CN109917765A

CN109917765A - A kind of collecting and distributing type domain controller system of the network architecture based on automated driving system

Info

Publication number: CN109917765A
Application number: CN201910244786.4A
Authority: CN
Inventors: 张春海; 刘伟; 刘威
Original assignee: Neusoft Rui Auto Technology (shenyang) Co Ltd
Current assignee: Neusoft Rui Auto Technology (shenyang) Co Ltd
Priority date: 2019-03-28
Filing date: 2019-03-28
Publication date: 2019-06-21
Anticipated expiration: 2039-03-28
Also published as: CN109917765B

Abstract

This application discloses a kind of collecting and distributing type domain controller systems of network architecture based on automated driving system, the system is provided with central domain calculation control unit, wherein, it include that central domain calculates control subelement and vehicle-mounted Ethernet switch domain unit, the center domain calculates control subelement and is connect by vehicle-mounted ether net mode with vehicle-mounted Ethernet switch domain unit, the system is provided with control unit for vehicle, wherein, it include central gateway unit, power domain control unit, chassis domain control unit, car body control domain unit, electronic seat shipping bill member, these different function units pass through control area net(CAN) CAN bus respectively and connect with central gateway unit, central gateway unit is connect by vehicle-mounted ether net mode with vehicle-mounted Ethernet switch domain unit.In such manner, it is possible to promote the high efficiency and the convenience for carrying out processing and part replacement to failure and exception that the flexibility of configured in one piece, the data operation under different exclusive functional units and order execute.

Description

A kind of collecting and distributing type domain controller system of the network architecture based on automated driving system

Technical field

This application involves automatic Pilot technical field more particularly to a kind of collection of the network architecture based on automated driving system Dissipate formula domain controller system.

Background technique

With the raising of automatic Pilot technology, vehicle functions increase, various types of data volumes that vehicle itself generates Also increasing, especially in the vehicle of Level3, Level4 grade that can reach higher automatic Pilot degree, such case Just become apparent.And for these data, usually handled by the domain controller system of the network architecture in vehicle.

Currently, the domain controller system of the network architecture in automatic driving vehicle is usually center type or concentration mixing Formula, it is usually all integrated in the domain controller in the domain controller system of the network architecture in the vehicle under both modes there are many Function is handled with the data generated to respective type sensor.However, multiple functions all to be concentrated on to a domain controller On, the configuration that this will lead to domain controller is inflexible；And for the processing of local fault even to the low of local trouble unit Cost replacement, it is all extremely inconvenient.

Summary of the invention

The main purpose of the embodiment of the present application is to provide a kind of collecting and distributing type of network architecture based on automated driving system Domain controller system is concentrated, by way of regional function dispersion exclusive function, improves the flexible of the configured in one piece of the system Property, the high efficiency that executes of the data operation under different exclusive functional domain control unit and order, and to exception and failure at The reason even convenience of part replacement.

A kind of collecting and distributing type domain controller system of network architecture based on automated driving system provided by the embodiments of the present application, Include:

Central domain calculation control unit, the center domain calculation control unit include that central domain calculates control subelement and vehicle Carry Ethernet switch domain unit, the center domain calculate control subelement for the processing of core algorithm, data processing with And logical order issues, the vehicle-mounted Ethernet switch domain unit is used for transmission, exchange and the forwarding of data, the center Domain calculates control subelement and is connect by vehicle-mounted ether net mode with the vehicle-mounted Ethernet switch domain unit；

Control unit for vehicle, the control unit for vehicle include central gateway unit, power domain control unit, the control of chassis domain Unit processed, car body control domain unit, electronic seat shipping bill member, the central gateway unit is used for the exchange and transmission of data, described Power domain control unit is used to control the dynamical system of vehicle, and chassis domain control unit is used to control the chassis system of vehicle System, the car body control domain unit are used to control the body electronics system of vehicle, and the electronic seat shipping bill member is for controlling and locating Manage the cockpit instrument and navigation information entertainment systems of vehicle, it is power domain control unit, chassis domain control unit, described Car body control domain unit and the electronic seat shipping bill member pass through control area net(CAN) CAN bus and the central gateway list respectively Member connection, the central gateway unit are connect by vehicle-mounted ether net mode with the vehicle-mounted Ethernet switch domain unit.

