CN109532840A - A kind of automatic driving vehicle control method, device, system and electronic equipment - Google Patents
A kind of automatic driving vehicle control method, device, system and electronic equipment Download PDFInfo
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- CN109532840A CN109532840A CN201910121815.8A CN201910121815A CN109532840A CN 109532840 A CN109532840 A CN 109532840A CN 201910121815 A CN201910121815 A CN 201910121815A CN 109532840 A CN109532840 A CN 109532840A
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- 230000008569 process Effects 0.000 description 14
- 238000004458 analytical method Methods 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 6
- 238000011217 control strategy Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
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Classifications
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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
- B60W30/18—Propelling the vehicle
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of automatic driving vehicle control method, device, system and electronic equipment, which includes: main on-site programmable gate array FPGA, first from FPGA and at least one second from FPGA, wherein main FPGA and each being connected between FPGA；Second sends the data itself acquired from FPGA to main FPGA；Main FPGA receives the second data sent from FPGA, and the strategy for carrying out vehicle control is determined according to data, and sending strategy to first is from FPGA, wherein strategy includes turning to, brake, throttle；First receives the strategy that main FPGA is sent from FPGA, carries out vehicle control according to strategy.Since in the present invention, it includes main FPGA and the FPGA array from FPGA that automatic driving vehicle control system, which uses, the defect of single chip architecture is avoided, and improve the control efficiency of automatic driving vehicle.
Description
Technical field
The present invention relates to field of artificial intelligence more particularly to a kind of automatic driving vehicle control methods, device, system
And electronic equipment.
Background technique
Automatic driving vehicle is a kind of novel intelligent vehicle, is mainly carried out by control device to various pieces in vehicle
Accurately control is analyzed with calculating, and by issuing an instruction to the different machines in control automatic driving vehicle to electronic control unit
The mechanical equipments such as tool equipment, such as steering, brake, throttle, to realize the automatic Pilot of vehicle.
The prior art is realized, single-chip processing capacity has when carrying out automatic driving vehicle control using single-chip
Limit, and interface quantity is few, influences the control efficiency of automatic driving vehicle.
Summary of the invention
The embodiment of the invention provides a kind of automatic driving vehicle control method, device, system and electronic equipments, to solve
The certainly low problem of automatic driving vehicle control efficiency in the prior art.
The embodiment of the invention provides a kind of automatic driving vehicle control system, the system comprises: main field-programmable
Gate array FPGA, first from FPGA and at least one second from FPGA, wherein the main FPGA and each connecting between FPGA
It connects；
Described second from FPGA, for sending the data itself acquired to the main FPGA；
The main FPGA for receiving the described second data sent from FPGA, and is determined according to the data and is carried out vehicle
The strategy of control, sends the strategy to described first from FPGA, wherein the strategy includes turning to, brake, throttle；
Described first strategy sent from FPGA, for receiving the main FPGA, carries out vehicle control according to the strategy.
Further, the main FPGA and each between FPGA pass through controller local area network's CAN bus or it is vehicle-mounted with
Too net connection.
Further, described second from FPGA, and specifically for the current location information according to vehicle driving, acquisition includes
The map datum of the location information, the location information and the map datum that will acquire are sent to the main FPGA；
The main FPGA is specifically used for receiving the location information and the map datum, according to the map datum to local
The map datum of preservation is updated, and according to the positional information and the destination information of the vehicle that pre-saves, rule
Draw the traffic route of the vehicle.
Further, described second from FPGA, will be described specifically for obtaining the environmental data information of vehicle periphery in real time
Environmental data information is sent to the main FPGA；
The main FPGA is specifically used for judging whether to brake, Throttle Opening Control according to the environmental data information or turning to control
System.
Further, the environmental data information includes that the data information for the radar acquisition being arranged on vehicle and setting exist
The image information of image capture device acquisition on vehicle.
The embodiment of the invention provides a kind of automatic driving vehicle control methods, which comprises
The second data sent from FPGA are received, and determine the strategy for carrying out vehicle control according to the data；
The strategy is sent to described first from FPGA, wherein the strategy includes turning to, brake, throttle；So that described first
Vehicle control is carried out from FPGA according to the strategy.
