CN109017629A - Automatic driving vehicle and its card insertion type structure, module and vehicle computing platform - Google Patents
Automatic driving vehicle and its card insertion type structure, module and vehicle computing platform Download PDFInfo
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- CN109017629A CN109017629A CN201810643726.5A CN201810643726A CN109017629A CN 109017629 A CN109017629 A CN 109017629A CN 201810643726 A CN201810643726 A CN 201810643726A CN 109017629 A CN109017629 A CN 109017629A
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- subcard
- mainboard
- automatic driving
- driving vehicle
- vehicle
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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
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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
Abstract
The present invention provides a kind of automatic driving vehicle and its card insertion type structure, module and vehicle computing platform.Card insertion type structure in its automatic driving vehicle, including mainboard and at least two pieces of subcards；At least two groups slot is provided on the mainboard, each subcard passes through the slot for corresponding to group and the mainboard grafting respectively；The mainboard provides power supply and data routing for carrying the power supply docked with automatic driving vehicle, communication and control, while for each subcard.The present invention is by using above-mentioned technical proposal, the all logical subcard of " brain " function ECU can will be played in automatic driving vehicle to be arranged, its function can be thus achieved by being plugged on mainboard, and do not have to carry out complicated wiring for each piece of ECU, connection can be realized by being mutually inserted by mainboard and subcard, operation is very simple, realizes that efficiency is very high.
Description
[technical field]
The present invention relates to automatic driving vehicle technical field more particularly to a kind of automatic driving vehicles and its card insert type knot
Structure, module and vehicle computing platform.
[background technique]
In recent years, with the development of intelligence science and technology, automatic driving vehicle enters eruptive growth.
In order to guarantee the normal work of automatic driving vehicle, in the automatic driving vehicle of the prior art, need to be arranged 50
Left and right, even more electronic control units (Electronic Control Unit；ECU).Such as some ECU is for controlling
Rain brush, the traffic lights that another ECU is used to analyze the front of camera acquisition are how far, another ECU is adopted for analyzing radar
Quantity and distance of the surrounding vehicles collected etc., each ECU can control a position or one for automatic driving vehicle
A function.And the ECU in existing automatic driving vehicle be dispersedly be arranged in the car body of automatic driving vehicle, such as some
ECU is arranged at the control panel of headstock, and also some ECU are arranged in car door, and there are also some ECU to be arranged at tailstock position.
Since the ECU quantity in the automatic driving vehicle of the prior art is more, and it is distributed more dispersed, each portion ECU
When category, being required to subordinate, it connect with communication bus and power bus, causes the ECU subordinate in automatic driving vehicle very multiple
It is miscellaneous.
[summary of the invention]
The present invention provides a kind of automatic driving vehicle and its card insertion type structures, module and vehicle computing platform, for solving
The certainly technical problem of ECU subordinate's complexity in automatic driving vehicle.
The present invention provides the card insertion type structure in a kind of automatic driving vehicle, and the structure includes mainboard and at least two pieces of sons
Card；At least two groups slot is provided on the mainboard, each subcard passes through the slot and the mainboard of corresponding group respectively
Grafting；
The mainboard for carrying the power supply docked with automatic driving vehicle, communication and control, while being each son
Card provides power supply and data routing.
Still optionally further, in structure as described above, the mainboard is specifically total with the power supply of the automatic driving vehicle
Line connection, provides power supply for each subcard of grafting；The mainboard is also communicated to connect with CAN bus, obtains each sensor
Data, and it is transmitted to the subcard for needing the data of the sensor；
The data of each subcard, the sensor for being forwarded according to the mainboard are analyzed and processed, and will be divided
Analysis result is transferred to the mainboard；
The mainboard is also used to carry out vehicle control according to the analysis result of the daughtercards.
Still optionally further, in structure as described above, data/address bus is provided on the mainboard, the mainboard passes through institute
State the data that data/address bus forwards the sensor to the subcard.
