communication module
Network connection, internet can be entertained and be transplanted on vehicle, such as watched movie, listen to music online.
In some embodiments, perception information module 202 includes one or more sensors, to perceive the ring of motor vehicle environment
Border information.These sensors include but is not limited to：Monocular/two-eye computer vision system, millimetre-wave radar, ultrasonic radar,
Laser radar, 360 ° of viewing systems etc..These sensors detect the variation of environment surrounding automobile and vehicle condition, become intelligence
Drive mostly important ambient data source.
In some embodiments, navigation positioning module 203 can be GPS navigation or Beidou navigation module.Pass through satellite
It obtains automobile position, be then incorporated into accurate cartographic information and plan that route, steer motor are quasi- according to the destination of setting
Really arrive at the destination.
In some embodiments, inertial navigation module 204 by inertial navigation measure automobile inertial reference system acceleration,
Time is integrated and is transformed in navigational coordinate system, it will be able to obtain the speed, yaw angle of the automobile in navigational coordinate system
With the information such as position, while the carrier information of carrier can be obtained.To realize to vehicle shape analogue body longitudinal direction and lateral movement control
System is travelled according to setting track and movement.By inertial navigation module 204, it is related to posture that accurate car speed can be obtained
Information.
It will be appreciated by those skilled in the art that except above-mentioned data input module, intelligent driving system of the invention
200 can also include other data input modules, such as other kinds of sensor, such as temperature sensor, air velocity transducer
Deng；Other kinds of monitoring device, such as driver's heartbeat monitor device, driver's brain wave monitor, driver's eyes active supervisor；
Other kinds of data-interface, such as blue tooth interface, RF interface.These also all data input module range of the invention it
It is interior.
According to one embodiment of present invention, as shown in Fig. 2, multiple domain controllers include but is not limited to：The control of vehicle body domain
Device 206, transmission domain controller 208, drives auxiliary domain controller 209, amusement domain controller 210 at chassis domain controller 207.
In some embodiments, vehicle body domain controller 206 by bodywork system 211 control body light, windscreen wiper, door lock,
Multiple vehicle subsystems such as vehicle window can also have the function of tire pressure detection, high-low voltage protection, delay cut-off, system suspend mode etc.,
It is the indispensable important component of automobile.
In some embodiments, chassis domain controller 207 is multiple by the control of chassis system 212 braking, suspension, steering etc.
Vehicle subsystem.Chassis is the most important load bearing component of automobile, has close association with the service life of automobile.
In some embodiments, transmission domain controller module 208 controls automotive power transmission subsystem by transmission system 213
System, cooperation engine complete the functions such as speed change, deceleration, reversing, guarantee automobile normally travel under different operating conditions.
In some embodiments, it drives auxiliary domain controller 209 and passes through driving assistance system 214 while the car is driving
According to the ambient enviroment perceived, the identification, detecting and tracking of either statically or dynamically object are carried out.In some embodiments, it drives
Auxiliary system 214 provides the functions such as route, decision and navigation herein in connection with the map datum of navigation module 203.It is according to the present invention
One embodiment, drive auxiliary domain controller 209 function can be replaced completely by central domain controller 205, from without
In systems comprising driving auxiliary domain controller 209.According to another embodiment of the invention, auxiliary domain controller 209 is driven
The function of collecting data is replaced by central domain controller completely, but still retains part computing function, auxiliary centre domain controller
205 complete drive assistance function.According to another embodiment of the invention, it drives auxiliary domain controller 209 and is only used to enforcement division
Divide drive assistance function, and other most of functions are replaced by central domain controller 205.The addition of central domain controller 205
The existing problem for driving auxiliary domain controller computing capability deficiency is greatly alleviated, the energy of automobile intelligent driving is greatly improved
Power.
In some embodiments, amusement domain controller module 210 realizes a variety of amusement functions by entertainment systems 215, both
It also may include voice assistant, interaction entertainment, nothing including traditional functions such as vehicle-carrying music player, video player, radios
The functions such as line is shared, can bring recreation experience more abundant to user.