Further, it is described receive second from FPGA send data include:
Receive the described second location information and map datum sent from FPGA；
The method also includes:
The map datum locally saved is updated according to the map datum, and according to the positional information and is pre-saved
The vehicle destination information, plan that the traffic route of the vehicle is protected according to the map datum received and in advance
The destination information for the vehicle deposited plans the traffic route of the vehicle.
Further, described to receive the second data sent from FPGA, and determined according to the data and carry out vehicle control
Strategy include:
Receive the described second environmental data information sent from FPGA；According to the environmental data information, judge whether to stop
Vehicle, Throttle Opening Control or course changing control.
The embodiment of the invention provides a kind of automatic driving vehicle control device, described device includes:
Receiving module for receiving the second data sent from FPGA, and determines the plan for carrying out vehicle control according to the data
Slightly；
Sending module, for sending the strategy to described first from FPGA, wherein the strategy includes turning to, and brake, throttle；
So that described first carries out vehicle control according to the strategy from FPGA.
The embodiment of the invention provides a kind of electronic equipment, the electronic equipment includes above-mentioned automatic driving vehicle control
System.
The embodiment of the invention provides a kind of automatic driving vehicle control method, device, system and electronic equipment, the systems
System includes: main on-site programmable gate array FPGA, first from FPGA and at least one second from FPGA, wherein the main FPGA
And it each is connected between FPGA；Described second from FPGA, for sending the data itself acquired to the main FPGA；The master
FPGA for receiving the described second data sent from FPGA, and determines the plan for carrying out vehicle control according to the data
Slightly, the strategy is sent to described first from FPGA, wherein the strategy includes turning to, brake, throttle；Described first from
FPGA, the strategy sent for receiving the main FPGA carry out vehicle control according to the strategy.Due to of the invention real
Apply in example, automatic driving vehicle control system use include main FPGA and the FPGA array from FPGA, the FPGA array include into
The slave FPGA of row data acquisition, and realize that the slave FPGA of control, main FPGA are determined according to the data received and carry out vehicle control
Strategy avoid the defect of single chip architecture to realize the control of automatic driving vehicle, and improve automatic driving vehicle
Control efficiency.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of automatic driving vehicle control system architecture schematic diagram that the embodiment of the present invention 1 provides；
Fig. 2 is a kind of automatic driving vehicle control system architecture schematic diagram that the embodiment of the present invention 3 provides；
Fig. 3 is the control process schematic diagram for the main FPGA that the embodiment of the present invention 3 provides；
Fig. 4 is a kind of automatic driving vehicle control method flow diagram that the embodiment of the present invention 4 provides；
Fig. 5 is a kind of automatic driving vehicle controling device structure diagram that the embodiment of the present invention 5 provides.
Specific embodiment
The present invention will be describe below in further detail with reference to the accompanying drawings, it is clear that described embodiment is only this
Invention a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist
All other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
Embodiment 1:
Fig. 1 is a kind of automatic driving vehicle control system architecture schematic diagram provided in an embodiment of the present invention, which includes:
Main field programmable gate array (Field-Programmable Gate Array, FPGA), first from FPGA, and at least
One second from FPGA, wherein the main FPGA and each being connected between FPGA；
Described second from FPGA, for sending the data itself acquired to the main FPGA；
The main FPGA for receiving the described second data sent from FPGA, and is determined according to the data and is carried out vehicle
The strategy of control, sends the strategy to described first from FPGA, wherein the strategy includes turning to, brake, throttle；
Described first strategy sent from FPGA, for receiving the main FPGA, carries out vehicle control according to the strategy.
It include multiple functional modules in Unmanned Systems, the module for example including multiple acquisition data carries out vehicle control
The module of system, and carry out calculating the module etc. of analysis according to the collected data.The data of acquisition calculate with the module of analysis
The strategy controlled automatic driving vehicle can be exported, if the efficiency of the module of calculating analysis improves, nobody is driven
The control efficiency for sailing vehicle will improve, and therefore, which can be arranged on an individual FPGA, should
FPGA is main FPGA.The module for carrying out vehicle control needs to control the operation such as the steering of vehicle, brake, therefore can will carry out
The module of vehicle control is arranged on an individual FPGA, which is first from FPGA.And the mould of each acquisition data
Block function is relatively simple, therefore multiple data acquisition modules can be can be set on one or more FPGA, therefore, this hair
The automatic driving vehicle control system that bright embodiment provides includes at least one second from FPGA.