Still optionally further, in structure as described above, the data/address bus is also used to receive point of one piece of subcard
Analysis is as a result, and be transmitted to another piece of subcard for the analysis result.
It still optionally further, include at least one piece of function subcard at least two pieces of subcards in component as described above
With one piece of spare subcard；Emergency security control scheme when function subcard failure is stored on the spare subcard.
Still optionally further, in component as described above, the mainboard, if being also used at least one piece of function subcard just
Often when work, switches to and communicated with each function subcard；And if when each function subcard exception, switch to it is described spare
Subcard communication.
Still optionally further, in component as described above, at least two pieces of subcards are function subcard；
The mainboard, if be also used to each function subcard exception, the function subcard failure according to the pre-stored data
When emergency security control scheme carry out vehicle control.
The present invention also provides the structurized module in a kind of automatic driving vehicle, the module includes plug-in card as described above
Formula structure and the shell for encapsulating the card insertion type structure.
Still optionally further, in module as described above, the shell includes top cover, bottom cover and is connected to the top cover
The assembling assembly is encapsulated in the top cover, the bottom cover and described shockproof by the shockproof frame between the bottom cover
In the space that frame is formed.
The present invention also provides the vehicle computing platform in a kind of automatic driving vehicle, the platform includes several as described above
Structurized module, each structurized module connect with the communication bus of the automatic driving vehicle and power bus.
The present invention also provides a kind of automatic driving vehicle, vehicle computing platform, institute are provided on the automatic driving vehicle
Vehicle computing platform is stated using vehicle computing platform as described above.
Automatic driving vehicle and its card insertion type structure of the invention, module and vehicle computing platform, by using above-mentioned skill
Art scheme can will play " brain " in automatic driving vehicle, and the ECU of function leads to subcard to be arranged, by being plugged on mainboard
On its function can be thus achieved；The ECU of " cerebellum " function in automatic driving vehicle is integrated in main card, and not having to is each piece
ECU carries out complicated wiring, and connection can be realized by being mutually inserted by mainboard and subcard, operates very simple, realization efficiency
It is very high.And card insertion type structure of the invention, structure is simple, standard is unified, is very easy to accomplish professional standard, convenient for each
The compatibility of the product of different manufacturers.
[Detailed description of the invention]
Fig. 1 is the structural schematic diagram of the card insertion type structure in automatic driving vehicle of the invention.
Fig. 2 is the exemplary diagram of the card insertion type structure in automatic driving vehicle of the invention.
Fig. 3 is a kind of basic function schematic diagram of mainboard provided in an embodiment of the present invention.
Fig. 4 is a kind of functional schematic of subcard provided in an embodiment of the present invention.
Fig. 5 is a kind of exemplary diagram of card insertion type structure provided in an embodiment of the present invention.
Fig. 6 is the perspective view of the explosion of the structurized module in automatic driving vehicle of the invention.
[specific embodiment]
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
Fig. 1 is the structural schematic diagram of the card insertion type structure in automatic driving vehicle of the invention.As shown in Figure 1, this implementation
Card insertion type structure in the automatic driving vehicle of example, can specifically include mainboard 10 and at least two pieces of subcards 20；It is set on mainboard 10
It is equipped at least two groups slot 30, the slot 30 by corresponding group and 10 grafting of mainboard respectively of each subcard 20.That is, subcard 20
It can be plugged on mainboard 10 by slot 30.It is corresponding with slot 30 to be provided on subcard 20 in embodiment illustrated in fig. 1
The fastener and slot 30 are clamped by fastener, realize the grafting of subcard 20 and mainboard 10.Slot 30 on the mainboard 10 can be
One groove, the fastener on corresponding subcard 20 can be that the slot 30 on a protrusion or the mainboard 10 can be one
Protrusion, the fastener on corresponding subcard 20 can be a groove, in practical application, connect the slot 30 of mainboard 10 and subcard 20
It can also be other setting forms with corresponding fastener, as long as can be realized 20 grafting of mainboard 10 and subcard, herein no longer
It limits one by one.