It will be appreciated by those skilled in the art that intelligent driving system 200 of the invention is also except above-mentioned domain controller
It may include other domain controllers, such as：Power assembly domain controller, safe domain controller, vehicle movement domain controller etc..
Since the mode of classification is different, there may be functionally between these domain controllers or between the domain controller of the example above
Coincidence.In the manner of the present invention these domain controllers control similarly within the scope of the present invention.
Fig. 3 is the appearance diagram of central domain controller according to an embodiment of the invention.As shown, of the invention
Central domain controller 300 can be single plate structure.All chip and circuit row are realized on single pcb board (not shown)
Cloth.Certainly, it may include one or more expansion interfaces on pcb board, improve the ability of central domain control.As shown, central
One side of the pcb board of domain controller 300 or multiple sides may include that (I/O connects one or more input/output interfaces
Mouthful), these interfaces include but is not limited to：A plurality of types of data such as ether interface, bus interface, video interface, power interface
Interface.Heat sink 301 is covered on pcb board, heat sink may include multiple fins 302 to increase heat-sinking capability.
As shown by each embodiment of the invention, the central domain controller by introducing small volume replaces net
Close, so as to avoid in each domain controller respectively use bulky industrial personal computer, and computing capability, operational efficiency and
It can but get a promotion on reaction time.Therefore, the scheme of central domain controller of the invention be can be with the intelligence of practical application
Drive solution.Particularly, higher unmanned scene is required for computing capability, of the invention is even more optimal solution
Scheme.
On the other hand, the domain controller for being superior to each dispersion of central domain controller in the system architecture is described.By adding
Entering central domain controller can have the cognition and steps in decision-making that are carried out in the way of artificial intelligence in intelligent driving more
High priority brings better experience to user to improve ability of the automobile in terms of intelligent driving.
Fig. 4 is the structural schematic diagram of central domain controller according to an embodiment of the invention.As shown, central domain control
Device 400 processed includes one or more input/output interfaces 401, CPU402, GPU403 and supplementary module 404.It is one or more
Input/output interface 401 is connect with multiple data input modules and multiple domain controllers respectively, realizes the input of data and defeated
Out.CPU402 is connected with input/output interface 401, realizes data acquisition and data preliminary treatment.Due to ambient data amount
Very big and requirement of real-time is high, CPU402 is also equipped with data dispatch and data integration function, to improve data-handling capacity.
GPU403 is connected with CPU402, is based on artificial intelligence and deep learning, judges to environment surrounding automobile information, then certainly
Plan result is sent to CPU402.GPU has advantage when running intelligent algorithm.The integration of CPU402 and GPU403 can mention
The efficiency that elevator is calculated.According to one embodiment of present invention, CPU402 uses isomery framework, preferably to integrate with GPU403.
CPU402 is connected with supplementary module 404.Supplementary module 404 is more for realizing data dispatch, Data Format Transform, data forwarding etc.
A function improves the efficiency of data processing, the time needed for reducing data transmission.CPU402 is raw according to the result of decision of GPU403
At the control instruction of the vehicle subsystem for one or more domain controllers.These control instructions pass through 404 turns of supplementary module
Multiple domain controllers are dealt into, then controls corresponding vehicle subsystem via multiple domain controllers and completes corresponding movement.
In some embodiments, CPU402 includes multiple CPU modules, to increase the processing capacity of CPU402.In some realities
It applies in example, CPU402 uses pluggable CPU module.Pluggable CPU module has superpower operational capability, and computing capability is big
It is big to improve, but also have the advantages that volume-diminished and quality mitigate.Further, pluggable CPU module is also easy to safeguard
And upgrading.
In some embodiments, GPU403 may include multiple cores, and all cores are all highly-specialised, Ke Yitong
When handle AI data.In some embodiments, the number of these cores can achieve thousands of or more.By by artificial intelligence
Energy operation can significantly accelerate calculating process from all cores that CPU402 is transferred to GPU403, especially suitable for artificial intelligence
Operation.