A kind of automatic driving vehicle control system as shown in Figure 1, the system include a main FPGA, one first from
FPGA and at least one second from FPGA, wherein main FPGA and each being connected between FPGA.Second sends out from FPGA to main FPGA
The data for giving itself to acquire, main FPGA receives second data sent from FPGA, and is determined according to the data and carry out vehicle control
The strategy of system, wherein the strategy includes steering, brake and throttle；Main FPGA sends first from FPGA for the strategy.This first
The strategy that the main FPGA is sent is received from FPGA, and vehicle control is carried out according to the strategy.
It wherein, is the prior art according to the process that strategy carries out vehicle control, in embodiments of the present invention, not to the process
It repeats.
Due in embodiments of the present invention, automatic driving vehicle control system includes main FPGA, and first from FPGA and at least
One second sends the data of itself acquisition from FPGA to main FPGA from FPGA, second, and main FPGA is determined according to the data and carried out
The strategy of vehicle control, to realize the control of automatic driving vehicle.Due to determine automatic driving vehicle control strategy when,
It is calculated using multiple FPGA, avoids the defect of single chip architecture, and improve the control efficiency of automatic driving vehicle.
Embodiment 2:
In order to realize main FPGA and each be interacted between FPGA, on the basis of the above embodiments, implement in the present invention
Example in, the main FPGA and each between FPGA pass through controller local area network (Controller Area Network,
CAN) bus or the connection of vehicle-mounted Ethernet.
Realize automatic driving vehicle safety traffic premise be, main FPGA and each from can be carried out between FPGA quickly
Data transmission, so that main FPGA can timely receive the data each sent from FPGA.And each node may be implemented at present
Between quickly transmitted have CAN bus and vehicle-mounted Ethernet, therefore, in embodiments of the present invention, main FPGA and each from
CAN bus or vehicle-mounted Ethernet are attached between FPGA.
In order to accurately plan the traffic route of automatic driving vehicle, on the basis of the above embodiments, of the invention real
It applies in example, described second obtains and believe comprising the position specifically for the current location information according to vehicle driving from FPGA
The map datum of breath, the location information and map datum that will acquire are sent to the main FPGA；
The main FPGA is specifically used for receiving the location information and the map datum, according to the map datum to local
The map datum of preservation is updated, and according to the positional information and the destination information of the vehicle that pre-saves, rule
Draw the traffic route of the vehicle.
Automatic driving vehicle generally has a determining destination during traveling, and staff can be by destination
Information be pre-stored in the automatic driving vehicle.In order to enable the automatic driving vehicle to be advised according to current location information
Sliding bicycle route, include in the FPGA array provided in embodiments of the present invention second is from the available vehicle driving of FPGA
Current location information, which directly can be sent to main FPGA from FPGA by second, but in order to further decrease master
The calculating pressure of FPGA, second can also obtain the map datum comprising the location information, will obtain from FPGA according to the location information
The location information and the map datum taken is sent to main FPGA.
Specifically, obtaining the current location information of vehicle driving, and the process of map datum is obtained according to location information
Belong to the prior art, in embodiments of the present invention, which is not repeated.
After main FPGA receives location information and map datum, using the map datum received to the map locally saved
Data are updated, and according to location information and destination information, plan the traffic route of the automatic driving vehicle.
Specifically, when automatic driving vehicle is travelled to a certain position, second from FPGA according to the current of vehicle driving
Location information obtains the map datum comprising the location information, and the location information and the map datum is sent jointly to lead
FPGA.The main FPGA receives the location information and the map datum, according to the map datum to the map datum locally saved into
Row updates, and according to the location information and the destination information of the vehicle pre-saved, plans the traffic route of the vehicle.
Wherein, the process of planning travelling line is that the prior art does not in embodiments of the present invention repeat the process.