Preferably, it includes microprocessor SOC, microcontroller that the central domain, which calculates control subelement, then the center Domain calculates control subelement and is connect by vehicle-mounted ether net mode with the vehicle-mounted Ethernet switch domain unit, comprising: described Microprocessor SOC and the microcontroller pass through vehicle-mounted ether net mode respectively and the vehicle-mounted Ethernet switch domain is single Member connection.

Preferably, the microprocessor SOC and the microcontroller pass through control area net(CAN) CAN bus and institute respectively State the connection of central gateway unit.

Preferably, the central gateway unit includes multiple ports, power domain control unit, the chassis domain Control unit, the car body control domain unit and the electronic seat shipping bill member pass through control area net(CAN) CAN bus respectively and are connected to The port of the central gateway unit, to realize the connection with the central gateway unit.

Preferably, power domain control unit, chassis domain control unit and the car body control domain unit packet Respective multiple electronic control unit ECU are included, power domain control unit, chassis domain control unit and described Respective ECU in car body control domain unit passes through control area net(CAN) CAN bus respectively and is connected to the central gateway unit Port, to realize the connection with the central gateway unit.

Preferably, the electronic seat shipping bill member further passes through vehicle-mounted ether net mode and the vehicle-mounted Ethernet switch The connection of domain unit.

Preferably, the electronic seat shipping bill member further passes through high-definition multimedia interface HDMI wire and accesses in described Entreat the HDMI of domain calculation control unit.

Preferably, further includes: map control unit, the map control unit include high-precision map controller and sensing Device, the quantity of the sensor be it is multiple, the high-precision map controller for the path computing of vehicle, Global motion planning and Positioning, the sensor are used to detect the location information of vehicle, and the high-precision map controller and the sensor are connected It connecing, the high-precision map controller is connect by vehicle-mounted ether net mode with the vehicle-mounted Ethernet switch domain unit, with And it is connect by controller area network bus with the center gateway unit.

Preferably, the high-precision map controller includes locator unit and map datum processing engine, the positioning It is communicated in a manner of the inter-process communication techniques IPC of operating system between subelement and map datum processing engine.

Preferably, further includes: vision calculates and control unit, and the vision calculates and control unit is based on image recognition skill Art, the vision calculates and control unit is for detecting and identifying external environment, and the vision calculates and control unit includes intelligence Can vision controller and camera, the quantity of the camera be it is multiple, the intelligent vision controller is attached with the camera, The vision controller is connect by vehicle-mounted ether net mode with the vehicle-mounted Ethernet switch domain unit, and passes through control Local area network (LAN) CAN bus is connect with the center gateway unit.

Preferably, further includes: Intelligent Fusion independent unit, the Intelligent Fusion independent unit is for realizing multi-mode sensing The real time fusion of device data, the Intelligent Fusion independent unit include radar fusion subelement, laser radar fusion subelement, thunder It reaches and laser radar, the quantity of the radar and laser radar is respectively multiple, the radar fusion subelement and the radar It is connected by control area net(CAN) CAN bus, the laser radar fusion subelement and the laser radar pass through vehicle-mounted Ethernet Mode or the connection of control area net(CAN) CAN bus, the radar fusion subelement merge subelement difference with the laser radar It is connect by vehicle-mounted ether net mode with the vehicle-mounted Ethernet switch domain unit, the radar fusion subelement swashs with described Optical radar fusion subelement passes through control area net(CAN) CAN bus respectively and connect with the center gateway unit, the radar fusion Subelement is connect by control area net(CAN) CAN bus with the microcontroller.

Preferably, further includes: external information communicates V2X unit, and the external information communication V2X unit is for realizing vehicle With extraneous communication, the external information control V2X unit passes through vehicle-mounted ether net mode and the vehicle-mounted Ethernet switch The connection of domain unit, and connect by control area net(CAN) CAN bus with the center gateway unit.

Preferably, further includes: remote radio communication units, the remote radio communication units are used for the long distance wireless of vehicle It communicates, is embedded with safety filtering gateway software in the remote radio communication units, the safety filtering gateway software was used for Filter remote radio communication in the insecure network information content, the remote radio communication units by vehicle-mounted ether net mode with The vehicle-mounted Ethernet switch domain unit connection, and connected by control area net(CAN) CAN bus and the center gateway unit It connects.