According to one embodiment of present invention, computation-intensive workload is transferred to GPU403 by CPU402.CPU402
It is responsible for data acquisition and data preliminary treatment.The preliminary treatment of these data includes but is not limited to data conversion, normalization, micro-
Point/integral, format conversion, gray proces, background process etc..GPU403 realizes environment surrounding automobile based on intelligent algorithm
The decision of cognition and reaction movement, and the result of decision is returned into CPU402.According to another embodiment of the invention, central domain
Controller further includes that FPGA accelerates computing module 405, to further increase the computing capability of central domain controller.According to the present invention
One embodiment, between CPU402 and GPU403 use high-speed PCI E interface.
Central domain controller of the invention is intelligent driving based on intelligent algorithm or unmanned model in vapour
Operation on vehicle provides the foundation platform.Especially the support of magnanimity computing capability is intelligent driving under conditions of finite volume
Or the practical application of unmanned model in the car is possibly realized.It will be appreciated by those skilled in the art that in the prior art
The existing intelligent driving based on intelligent algorithm or unmanned model can be applied to central domain of the invention and control
On device processed, to realize the intelligent driving or unmanned of automobile.
In some embodiments, input/output interface 401 includes multiple types comprising but be not limited to：It is one or more
High speed Ethernet network interface, Ethernet interface, CAN interface, CAM video interface, HDMI video interface, USB interface, sound
The multiple interfaces such as frequency interface, digital audio interface, GPS interface, infrared interface, Radar interface.In these interfaces, some are two-way
Data transmission interface, both can be used as input interface can also be used as output interface；Some are unidirectional data interfaces, can only be made
For Data Input Interface or data output interface；Some include one-way data input interface and one-way data output interface two
Person, so that outputting and inputting for data also may be implemented.
According to one embodiment of present invention, in order to improve processing speed and concurrency, CPU402 include for input/
One or more cpu i/fs of output interface 401.For example, high speed Ethernet network interface, Ethernet interface, CAN bus connect
Mouth, CAM video interface, HDMI video interface, USB interface, audio interface, digital audio interface, GPS interface are connected respectively
To the high speed Ethernet network cpu i/f of CPU402, Ethernet cpu i/f, CAN bus cpu i/f, CAM video cpu i/f,
HDMI video cpu i/f, USB/CPU interface, audio cpu i/f, digital audio cpu i/f, GPS/CPU interface.In some realities
It applies in example, if some interface includes multiple branches, such as CAM video interface includes three road video interfaces, then on CPU402
It may include 3 CAM video cpu i/fs, and CPU402 and CAM video interface directly can also include splitter.
In some embodiments, supplementary module 404 can be the diversified forms such as special chip, microcontroller, special DSP.
404 aiding CPU 402 of supplementary module carries out data processing and forwarding.CPU402 and supplementary module 404 can with concurrent working, and
The mass data forwarding that supplementary module 404 can be directed to high real-time optimizes, such as more caches, more
More processing core, higher forwarding speed, so that the forwarding of data is highly efficient.An implementation according to the present invention
Example is connected between CPU402 and supplementary module 404 using high-speed bus, to guarantee the transmission speed of data.
In some embodiments, the certain interfaces, such as infrared interface, Radar interface etc. in input/output interface 401,
It is connected to corresponding supplementary module input/output interface on supplementary module 404 and is connected to CPU402.In this way, need not in CPU
Particular CPU interface including being directed to these interfaces, also need not directly handle the data from these interfaces.In contrast, it assists
Module 404 has more resources that can accommodate further types of interface, is also beneficial to be compatible with further types of input/output and connects
Mouthful.
In some embodiments, supplementary module 404 includes multiple groups CAN interface and multiple groups LIN bus interface.These
CAN and LIN bus interface is convenient to be connected with multiple domain controllers on vehicle.Further, CPU or supplementary module
It can directly be connect with one or more vehicle subsystems, to provide the control function except multiple domain controllers.According to this
One embodiment of invention, supplementary module 404 are also connect with power management module 406, are managed each in central domain controller 400
The power supply of module.