Card insertion type structure shown in FIG. 1, can be for three subcards 20 of grafting three group slots 30 are arranged in the mainboard 10.
In practical application, the slot 30 of two and more than two any numbers can be set on the mainboard 10 of the card insertion type structure,
Grafting subcard 20 identical with the group number of slot 30 is corresponded to, no longer citing repeats one by one herein.
In practical application, the particular number of each group slot 30 may include one, two or more.Such as Fig. 1 institute
In the card insertion type structure shown by taking every group slot 30 only includes a slot as an example.And automatic driving car of the invention shown in Fig. 2
In the exemplary diagram of card insertion type structure in, to include three subcards 20, three group slots 30, every group slot 30 in card insertion type structure
For two slots.Remaining is identical as card insertion type structure shown in FIG. 1.
Mainboard 10 in the card insertion type structure of the present embodiment be used to carry the power supply docked with automatic driving vehicle, communicate with
And control, while mainboard 10 is that each subcard 20 provides power supply and data routing.
For example, mainboard 10 is specifically connect with the power bus of automatic driving vehicle, power supply is provided for each subcard 20 of grafting；
Mainboard 10 is also communicated to connect with the CAN bus of automatic driving vehicle, the data of each sensor is obtained from CAN bus, and be transmitted to
Need the subcard of the data of sensor.Specifically, data/address bus can be set on the mainboard 10, which can be used as
Data communication main line between mainboard 10 and subcard 20, mainboard 10 forward the data of sensor by data/address bus to subcard 20.
The data/address bus in the present embodiment is specifically as follows ethernet gateway bus.
The data for the sensor that each subcard 20 in the card insertion type structure of the present embodiment is used to be forwarded according to mainboard 10 carry out
Analysis processing, and analysis result is transferred to mainboard 10；Each subcard 20 can specifically use artificial intelligence (Artificial
Intelligence；AI) algorithm realizes analysis processing, such as each subcard can be according to the realization pair of the data of the sensor received
Vehicle/pedestrian around automatic driving vehicle identifies, lane line identifies, traffic lights identify, can also carry out
Environmental modeling and path planning.
Mainboard 10 in the card insertion type structure of the present embodiment is also used to carry out vehicle according to the analysis result that subcard 20 transmits
Control.That is, the mainboard 10 in the card insertion type structure of the present embodiment serves as " cerebellum " of automatic driving vehicle.
Specifically, in the card insertion type structure of the present embodiment, mainboard 10 is specifically used for obtaining by data/address bus from CAN bus
The data of each sensor acquisition on automatic driving vehicle；And the son of grafting on mainboard 10 is forwarded the data to by data/address bus
Card 20.Specifically, many sensors are provided on automatic driving vehicle, such as radar, camera and based on global positioning system
Unite (Global Positioning System；GPS alignment sensor) etc. sensor, these sensors can be with collecting vehicles
Environment data, road data as where the data of the barrier of vehicle periphery, the position data of vehicle, vehicle and
Status data of vehicle etc., and collected data are transferred to mainboard 10 by CAN bus.That is, the present embodiment
In, all the sensors of automatic driving vehicle require to connect with CAN bus, in order to pass through CAN bus for collected number
According to being transmitted to mainboard 10.After mainboard 10 receives the data of sensor acquisition, data can be routed by data/address bus
Forwarding, to forward the data to the corresponding subcard 20 for carrying out data analysis.The rule of specific routing forwarding can be by communicating
Agreement is set, to guarantee that the subcard 20 for carrying out data analysis can receive the data of the forwarding of mainboard 10.Accordingly, sub
After card 20 receives the data of each sensor acquisition on the automatic driving vehicle of the forwarding of mainboard 10, divided according to these data
Analysis processing, to perceive the road around automatic driving vehicle, vehicle location, obstacle information and environmental modeling and path planning
Deng analysis result.Obtained analysis result is fed back to mainboard 10 by data/address bus again by last subcard 20, and mainboard 10 is according to this
A little analyses as a result, can control the steering of automatic driving vehicle, speed etc. so that automatic driving vehicle can safely, can
It is travelled on road by ground.In whole process, each subcard 20 is equivalent to " brain " of automatic driving vehicle, carries out vehicle/pedestrian
Identification, Lane detection, traffic lights identification, environmental modeling and path planning etc. analysis processing, and mainboard 10 is equivalent to nothing
People drives " cerebellum " of vehicle, according to the analysis of " brain " as a result, carrying out vehicle control.