Preferably, further includes: ultrasound unit, the ultrasound unit is for detecting close vehicle from interior object, institute Stating ultrasound unit includes multiple ultrasonic wave subelements, and it is total that the multiple ultrasonic wave subelement passes through control area net(CAN) CAN respectively Line is connect with the microcontroller.

It can be seen that the embodiment of the present application has the following beneficial effects:

The embodiment of the present application provides a kind of collecting and distributing type domain controller system of network architecture based on automated driving system, The system is supported to connect the cloud service to be communicated with backstage.It is provided with central domain calculation control unit, wherein the center domain Calculation control unit includes that central domain calculates control subelement and vehicle-mounted Ethernet switch domain unit, which calculates control Subelement is connect by vehicle-mounted ether net mode with vehicle-mounted Ethernet switch domain unit.And it is provided with control unit for vehicle, Wherein, which includes central gateway unit, power domain control unit, chassis domain control unit, car body control domain Unit, electronic seat shipping bill member, wherein power domain control unit, chassis domain control unit, car body control domain unit and electronics Cockpit unit passes through CAN bus respectively and connect with central gateway unit, and central gateway unit passes through vehicle-mounted ether net mode and vehicle Carry the connection of Ethernet switch domain unit.In this way, the domain control that corresponding exclusive function is respectively set for different functions is single Member is concentrated, region function so that the controller in each exclusive functional domain control unit only has a kind of function by exclusive function Can dispersion mode, improve the data operation under the flexibility of the system configured in one piece, different exclusive functional domain control unit With the high efficiency of order execution and the side for handle and carry out local trouble unit to exception and failure inexpensive replacement Just property.It is understood that the functional unit for dividing and being arranged in the control unit for vehicle be not limited in it is above-mentioned involved Functional unit.In concrete implementation, it is also based on existing Vehicular system, divides and sets in the control unit for vehicle Set other a variety of different functional units.

Further, the collecting and distributing type domain controller of the network architecture provided by the embodiments of the present application based on automated driving system System further includes having map control unit, vision calculating and control unit, Intelligent Fusion independent unit, external information communication V2X Unit, the remote radio communication units and ultrasound unit for being embedded with safety filtering gateway software should be based on automatic Pilot It include that multiple domain controls that different exclusive functions may be implemented are single in the collecting and distributing type domain controller system of the network architecture of system Member, and only there is a kind of function in the controller of the domain control unit of each exclusive function, in this way, being conducive to promote each domain control The standardization and standardization degree of unit are controlled moreover, it is also possible to which system each domain when design research and development are verified with test is effectively reduced Dependence and influence between the function of unit processed, so as to shorten control in the R&D cycle of total system, and dispersion reduction system The failure risk of device.In addition, the control unit division of labor cooperation in domain with different exclusive functions in the system, and same area does not control The collecting and distributing type domain control of the network architecture based on automated driving system can be improved in multiple domain controller parallel computations in unit The calculated performance and control performance of device system processed.

Further, it is directed in the domain controller system of the network architecture of vehicle in the prior art and is led to by bus The mode of letter will receive the problem of limitation of bus bandwidth, the network rack provided by the embodiments of the present application based on automated driving system The inside of domain control unit in the collecting and distributing type domain controller system of structure and can be by not vehicle-mounted between same area control unit Ethernet and bus are communicated, in this way, on the basis of taking into account the domain controller system of the network architecture of current vehicle, addition The mode of vehicle-mounted ethernet communication, the efficiency that can be transmitted with data in lifting system.In addition, being directed to vehicle in the prior art The network architecture domain controller system in domain controller be all previously integrated to together, thus cannot achieve to the domain in system The problem of change of controller.The collecting and distributing type domain of the network architecture provided by the embodiments of the present application based on automated driving system controls Domain controller in device system is all connected by communication line, as long as in this way, domain controller meets communication protocol and application program Programming interface can be matched, and then the flexibility of lifting system.

Detailed description of the invention

In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the application Some embodiments for those of ordinary skill in the art without creative efforts, can also basis These attached drawings obtain other attached drawings.