According to one embodiment of present invention, central domain controller further includes Ethernet GbE Switching Module 407, connection
Between the high speed and common ether interface and CPU402 of input/output interface 401.For intelligent driving or unmanned system
For system, a large amount of Ethernet communication data need processing in time, often bring very big processing load.By introducing Ethernet
GbE Switching Module 407 needs not rely on ppu to provide computing capability and management and calculate the high task of intensity, improves
The operational efficiency of system；Core number and the totality power consumption of system can also be reduced.In some embodiments, Ethernet
GbE Switching Module 407 is further connect with supplementary module 404, to provide more flexibilities.
Fig. 5 is the flow chart of automobile control method according to an embodiment of the invention.As shown, automobile of the invention
Control method 500 includes the following steps：It generates based on the data from one or more input modules in step 510 and is directed to one
The action command of a or multiple domain controllers.Step 510 can be held on the CPU and GPU of central domain controller as described above
Row.It is different from existing automobile control method, by the way that central domain controller is added, for domain controller action command not by
Each domain controller decision but executed by more advanced central domain control.The CPU and GPU of central domain control provide intelligence
Computing capability needed for capable of driving, and central all information of the domain controller based on environment surrounding automobile and the decision made
It is highly efficient and accurate.
In step 520, one or more domain controllers will be forwarded to for the action command of one or more domain controllers.
Step 520 can execute on the supplementary module of central domain controller as described above.Since automobile control instruction is complicated and connects
Mouth is numerous, and instruction forwarding step is individually performed by independent supplementary module, can not only reduce the complexity of system design, drop
The work load of low CPU；The real-time that instruction forwarding more importantly can be improved, to be more applicable for intelligent driving or nothing
The operative scenario that people drives.
It is one or more to control one or more vehicle subsystems execution action commands with controller in step 530.One
Or multiple domains control and receive and control corresponding vehicle subsystem after control instruction and execute action command, these movements include but not
It is limited to：Acceleration, deceleration, brake, lane change and parking etc..
Fig. 6 is the flow chart of intelligent driving method according to an embodiment of the invention.As shown, intelligence of the invention
Drive manner 600 includes the following steps：In step 610, the environmental information of motor vehicle environment is acquired by one or more sensors.
One or more sensors include but is not limited to：Monocular/two-eye computer vision system, ultrasonic radar, swashs at millimetre-wave radar
Optical radar, 360 ° of viewing systems etc..
Motor vehicle environment is recognized using the environmental information from one or more sensors acquisition motor vehicle environment in step 620
Environment, and make vehicle response movement decision.Step 620 can execute on central domain controller of the invention.Center
Domain controller provides the computing capability of powerful intelligent algorithm by the isomery framework of CPU and GPU.Using from one
Or the environmental information of multiple sensors acquisition motor vehicle environments, by intelligent algorithm to environment surrounding automobile carry out cognition and
Vehicle response is made by intelligent algorithm using other informations such as information of vehicles, navigation informations on the basis of Context aware to move
The decision of work.
In step 630, according to the decision production of vehicle response movement for the control instruction of one or more domain controllers.
Step 630 can execute on central domain controller of the invention.Vehicle response movement is made according to by intelligent algorithm
Decision, the reaction of vehicle movement is converted into the control instruction for the control of automobile one or more domain.
In step 640, one or more domain controllers will be forwarded to for the action command of one or more domain controllers.
Step 640 can execute on central domain controller of the invention.Under automotive environment, the forwarding independently executed instruction is walked
Suddenly, the efficiency of execution can be improved.Further, one or more domain controllers control corresponding vehicle subsystem and execute reaction
The control instruction of movement realizes the intelligent driving of vehicle.
Above-described embodiment is used for illustrative purposes only, and is not limitation of the present invention, in relation to the general of technical field
Logical technical staff can also make a variety of changes and modification without departing from the present invention, therefore, all equivalent
Technical solution also should belong to scope disclosed by the invention.
Claims (24)
1. a kind of intelligent driving system, including：
One or more input modules at least partly are used to obtain the ambient condition information of automobile；
Central domain controller is used to recognize the environment of motor vehicle environment, movement of making a response according to the ambient condition information of automobile
Decision, and by reaction act decision be converted into one or more control instructions；And
One or more domain controllers are used to control one or more vehicle subsystems according to one or more control instructions and hold
Row reaction movement.