For example, subcard 20 can be drawn according to the environmental data of the vehicle for the radar acquisition that mainboard 10 forwards from current frame
Analyzed in face come around automatic driving vehicle to have several individuals, several vehicles, each distance how far and road surface lane line in which etc.
Analyze result.This process can consider " brain " by automatic driving vehicle to complete, that is to say, that in the present embodiment, son
Card 20 is equivalent to " brain " of automatic driving vehicle for realizing the analysis of environment sensing level.Specifically, in automatic driving car
It may include having multiple similar subcards 20 in.In specific traveling, multiple subcards 20 can cooperate with each other, to help mainboard
10 analyzing as a result, the control of automatic driving vehicle is effectively performed according to multiple subcards 20.
In addition, in practical application, when some subcards 20 are analyzed and processed, the analysis knot for other subcards 20 that need to rely on
Fruit, at this time optionally, mainboard 10 are also used to receive the analysis of one piece of subcard 20 as a result, and the analysis result is transmitted to another piece
Subcard 20, so that another piece of subcard 20 is according to the analysis knot of the data of the sensor received and other subcards 20 received
Fruit is analyzed and processed.Specifically, the analysis of one piece of subcard 20 is received as a result, and will analysis by the data/address bus on mainboard 10
As a result it is transmitted to another piece of subcard 20.
In addition, the mainboard 10 in the card insertion type structure of the present embodiment can also carry the function of docking with automatic driving vehicle
The functions such as safety and environmental suitability, so that automatic driving vehicle is adapted to high and low temperature, impact/vibration, electromagnetic compatibility
Equal environment.Meanwhile the data routing of sensor is provided for subcard 20 in conjunction with above-mentioned mainboard 10, sub- intercard communication and confession are provided
The basic platforms such as electricity, it can be seen that the core status of the mainboard 10 in card insertion type structure.
The mainboard 10 of the present embodiment, can be according to the analysis of brains analysis as a result, determining nothing in execution " cerebellum " function
People drive vehicle whether should acceleration or deceleration, steering wheel whether need to turn to etc. controlling behavior.This process can consider
It is completed by " cerebellum " of automatic driving vehicle.It specifically, may include having multiple similar mainboards in automatic driving vehicle
10.In specific traveling, each mainboard 10 can be according to the subcard 20 of grafting on it to the number of the sensor of automatic driving vehicle
According to being analyzed and processed, analyzed as a result, to effectively be controlled automatic driving vehicle based on these analysis results.
Optionally, in the card insertion type structure of the automatic driving vehicle of the present embodiment, may include at least two pieces of subcards 20
At least one piece of function subcard and one piece of spare subcard；The emergency security control side when failure of functional subcard is stored on spare subcard
Case, for example, the emergency security control scheme of the present embodiment can be control vehicle pulling over observing.In the present embodiment, mainboard 10 can
To control the communication with subcard, under normal circumstances, if mainboard 10 is also used at least one piece of function subcard normal work, switch to
It communicates with each function subcard, automatic driving vehicle is controlled according to the analysis result of each function subcard.And unmanned
The brain of vehicle such as function subcard crashes, i.e., each function subcard exception when, mainboard 10 switch to spare cartoon letters, according to
The emergency security control scheme being pre-stored on spare subcard, controls automatic driving vehicle, such as controls vehicle pulling over observing,
To guarantee the driving safety of automatic driving vehicle, and then realize the traffic safety of greater degree.