Embodiment 3:
In order to preferably control automatic driving vehicle, on the basis of the various embodiments described above, in embodiments of the present invention, described
Two from FPGA, specifically for obtaining the environmental data information of vehicle periphery in real time, the environmental data information is sent to described
Main FPGA；
The main FPGA is specifically used for judging whether to brake, Throttle Opening Control according to the environmental data information or turning to control
System.
Automatic driving vehicle vehicle periphery during traveling will appear a variety of situations, such as vehicle periphery has pedestrian,
Vehicle periphery has other vehicles etc., and automatic driving vehicle needs to obtain the environmental data information of vehicle periphery in real time, according to the ring
Border data information determines the operations the such as whether automatic driving vehicle should be braked, Throttle Opening Control or course changing control.In this hair
The environmental data information may include whether having other vehicles and other vehicles around the automatic driving vehicle in bright embodiment
Location information, whether have the location information of barrier, guideboard and barrier, guideboard, the nothing around the automatic driving vehicle
Lane information and the intersection information around the automatic driving vehicle that people drives vehicle periphery etc..
When get has pedestrian and the location information of pedestrian has been determined in front of the automatic driving vehicle, if with the pedestrian
Position be less than in preset distance threshold, brake or Throttle Opening Control should be taken to operate, if be greater than with the position of the pedestrian pre-
If distance threshold take the mode crossover lane of steering then according to the lane information around the automatic driving vehicle of acquisition；When
When the speed limit for detecting section where the automatic driving vehicle is 60 kilometers, if the current speed of the automatic driving vehicle is 70 public
In, throttle should be controlled by speed and be down to 60 kilometers/hour.
Specifically, second obtains the environmental data information around the automatic driving vehicle from FPGA in real time, and by the environment
Data information is sent to main FPGA.The main FPGA receives the environmental data information, and according to the environmental data information, judges whether
It is braked, Throttle Opening Control or course changing control.
For example, second obtains 100 meters of the front that the automatic driving vehicle is currently located lane from FPGA and has barrier, it should
100 meters of distance are greater than 50 meters of preset distance threshold and control the nothing according to the lane information around the automatic driving vehicle of acquisition
People drives vehicle and turns to, and controls the automatic driving vehicle and travels from current lane into other lanes of clear.
Wherein, main FPGA judges whether to the mistake of brake, Throttle Opening Control or course changing control according to the environmental data information
Journey is the prior art, in embodiments of the present invention, is not repeated the process.
On the basis of the above embodiments, in embodiments of the present invention, the environmental data information includes being arranged in vehicle
On radar acquisition data information and be arranged on vehicle image capture device acquisition image information.
Automatic driving vehicle is to realize that correctly traveling, the technological difficulties of most critical are automatic driving vehicle such as to safety
What can have to complicated traffic conditions at fingertips, and radar is mainly used to detect position and speed of target etc., therefore radar
It is the necessaries in automatic driving vehicle.And the blind area of vehicle periphery and headstock is also the hidden danger of safe driving, in order to obtain
The comprehensive environmental data information of automatic driving vehicle, image capture device are also the necessaries in automatic driving vehicle.
Therefore, radar and image capture device can be installed, radar may include millimetre-wave radar and swash on the automatic driving vehicle
Optical radar, image capture device, which can be, looks around camera.Therefore, the second environmental data information for obtaining in real time from FPGA includes
The data information of radar acquisition and the image information of image capture device acquisition.
Fig. 2 is a kind of automatic driving vehicle control system architecture schematic diagram provided in an embodiment of the present invention, including master
FPGA, first from FPGA, this first from FPGA for carrying out vehicle control, further include 4 second from FPGA, respectively second from
FPGA1, second from FPGA2, and second from FPGA3, and second from FPGA4, wherein second is used to acquire millimetre-wave radar from FPGA1
Data information be sent to main FPGA, second is used to send main FPGA for the data information that laser radar acquires from FPGA2, the
Two, which are used to look around the image information that camera acquires from FPGA3, is sent to main FPGA, and second is used to scheme from high-precision from FPGA4
The middle map datum for obtaining current location information, and main FPGA is sent by the location information and the map datum.