2. system according to claim 1, wherein one or more input modules include sensing module.
3. system according to claim 1, wherein one or more input modules include wireless communication module, navigator fix
One or more of module and inertial navigation module.
4. system according to claim 1 is used to receive from one or more wherein central domain controller includes CPU
The ambient condition information of a input module.
5. system according to claim 1 is used to execute based on artificial intelligence wherein central domain controller includes GPU
The calculating task of algorithm.
6. system according to claim 1 is used to forward based on reaction wherein central domain controller includes supplementary module
Act one or more control instructions of decision.
7. system according to claim 1, wherein one or more domain controllers are based on advanced auxiliary and drive ADAS system.
8. system according to claim 7, wherein one or more domain controllers do not include additional computing unit.
9. a kind of center domain controller, including：
One or more input/output interfaces at least partly are used to obtain the ambient condition information of automobile；
CPU is used to receive the ambient condition information from one or more input modules；
GPU, be used for according to the ambient condition information of automobile recognize motor vehicle environment environment, the decision for movement of making a response,
Middle CPU is further converted into one or more control instructions with the decision for acting reaction；And
Supplementary module is used to one or more control instructions being forwarded to one or more domain controllers.
10. center domain controller according to claim 9, wherein at least part input/output interface are directly connected to CPU
Upper corresponding CPU input/output interface.
11. center domain controller according to claim 9, wherein at least part input/output interface are directly connected to auxiliary
Help corresponding supplementary module input/output interface in module.
12. center domain controller according to claim 9 further comprises that FPGA accelerates computing module, is connected to
CPU。
13. center domain controller according to claim 9, wherein CPU is pluggable CPU module.
14. center domain controller according to claim 9, further comprises power management module, with supplementary module electricity
Connection.
15. center domain controller according to claim 9, further comprises Ethernet GbE Switching Module, is connected to one
Between a or multiple input/output interfaces and CPU.
16. center domain controller according to claim 9, wherein central domain controller is implemented on single pcb board.
17. a kind of automobile control method, including：
Based on the data from one or more input modules, the action command for one or more domain controllers is generated；
One or more domain controllers will be forwarded to for the action command of one or more domain controllers；And control one or
Multiple vehicle subsystems execute action command.
18. according to the method for claim 17, further comprising the decision of movement of being made a response using intelligent algorithm.
19. according to the method for claim 17, further comprising the decision acted according to reaction, determines and be directed to one or more
The action command of a domain controller.
20. according to the method for claim 17, wherein the data from one or more input modules include motor vehicle environment
Environmental information, the method further includes recognizing environment surrounding automobile using intelligent algorithm.
21. a kind of intelligent driving method, includes the following steps：
The environmental information of motor vehicle environment is obtained by one or more sensors；
Using the environmental information of the motor vehicle environment from one or more sensors, the environment of motor vehicle environment is recognized, and makes vapour
The decision of vehicle reaction movement；
According to the decision production of vehicle response movement for the control instruction of one or more domain controllers；And one will be directed to
Or the action command of multiple domain controllers is forwarded to one or more domain controllers.
22. according to the method for claim 21, the method is implemented in the central domain as described in claim 9-16 is any
On controller.
23. a kind of computer-readable media, including the executable code being stored thereon, the code executes following methods：
Based on the data from one or more input modules, the action command for one or more domain controllers is generated；With
And
One or more domain controllers will be forwarded to control one or more for the action command of one or more domain controllers
A vehicle subsystem executes action command.
24. a kind of computer-readable media, including the executable code being stored thereon, the code executes following methods：
Obtain the environmental information of motor vehicle environment；
The decision of vehicle response movement is made using the environment of the environmental information cognition motor vehicle environment of motor vehicle environment；
According to the decision production of vehicle response movement for the control instruction of one or more domain controllers；And one will be directed to
Or the action command of multiple domain controllers is forwarded to one or more domain controllers.
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