Alternatively, optionally, in the present embodiment, spare subcard can be not provided with, and at least it will be disposed as function by two pieces of subcards
It can subcard；And the emergency security control scheme used is needed to be stored in mainboard 10 when each function subcard fails.That is mainboard 10
If be also used to each function subcard exception, emergency security control scheme when function subcard according to the pre-stored data fails carries out vehicle
Control, to guarantee the driving safety of automatic driving vehicle.
Fig. 3 is a kind of basic function schematic diagram of mainboard provided in an embodiment of the present invention.As shown in figure 3, the present embodiment
Mainboard can be I/O module, and vehicle rule, functional safety, which ensure, requires height, but iteration is slow.The mainboard 10 of the present embodiment includes at least
There are sensor (Sensor) hub (Hub), automobile open system framework (Automotive Open System
Architecture；Autosar the real-time ether of the chassis dynamic Control of configuration, automatic driving vehicle), automatic driving vehicle
Net, the functional safety frame of automatic driving vehicle, automatic driving vehicle diagnostic service, guarantee automatic driving vehicle power supply can
By the performances such as property and emulation injection.Wherein ethernet gateway (SWITCH is integrated in Sensor Hub；SW), in this way,
When realizing, the sensing data obtained from CAN bus is routed to slotting Sensor Hub function by the SW in Sensor Hub
Connect the subcard on mainboard.
Wherein when emulation injection, mainboard is connected into personal computer (Persom Computer；PC after), data can be passed through
Vehicle emulation data are injected subcard 20 by distribution service, run common developer with one piece of development board i.e. analog vehicle, from
And research and development cost can be effectively reduced.
Fig. 4 is a kind of functional schematic of subcard provided in an embodiment of the present invention.Subcard as shown in Figure 4 has visual impression
Know, perceive the function of fusion, driving strategy and planning control.In practical application, other function is also can be set in other subcards,
No longer citing repeats one by one herein.
Above-mentioned Fig. 3 and Fig. 4 is only a kind of example of card insertion type structure provided in this embodiment, in practical application, according to nothing
People drives the particular use and usage scenario of vehicle, and the card insertion type structure that can be formed using above-mentioned Fig. 3 and Fig. 4 expands it
The card insertion type structure of his function.
Fig. 5 is a kind of exemplary diagram of card insertion type structure provided in an embodiment of the present invention.As shown in figure 5, the present embodiment is inserted
Include tri- subcards of slot1, slot2 and slot3 in clamping structure, includes dynamic random access memory in each subcard
(Dynamic Random Access Memory；DRAM), flash memory Flash and connector FMA.Wherein first subcard
Slot1 is major function (Main function), wherein further including NVIDIA Xavier.Second subcard slot2 is redundancy
System (Redundancy system), wherein further including high-performance processor (Performance proc) and functional safety
Microcontroller (Safety MCU).Third subcard slot3 is driver's monitoring system (Driver monitor system),
It wherein further include sky slot (TBD), use when subcard in order to increase new function in the future.
In addition, being provided with radar (Radar)/laser radar (Lidar)/sound in the mainboard of card insertion type structure shown in fig. 5
Receive HUB, video camera (Camera) parallel converters (the Serdes)/multiplexer (MUX), spine switches of (sonar)
(Backbone Switch ETH)/bus interface (PCIe) and safety Micro (ASIL-D).
In addition, as shown in figure 5, be also integrated in the mainboard of the card insertion type structure of automatic driving vehicle vehicle bus CAN, with
Too network bus ETH, vehicle LIN bus, the communication bus CAM LVDS of video camera Camera and peripheral bus (PCIe).