Fig. 3 is the control process schematic diagram of main FPGA provided in an embodiment of the present invention, and main FPGA is according to the milli of vehicle periphery
The data information of metre wave radar acquisition, the data information of laser radar acquisition and the image information for looking around camera acquisition, into
Row data fusion determines the specifying information of vehicle periphery, judges whether to the strategies such as brake, Throttle Opening Control or course changing control.
Main FPGA is according to the location information and map datum obtained from high-precision figure, according to the map datum to the map locally saved
Data are updated, and according to the location information and the destination information of the vehicle pre-saved, plan the roadway of the vehicle
Line.First receives the strategy that main FPGA is sent from FPGA, vehicle control is carried out according to the strategy, to realize automatic driving vehicle
Unmanned function.
Embodiment 4:
Fig. 4 be a kind of process schematic of automatic driving vehicle control method provided in an embodiment of the present invention, the process include with
Lower step:
S401: the second data sent from FPGA are received, and determine the strategy for carrying out vehicle control according to the data.
It include multiple functional modules in Unmanned Systems, the module for example including multiple acquisition data carries out vehicle control
The module of system, and carry out calculating the module etc. of analysis according to the collected data.The data of acquisition calculate with the module of analysis
The strategy controlled automatic driving vehicle can be exported, if the efficiency of the module of calculating analysis improves, nobody is driven
The control efficiency for sailing vehicle will improve, and therefore, which can be arranged on an individual FPGA, should
FPGA is main FPGA.The module for carrying out vehicle control needs to control the operation such as the steering of vehicle, brake, therefore can will carry out
The module of vehicle control is arranged on an individual FPGA, which is first from FPGA.And the mould of each acquisition data
Block function is relatively simple, therefore multiple data acquisition modules can be can be set on one or more FPGA.
Specifically, second from FPGA to main FPGA send itself acquire data, main FPGA receive this second from FPGA send out
The data sent, and the strategy for carrying out vehicle control is determined according to the data, wherein the strategy includes steering, brake and throttle.
S402: sending the strategy to described first from FPGA, wherein the strategy includes turning to, brake, throttle；So that
Described first carries out vehicle control according to the strategy from FPGA.
Main FPGA sends first from FPGA for the strategy.This first receives the strategy that the main FPGA is sent from FPGA,
And vehicle control is carried out according to the strategy.
It wherein, is the prior art according to the process that strategy carries out vehicle control, in embodiments of the present invention, not to the process
It repeats.
Due in embodiments of the present invention, second sends the data itself acquired from FPGA to main FPGA, main FPGA according to
The data determine the strategy for carrying out vehicle control, to realize the control of automatic driving vehicle.Due to determining automatic driving car
Control strategy when, calculated using multiple FPGA, avoid the defect of single chip architecture, and improve automatic driving car
Control efficiency.
Further, it is described receive second from FPGA send data include:
Receive the described second location information and map datum sent from FPGA；
The method also includes:
The map datum locally saved is updated according to the map datum, and according to the positional information and is pre-saved
The vehicle destination information, plan that the traffic route of the vehicle is protected according to the map datum received and in advance
The destination information for the vehicle deposited plans the traffic route of the vehicle.
Automatic driving vehicle generally has a determining destination during traveling, and staff can be by destination
Information be pre-stored in the automatic driving vehicle.In order to enable the automatic driving vehicle to be advised according to current location information
Sliding bicycle route, include in the FPGA array provided in embodiments of the present invention second is from the available vehicle driving of FPGA
Current location information, which directly can be sent to main FPGA from FPGA by second, but in order to further decrease master
The calculating pressure of FPGA, second can also obtain the map datum comprising the location information, will obtain from FPGA according to the location information
The location information and the map datum taken is sent to main FPGA.
After main FPGA receives location information and map datum, using the map datum received to the map locally saved
Data are updated, and according to location information and destination information, plan the traffic route of the automatic driving vehicle.