Fig. 1 is that the collecting and distributing type domain of the first network architecture based on automated driving system provided by the embodiments of the present application controls The composition schematic diagram of device system；

Fig. 2 is the composition schematic diagram that a kind of central domain provided by the embodiments of the present application calculates control subelement；

Fig. 3 is a kind of composition schematic diagram of control unit for vehicle provided by the embodiments of the present application；

Fig. 4 is the collecting and distributing type domain control of the second provided by the embodiments of the present application network architecture based on automated driving system The composition schematic diagram of device system；

Fig. 5 is that the collecting and distributing type domain of the third network architecture based on automated driving system provided by the embodiments of the present application controls The composition schematic diagram of device system；

Fig. 6 is a kind of composition schematic diagram of Intelligent Fusion independent unit provided by the embodiments of the present application.

Specific embodiment

To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art Every other embodiment obtained without making creative work, shall fall in the protection scope of this application.

The embodiment of the present application can be applied to automated driving system (Automated Driving Systems, ADS) or The automatic Pilot degree of highly automated control loop (Highly Automated Driving, HAD) is Level3, Level4 etc. In the vehicle of grade.

Based on the problems of the prior art, the embodiment of the present application provides a kind of network architecture based on automated driving system Collecting and distributing type domain controller system.Referring to Fig. 1, the figure shows it is provided by the embodiments of the present application the first be based on automatic Pilot system The composition schematic diagram of the collecting and distributing type domain controller system of the network architecture of system, comprising:

It is provided with central domain calculation control unit 100, central domain calculation control unit 100 includes that central domain calculates control Unit 101 and vehicle-mounted Ethernet switch domain unit 102, central domain calculate control subelement 101 for core algorithm processing, The processing of data and issuing for logical order, transmission transmission, exchange of the vehicle-mounted Ethernet switch domain unit 102 for data With forwarding, central domain calculates control subelement 101 and is connected by vehicle-mounted ether net mode and vehicle-mounted Ethernet switch domain unit 102 It connects；It is provided with control unit for vehicle 200, control unit for vehicle 200 includes central gateway unit 201, power domain control unit 202, chassis domain control unit 203, car body control domain unit 204, electronic seat shipping bill member 205, central gateway unit 201 is for counting According to exchange, power domain control unit 202 is used to control the dynamical system of vehicle, and chassis domain control unit 203 is for controlling vehicle Chassis system, car body control domain unit 204 is used to control the body electronics system of vehicle, and electronic seat shipping bill member 205 is used for The cockpit system and navigation information entertainment systems of control and processing vehicle, power domain control unit 202, chassis domain control unit 203, car body control domain unit 204 and electronic seat shipping bill member 205 pass through control area net(CAN) CAN bus and central gateway respectively Unit 201 connects, and central gateway unit 201 is connect by vehicle-mounted ether net mode with vehicle-mounted Ethernet switch domain unit 102.

The collecting and distributing type domain controller system of the network architecture provided in this embodiment based on automated driving system, can be set Central domain calculation control unit 100 may include that central domain calculates control subelement in the center domain calculation control unit 100 101 and vehicle-mounted Ethernet switch domain unit 102.Wherein, central domain, which calculates control subelement 101, can be based on having logic control The algorithm of function processed, for handling core algorithm and relevant data in automated driving system, and issuing logical order etc., And then realize decision and planning function in automated driving system.Wherein, vehicle-mounted Ethernet switch domain unit 102 can be used It is logical under vehicle-mounted Ethernet transmission mode in the collecting and distributing type domain controller system of the network architecture based on automated driving system Letter.Central domain calculate control subelement 101 and vehicle-mounted Ethernet switch domain unit 102 can by vehicle-mounted ether net mode into Row connection.

In concrete implementation, vehicle-mounted Ethernet switch domain unit 102 can be time-sensitive network (Time- Sensitive Network, TSN) gigabit ethernet switch, time-triggered network (Time Trigger Ethernet, TTE) gigabit ethernet switch, (Audio/Video Bridging, AVB) gigabit ethernet switch etc..