Subcard 20 in the present embodiment is performance module, is easily upgraded, technology innovation block can fast integration.This implementation
The subcard 20 of example can keep iteratively faster, and the newest chip for the industry that follows up realizes the core algorithm of automatic Pilot.Practical application
In, when muti-piece subcard 20 integrates, both can cooperated computing, can also be mutually redundant warm back-up.
Card insertion type structure in the automatic driving vehicle of the present embodiment, by using above structure, reliability is higher, mainboard
It can be used on the automatic driving vehicle of multiple projects, Yong Huduo, BUG is few, so that the vehicle-mounted meter of whole automatic driving vehicle
Calculate the relatively reliable stabilization of platform；
And the card insertion type structure of the present embodiment can also flexibly realize that differentiation configures, such as other than basic function,
It can be by the slot on extension mainboard, to increase apolegamy function, so that product mix diversification；
In practical application, the cost for testing verifying may be bigger than development cost, in the card insertion type structure of the present embodiment
Mainboard has versatility, by using the mainboard for having passed through certification, can reduce Innovation Input, reduce the research and development of automatic driving vehicle
Cost；
Mainboard in the card insertion type structure of the present embodiment can be multiplexed, and cancel the product Demo stage；And subcard functional safety
Grade relative reduction, exploitation are easy；It can guarantee that algorithm expert is absorbed in algorithm in this way, reduce technical risk, shorten whole development
Period.
It, can will be in the prior art unmanned in short, the card insertion type structure in the automatic driving vehicle of the present embodiment
The all logical subcard of " brain " function ECU is played to be arranged in vehicle, its function can be thus achieved by being plugged on mainboard, without
With complicated wiring is carried out for each piece of ECU, connection can be realized by being mutually inserted by mainboard and subcard, be operated very simple
It is single, realize that efficiency is very high.And the card insertion type structure of the present embodiment, structure is simple, standard is unified, is very easy to accomplish industry
Standard, convenient for the compatibility of the product of each different manufacturers.
Fig. 6 is the perspective view of the explosion of the structurized module in automatic driving vehicle of the invention.As shown in fig. 6, this implementation
The structurized module of example includes the shell of card insertion type structure and encapsulation card insertion type structure.Wherein card insertion type structure is above-mentioned Fig. 1 institute
The card insertion type structure for showing embodiment specifically includes mainboard 10 and subcard 20.As shown in fig. 6, the shell of encapsulation card insertion type structure can
It will include 10 He of mainboard to include top cover 40, bottom cover 50 and the shockproof frame 60 being connected between top cover 40 and bottom cover 50
The card insertion type structure of subcard 20 is encapsulated in the space that top cover 40, bottom cover 50 and shockproof frame 60 are formed.
The embodiment of the present invention can also disclose the vehicle computing platform in a kind of automatic driving vehicle, the vehicle computing platform
May include several structurized modules as shown in FIG. 6, each structurized module with the communication bus of automatic driving vehicle and electricity
Source bus connection.Structure inside each structurized module is identical, and difference is only that the function of subcard therein is not identical.
In this way, the card insertion type structure of the automatic driving vehicle of the present embodiment, structurized module and vehicle computing platform, by
In by adopting the above technical scheme, assembly manipulation is simple, and it is convenient to realize, can be used as industrywide standard, to reduce automatic driving car
The threshold of affiliate in field, algorithm/1 partner of chip/Tier need to only design the subcard for meeting interface standard
Access, without having total system development ability.
The present invention is flat by using the card insertion type structure, structurized module and vehicle computing of above-mentioned automatic driving vehicle
Comprehensively modularized vehicle (Integrated Modular Vehicle may be implemented in platform；IMV assembly), standard is unified, operates
Simply, it is convenient to realize.
Finally, the embodiment of the present invention can also provide a kind of automatic driving vehicle, it is provided on the automatic driving vehicle
The vehicle computing platform of automatic driving vehicle is stated, and the vehicle computing platform of automatic driving vehicle may include several such as Fig. 6 institute
The structurized module shown can be recorded in detail with reference to the related of above-described embodiment, and details are not described herein.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the present invention.