Specifically, when automatic driving vehicle is travelled to a certain position, second from FPGA according to the current of vehicle driving
Location information obtains the map datum comprising the location information, and the location information and the map datum is sent jointly to lead
FPGA.The main FPGA receives the location information and the map datum, according to the map datum to the map datum locally saved into
Row updates, and according to the location information and the destination information of the vehicle pre-saved, plans the traffic route of the vehicle.
Further, described to receive the second data sent from FPGA, and determined according to the data and carry out vehicle control
Strategy include:
Receive the described second environmental data information sent from FPGA；According to the environmental data information, judge whether to stop
Vehicle, Throttle Opening Control or course changing control.
Automatic driving vehicle vehicle periphery during traveling will appear a variety of situations, such as vehicle periphery has pedestrian,
Vehicle periphery has other vehicles etc., and automatic driving vehicle needs to obtain the environmental data information of vehicle periphery in real time, according to the ring
Border data information determines the operations the such as whether automatic driving vehicle should be braked, Throttle Opening Control or course changing control.In this hair
The environmental data information may include whether having other vehicles and other vehicles around the automatic driving vehicle in bright embodiment
Location information, whether have the location information of barrier, guideboard and barrier, guideboard, the nothing around the automatic driving vehicle
Lane information and the intersection information around the automatic driving vehicle that people drives vehicle periphery etc..
When get has pedestrian and the location information of pedestrian has been determined in front of the automatic driving vehicle, if with the pedestrian
Position be less than in preset distance threshold, brake or Throttle Opening Control should be taken to operate, if be greater than with the position of the pedestrian pre-
If distance threshold take the mode crossover lane of steering then according to the lane information around the automatic driving vehicle of acquisition；When
When the speed limit for detecting section where the automatic driving vehicle is 60 kilometers, if the current speed of the automatic driving vehicle is 70 public
In, throttle should be controlled by speed and be down to 60 kilometers/hour.
Specifically, second obtains the environmental data information around the automatic driving vehicle from FPGA in real time, and by the environment
Data information is sent to main FPGA.The main FPGA receives the environmental data information, and according to the environmental data information, judges whether
It is braked, Throttle Opening Control or course changing control.
For example, second obtains 100 meters of the front that the automatic driving vehicle is currently located lane from FPGA and has barrier, it should
100 meters of distance are greater than 50 meters of preset distance threshold and control the nothing according to the lane information around the automatic driving vehicle of acquisition
People drives vehicle and turns to, and controls the automatic driving vehicle and travels from current lane into other lanes of clear.
Embodiment 5:
Based on the same technical idea, it the embodiment of the invention provides a kind of automatic driving vehicle control device, is illustrated in figure 5
A kind of structural schematic diagram of automatic driving vehicle control device provided in an embodiment of the present invention, the device include:
Receiving module 501 for receiving the second data sent from FPGA, and determines according to the data and carries out vehicle control
Strategy；
Sending module 502, for sending the strategy to described first from FPGA, wherein the strategy includes turning to, and brake, oil
Door；So that described first carries out vehicle control according to the strategy from FPGA.
Further, the receiving module 501, specifically for receiving the described second location information and ground sent from FPGA
Diagram data；
Described device further include:
Control module 503, for being updated according to the map datum to the map datum locally saved, and according to institute's rheme
The destination information of confidence breath and the vehicle pre-saved, plans that the traffic route of the vehicle is according to what is received
The destination information of map datum and the vehicle pre-saved, plans the traffic route of the vehicle.
Further, the receiving module 501 is believed specifically for receiving the environmental data that described second sends from FPGA
Breath；According to the environmental data information, brake, Throttle Opening Control or course changing control are judged whether to.
Embodiment 6:
The embodiment of the invention also provides a kind of electronic equipment, the electronic equipment includes above-mentioned automatic driving vehicle control system
System.
The electronic equipment includes main FPGA, first from FPGA and at least one second from FPGA, wherein the main FPGA
And it each is connected between FPGA；
Described second from FPGA, for sending the data itself acquired to the main FPGA；
The main FPGA for receiving the described second data sent from FPGA, and is determined according to the data and is carried out vehicle
The strategy of control, sends the strategy to described first from FPGA, wherein the strategy includes turning to, brake, throttle；
Described first strategy sent from FPGA, for receiving the main FPGA, carries out vehicle control according to the strategy.