In the present embodiment, referring to Fig. 1, it is also provided with control unit for vehicle 200, in the control unit for vehicle 200 It may include central gateway unit 201, power domain control unit 202, chassis domain control unit 203, car body control domain unit 204, electronic seat shipping bill member 205.Wherein, central gateway unit 201 can be used under control area net(CAN) CAN bus transmission mode Data information exchange and transmission, power domain control unit 202 can be used for controlling the dynamical system of vehicle, the control of chassis domain Unit 203 can be used for controlling the chassis system of vehicle, and car body control domain unit 204 can be used for controlling the body electronics of vehicle System, electronic seat shipping bill member 205 can be used for controlling the cockpit instrument and navigation information entertainment systems of vehicle.Also, power domain Control unit 202, chassis domain control unit 203, car body control domain unit 204 and electronic seat shipping bill member 205 can be distinguished Connect by CAN bus with central gateway unit 201 and central gateway unit 201 can by vehicle-mounted ether net mode with Vehicle-mounted Ethernet switch domain unit 102 connects.In this way, the power domain control unit in control unit for vehicle 200 can be realized 202, chassis domain control unit 203, car body control domain unit 204 and electronic seat shipping bill member 205 calculate control with central domain Communication between unit 101.Wherein, control area network (Controller Area Network BUS, CAN BUS) can To be a kind of serial communication protocol bus for applying in real time.

It is understood that the functional unit for dividing and being arranged in the control unit for vehicle be not limited in it is above-mentioned involved And functional unit.In concrete implementation, it can be based on existing Vehicular system, divide and set in the control unit for vehicle Set a variety of different functional units.

Led to it can be seen that being directed in the domain controller system of the network architecture of vehicle in the prior art by bus The mode of letter will receive the problem of limitation of bus bandwidth, the network rack provided by the embodiments of the present application based on automated driving system The inside of domain control unit in the collecting and distributing type domain controller system of structure and can be by not vehicle-mounted between same area control unit Ethernet and bus are communicated, in this way, on the basis of taking into account the domain controller system of the network architecture of current vehicle, addition The mode of vehicle-mounted ethernet communication, the efficiency that can be transmitted with data in lifting system.

In a kind of implementation of the present embodiment, referring to fig. 2, the figure shows in one kind provided by the embodiments of the present application Domain is entreated to calculate the composition schematic diagram of control subelement 101, it includes microprocessor SOC1011- that central domain, which calculates control subelement 101, 1012, microcontroller 1013, then central domain calculating control subelement 101 passes through vehicle-mounted ether net mode and vehicle-mounted Ethernet Switch domain unit 102 connects, comprising: microprocessor SOC1011-1012 and microcontroller 1013 respectively by it is vehicle-mounted with Too net mode is connect with vehicle-mounted Ethernet switch domain unit 102.

In the present embodiment, it may include that there are two microprocessor SOC1011- that central domain, which calculates in control subelement 101, 1102, to carry out redundancy backup, in addition, it can also include a microcontroller that central domain, which calculates in control subelement 101, 1103.In concrete implementation, two microprocessor SOC1011-1102 such as can be two integrated microprocessor chips (System on a Chip, SOC) 1011-1102, microcontroller 1103 such as can be safe micro-control unit (Safety-Microcontroller Unit, Safety-MCU).In this way, can by SOC-A1011, SOC-B 1102, Safety-MCU 1103, the graphics processor (Graphic Processing Unit, GPU) of external extension and outside extension Field programmable gate array (Field Programmable Gate Array, FPGA) chip, with realize to central domain calculate The algorithm and received data for controlling subelement 101 carry out high-performance calculation and processing.

In a kind of implementation of the present embodiment, referring to Fig. 3, the figure shows a kind of vehicles provided by the embodiments of the present application The composition schematic diagram of control unit 200, as shown in figure 3, central gateway unit 201 includes multiple port 2011-2014, Power domain control unit 202, chassis domain control unit 203, car body control domain unit 204 and electronic seat shipping bill member 205 are led to respectively The port that control area net(CAN) CAN bus is connected to central gateway unit 201 is crossed, to realize the company with central gateway unit 201 It connects.

It in the present embodiment, include multiple port 2011-2014 on central gateway unit 201, then, and the control of power domain Unit 202 can be connected to the port 2011 of central gateway unit 201 by control area net(CAN) CAN bus；The control of chassis domain Unit 203 can be connected to the port 2012 of central gateway unit 201 by control area net(CAN) CAN bus；Car body control domain Unit 204 can be connected to the port 2013 of central gateway unit 201 by control area net(CAN) CAN bus；Electronic seat shipping bill Member 205 can be connected to the port 2014 of central gateway unit 201 by control area net(CAN) CAN bus.Wherein, port ratio Such as local can be controlled for control area net(CAN) network (Controller Area Network, CAN) port, Flexible Data Rate Network (CAN with Flexible Data rate, CAN FD) port etc..It, can be in central web in concrete implementation It closes and is provided with port as much as possible on unit 201, be connected on central gateway unit 201 with meeting more controllers.