Claims (11)
1. the card insertion type structure in a kind of automatic driving vehicle, which is characterized in that the structure includes mainboard and at least two pieces of sons
Card；At least two groups slot is provided on the mainboard, each subcard passes through the slot and the mainboard of corresponding group respectively
Grafting；
The mainboard is mentioned for carrying the power supply docked with automatic driving vehicle, communication and control, while for each subcard
Power supply source and data routing.
2. structure according to claim 1, which is characterized in that the mainboard, specifically with the electricity of the automatic driving vehicle
Source bus connection, provides power supply for each subcard of grafting；The mainboard is also communicated to connect with CAN bus, obtains each sensing
The data of device, and it is transmitted to the subcard for needing the data of the sensor；
The data of each subcard, the sensor for being forwarded according to the mainboard are analyzed and processed, and analysis is tied
Fruit is transferred to the mainboard；
The mainboard is also used to carry out vehicle control according to the analysis result of the daughtercards.
3. structure according to claim 1, which is characterized in that be provided with data/address bus on the mainboard, the mainboard is logical
Cross the data that the data/address bus forwards the sensor to the subcard.
4. structure according to claim 3, which is characterized in that the data/address bus is also used to receive one piece of subcard
Analysis is as a result, and be transmitted to another piece of subcard for the analysis result.
5. structure according to claim 1, which is characterized in that include at least one piece of function at least two pieces of subcards
Card and one piece of spare subcard；Emergency security control scheme when function subcard failure is stored on the spare subcard.
6. structure according to claim 5, which is characterized in that the mainboard, if being also used at least one piece of function
When card works normally, switches to and communicated with each function subcard；And if when each function subcard exception, switch to it is described
Spare cartoon letters.
7. structure according to claim 1, which is characterized in that at least two pieces of subcards are function subcard；
The mainboard, if be also used to each function subcard exception, when the function subcard according to the pre-stored data fails
Security control scheme of meeting an urgent need carries out vehicle control.
8. the structurized module in a kind of automatic driving vehicle, which is characterized in that the module includes that claim 1-7 as above appoints
Card insertion type structure described in one and the shell for encapsulating the card insertion type structure.
9. module according to claim 8, which is characterized in that the shell includes top cover, bottom cover and is connected to described
The card insertion type structure is encapsulated in the top cover, the bottom cover and institute by the shockproof frame between top cover and the bottom cover
It states in the space that shockproof frame is formed.
10. the vehicle computing platform in a kind of automatic driving vehicle, which is characterized in that the platform includes several such as claim
Any structurized module of 8-9, each structurized module with the communication bus and power supply of the automatic driving vehicle
Bus connection.
11. a kind of automatic driving vehicle, which is characterized in that vehicle computing platform is provided on the automatic driving vehicle, it is described
Vehicle computing platform is using vehicle computing platform described in any one of claim 10 as above.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810643726.5A CN109017629B (en) | 2018-06-21 | 2018-06-21 | Unmanned vehicle and card-inserting type structure, module and vehicle-mounted computing platform thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810643726.5A CN109017629B (en) | 2018-06-21 | 2018-06-21 | Unmanned vehicle and card-inserting type structure, module and vehicle-mounted computing platform thereof |
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| CN109017629A true CN109017629A (en) | 2018-12-18 |
| CN109017629B CN109017629B (en) | 2021-07-16 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110209514A (en) * | 2019-08-01 | 2019-09-06 | 奥特酷智能科技(南京)有限公司 | In the method that embedded type sensor access platform realizes DDS service |
| CN111923849A (en) * | 2019-05-13 | 2020-11-13 | 华为技术有限公司 | Vehicle-mounted control device and in-vehicle communication system |
| CN112455364A (en) * | 2021-02-03 | 2021-03-09 | 奥特酷智能科技(南京)有限公司 | Whole vehicle electronic and electric system based on DDS |
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