It the main FPGA and each connects from passing through controller local area network's CAN bus or vehicle-mounted Ethernet between FPGA.
Described second from FPGA, and specifically for the current location information according to vehicle driving, obtaining includes the position
The map datum of information, the location information and the map datum that will acquire are sent to the main FPGA；
The main FPGA is specifically used for receiving the location information and the map datum, according to the map datum to local
The map datum of preservation is updated, and according to the positional information and the destination information of the vehicle that pre-saves, rule
Draw the traffic route of the vehicle.
Described second from FPGA, specifically for obtaining the environmental data information of vehicle periphery in real time, by the environmental data
Information is sent to the main FPGA；
The main FPGA is specifically used for judging whether to brake, Throttle Opening Control according to the environmental data information or turning to control
System.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of automatic driving vehicle control system, which is characterized in that the system comprises: main field programmable gate array
FPGA, first from FPGA and at least one second from FPGA, wherein the main FPGA and each being connected between FPGA；
Described second from FPGA, for sending the data itself acquired to the main FPGA；
The main FPGA for receiving the described second data sent from FPGA, and is determined according to the data and is carried out vehicle
The strategy of control, sends the strategy to described first from FPGA, wherein the strategy includes turning to, brake, throttle；
Described first strategy sent from FPGA, for receiving the main FPGA, carries out vehicle control according to the strategy.
2. the system as claimed in claim 1, which is characterized in that the main FPGA and each between FPGA by control general ability
Domain network C AN bus or the connection of vehicle-mounted Ethernet.
3. the system as claimed in claim 1, which is characterized in that described second from FPGA, specifically for according to vehicle driving
Current location information obtains the map datum comprising the location information, the location information and the map that will acquire
Data are sent to the main FPGA；
The main FPGA is specifically used for receiving the location information and the map datum, according to the map datum to local
The map datum of preservation is updated, and according to the positional information and the destination information of the vehicle that pre-saves, rule
Draw the traffic route of the vehicle.
4. system as claimed in claim 1 or 3, which is characterized in that described second from FPGA, is specifically used for obtaining vehicle in real time
The environmental data information of surrounding, is sent to the main FPGA for the environmental data information；
The main FPGA is specifically used for judging whether to brake, Throttle Opening Control according to the environmental data information or turning to control
System.
5. system as claimed in claim 4, which is characterized in that the environmental data information includes the radar being arranged on vehicle
The data information of acquisition and the image information of the image capture device being arranged on vehicle acquisition.
6. a kind of automatic driving vehicle control method, which is characterized in that be applied to main FPGA, which comprises
The second data sent from FPGA are received, and determine the strategy for carrying out vehicle control according to the data；
The strategy is sent to described first from FPGA, wherein the strategy includes turning to, brake, throttle；So that described first
Vehicle control is carried out from FPGA according to the strategy.
7. method as claimed in claim 6, which is characterized in that it is described receive second from FPGA send data include:
Receive the described second location information and map datum sent from FPGA；
The method also includes:
The map datum locally saved is updated according to the map datum, and according to the positional information and is pre-saved
The vehicle destination information, plan that the traffic route of the vehicle is protected according to the map datum received and in advance
The destination information for the vehicle deposited plans the traffic route of the vehicle.
8. method according to claim 6 or 7, which is characterized in that the data that the reception second is sent from FPGA, and according to
The data determine that the strategy for carrying out vehicle control includes:
Receive the described second environmental data information sent from FPGA；According to the environmental data information, judge whether to stop
Vehicle, Throttle Opening Control or course changing control.
9. a kind of automatic driving vehicle control device, which is characterized in that described device includes:
Receiving module for receiving the second data sent from FPGA, and determines the plan for carrying out vehicle control according to the data
Slightly；
Sending module, for sending the strategy to described first from FPGA, wherein the strategy includes turning to, and brake, throttle；
So that described first carries out vehicle control according to the strategy from FPGA.
10. a kind of electronic equipment, which is characterized in that the electronic equipment include it is as described in any one in claim 1-5 nobody
Drive vehicle control system.
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