In a kind of implementation of the present embodiment, referring to fig. 4, the figure shows second provided by the embodiments of the present application The composition schematic diagram of the collecting and distributing type domain controller system of the network architecture based on automated driving system, microprocessor SOC1011- 1012 are connect by CAN bus with central gateway unit 201 respectively with microcontroller 1013.

In the present embodiment, microprocessor SOC1011-1012 and microcontroller 1013 can pass through CAN bus respectively It is connect with central gateway unit 201, to pass through center respectively for microprocessor SOC1011-1012, microcontroller 1013 Gateway unit 201 and power domain control unit 202, chassis domain control unit 203, car body control domain unit 204 and electronics cockpit With the communication of the transmission mode of CAN bus between unit 205.

In a kind of implementation of the present embodiment, power domain control unit 202, chassis domain control unit 203, Yi Jiche Body control domain unit 204 includes respective multiple ECU 2021-202n₁、2031-203n₂、2041-204n₃, the control of power domain Respective ECU 2021-202n in unit 202, chassis domain control unit 203 and car body control domain unit 204₁、2031- 203n₂、2041-204n₁The port 2011-2014 of central gateway unit 201 is connected to by CAN bus respectively, with realize with The connection of central gateway unit 201.

It in the present embodiment, referring to fig. 4, include multiple electronic control unit ECU in power domain control unit 202 2021-202n₁And engine management system (Engine Management System, EMS) and automatic gear-box control list First (Transmission Control Unit, TCU), and for each ECU 2021-202n₁, EMS, TCU, all pass through respectively CAN bus is connected to the port 2011 of central gateway unit 201；It include multiple ECU in chassis domain control unit 203 2031-203n₂, electronic stability program system (Electronic Stability Program, ESP), electronic power assist steering system It unites (Electric Power Steering, EPS), and for each ECU 2031-203n₂, ESP, EPS, all pass through respectively CAN bus is connected to the port 2012 of central gateway unit 201；It include multiple ECU in car body control domain unit 204 2041-204n₃, and for each ECU 2041-204n3, central gateway unit 201 is all connected to by CAN bus respectively Port 2013.In this way, in power domain control unit 202, chassis domain control unit 203 and car body control domain unit 204 Each ECU, can be with microprocessor SOC1011-1012 and microcontroller 1013 with the transmission mode of CAN bus It is communicated.Wherein, ECU can for it is a kind of be arranged in the car a series of function such as send for realizing data processing, information The control device of energy；EMS can be used to control the device that engine is optimal operating condition for a kind of be arranged on vehicle； TCU can be a kind of device for realizing automobile automatic gear being arranged in the car；EPS can be set in the car for one kind That sets is used to provide the power steering gear of auxiliary torque；What ESP can be arranged in the car for one kind is used to analyze vehicle row The information of state is sailed, to guarantee that vehicle maintains the control device of optimal stability.

In a kind of implementation of the present embodiment, referring to fig. 4, electronic seat shipping bill member 205 further passes through vehicle-mounted ether Net mode is connect with vehicle-mounted Ethernet switch domain unit 102.

In the present embodiment, electronic seat shipping bill member 205 can also pass through vehicle-mounted ether net mode and vehicle-mounted Ethernet exchanging Machine domain unit 102 connects, to realize that electronic seat shipping bill member 205 and central domain calculate control subelement 101 with vehicle-mounted Ethernet side Formula is communicated.

In a kind of implementation of the embodiment of the present application, electronic seat shipping bill member 205 further passes through the more matchmakers of fine definition Body interface HDMI wire accesses to the HDMI1014 of central domain calculation control unit 101.

In the present embodiment, referring to fig. 4, it includes that high-definition multimedia connects that central domain, which calculates on control subelement 101, Mouth (High Definition Multimedia Interface, HDMI) 1014, electronic seat shipping bill member 205 can also pass through HDMI wire is connected to the HDMI1014 that central domain calculates control subelement 101.In this way, electronic seat shipping bill member 205 is counted with central domain Calculating can be communicated between control subelement 101 by HDMI wire, to realize the friendship of the amusement in vehicle electric cockpit, information Mutually and show etc., for example play music etc..

In a kind of implementation of the embodiment of the present application, referring to Fig. 5, the figure shows provided by the embodiments of the present application The composition schematic diagram of the collecting and distributing type domain controller system of three kinds of network architectures based on automated driving system.It should be based on automatic Pilot The collecting and distributing type domain controller system of the network architecture of system further include: map control unit 300, map control unit 300 include High-precision map controller 301 and sensor 302, the quantity of sensor be it is multiple, high-precision map controller 301 is used for vehicle Path computing, Global motion planning and positioning, sensor 302 is used to detect the location information of vehicle, high-precision map controller 301 and sensor 302 be attached, high-precision map controller 301 passes through vehicle-mounted ether net mode and vehicle-mounted Ethernet exchanging Machine domain unit 102 connects, and is connect by control office's net CAN bus with center gateway unit 201.

In the present embodiment, as shown in figure 5, the collection of the network architecture based on automated driving system in the embodiment of the present application Dissipating in formula domain controller system can also include map control unit 300.It may include having in map control unit 300 High-precision map controller 301 and multiple sensors 302.Wherein, high-precision map controller 301 can be used for the road to vehicle Diameter calculates, Global motion planning and the positioning to vehicle, sensor 302 can be used for detecting the location information of vehicle.Furthermore, it is possible to will High-precision map controller 301 and each sensor 302 are attached, to realize high-precision map controller 301 and pass Communication between sensor 302.In concrete implementation, the connection type of high-precision map controller 301 and sensor 302 is such as It can be universal asynchronous receiving-transmitting transmitter (Universal Asynchronous Receiver/Transmitter, UART), logical With modes such as universal serial bus (Universal Serial Bus, USB) and CAN bus.In addition, high-precision map controller 301 can also be connect by vehicle-mounted ether net mode with vehicle-mounted Ethernet switch domain unit 102, to realize high-precision map control Device 301 processed calculates control subelement 101 with central domain with the communication of vehicle-mounted ether net mode；And high-precision map controller 301 can also be connect by CAN bus with center gateway unit 201, to realize in terms of high-precision map controller 301 and central domain Control subelement 101 is calculated with the communication of CAN bus transmission mode.

In concrete implementation, map control unit 300 may include four sensors, for example can defend for worldwide navigation Star system sensor (Global Navigation Satellite System sensor, GNSS sensor), in real time dynamic Measurement sensor (Real Time Kinematic sensor, RTK sensor), kilometer sensor (Odometer Sensor), gyro sensor (Gyro sensor), acceleration transducer (Accelerator sensor) and include The sensor of Inertial Measurement Unit (Inertial Measurement Unit, IMU).

In a kind of implementation of the embodiment of the present application, high-precision map controller 301 includes locator unit 3011 Handle engine 3012 with map datum, between locator unit 3011 and map datum processing engine 3012 with operating system into Communication technology IPC mode is communicated between journey.

In the present embodiment, high-precision map controller 301 may include 3011 He of locator unit (Positioning) Map datum handles engine (Map Data Base, Map-DB) 3012.Wherein, locator unit 3011 and map datum processing Engine 3012 can such as be communicated by the inter-process communication techniques IPC mode of operating system.Wherein, interprocess communication skill Art (Inter-Process Communication, IPC) can transmit data at least two processes or cross-thread to be a kind of Or the communication mode of signal.In addition, the accurately diagram data in map datum processing engine 3012 can be provided by figure quotient.

In a kind of implementation of the present embodiment, referring to Fig. 5, further includes: vision calculates and control unit 400, vision It calculates and control unit is based on image recognition technology, vision calculates and control unit is for detecting and identifying external environment, vision It calculates and control unit 400 includes intelligent vision controller 401 and camera 402, the quantity of camera is multiple, intelligent vision control Device 401 is attached with camera 402, and intelligent vision controller 401 passes through vehicle-mounted ether net mode and vehicle-mounted Ethernet switch Domain unit 102 connects, and is connect by control area net(CAN) CAN bus with center gateway unit 201.

In the present embodiment, referring to Fig. 5, the network architecture based on automated driving system in the embodiment of the present application it is collecting and distributing Formula domain controller system can also include vision calculating and control unit 400.The vision calculates and control unit 400 can be based on Image recognition technology, and for realizing the detection and identification to external environment.Vision calculates and control unit 400 may include intelligence Can vision controller 401 and multiple cameras 402, wherein intelligent vision controller 401 can be attached with camera 402, with into Row communication.In concrete implementation, intelligent vision controller 401 can such as be connect with camera 402 by mobile Industry Processor Mouth MIPI mode is attached.Wherein, mobile industry processor interface (Mobile Industry Processor Interface, MIPI) mode can for it is a kind of be based upon mobile application processor formulation open standard communication mode.This Outside, intelligent vision controller 401 can also be connect by vehicle-mounted ether net mode with vehicle-mounted Ethernet switch domain unit 102, To realize that intelligent vision controller 401 and central domain calculate control subelement 101 with the communication of vehicle-mounted ether net mode；And Intelligent vision controller 401 can also be connect by bus with center gateway unit 201, to realize intelligent vision controller 401 The communication with CAN bus transmission mode of control subelement 101 is calculated with central domain.

In concrete implementation, visual spatial attention unit 400 may include multiple cameras, for example may include seven cameras, Respectively two long-range cameras (Long Range-Camera, LR-Camera), a short distance camera (Short Range- Camera, SR-Camera), four fisheye cameras (Fisheye-Camera), to realize view of the vehicle in forward sight or backsight Feel detection and identify, look around function and the function for monitoring of driver etc..

In a kind of implementation of the present embodiment, referring to Fig. 5, further includes: Intelligent Fusion independent unit 500 intelligently melts Independent unit 500 is closed for realizing the real time fusion of the data of multimodal sensor, Intelligent Fusion independent unit 500 includes radar Merge subelement 501, laser radar fusion subelement 502, radar 503 and laser radar 504, radar 503 and laser radar 504 Quantity it is respectively multiple, radar fusion subelement 501 is connect with radar 503 by control area net(CAN) CAN bus, laser radar Fusion subelement 502 is connect with laser radar 504 by vehicle-mounted ether net mode or control area net(CAN) CAN bus, and radar melts Zygote unit 501 merges subelement 502 with laser radar respectively by single with vehicle-mounted too cable and vehicle-mounted Ethernet switch domain Member 102 connect, radar fusion subelement 501 merge with laser radar subelement 502 respectively pass through control area net(CAN) CAN bus and Center gateway unit 201 connects, and radar fusion subelement 501 is connected by control area net(CAN) CAN bus and microcontroller 1013 It connects.

In the present embodiment, referring to Fig. 5, the collection of the network architecture provided by the embodiments of the present application based on automated driving system Dissipating in formula domain controller system can also include Intelligent Fusion independent unit 500.The Intelligent Fusion independent unit 500 may be implemented Real time fusion is carried out to the sensor of a variety of different modes data collected.Wherein, Intelligent Fusion independent unit 500 can wrap Include radar fusion subelement 501, laser radar fusion subelement 502, multiple radars 503 and multiple laser radars 504.Radar melts Zygote unit 501 can be used for carrying out real time fusion to the data that multiple radars 503 acquire, and laser radar merges subelement 502 It can be used for carrying out real time fusion to the data that multiple laser radars 504 acquire, radar 503 can be used for laser radar 504 Collecting data information.

In the present embodiment, referring to Fig. 6, the figure shows a kind of Intelligent Fusion independent units provided by the embodiments of the present application 500 composition schematic diagram.Wherein, radar fusion subelement 501 can be connect by CAN bus respectively with multiple radars 503, with Realize that the data between radar fusion subelement 501 and multiple radars 503 are transmitted；Laser radar merges subelement 502 can be with Multiple laser radars 504 are connected by vehicle-mounted ether net mode or CAN bus respectively, to realize that laser radar merges subelement Data transmission between 502 and multiple laser radars 504；Radar fusion subelement 501 merges subelement 502 with laser radar can It is connect with passing through vehicle-mounted ether net mode respectively with vehicle-mounted Ethernet switch domain unit 102, to realize radar fusion subelement 501 merge the leading to vehicle-mounted ether net mode that subelement 502 calculates control subelement 101 with central domain respectively with laser radar Letter；Radar fusion subelement 501 merges subelement 502 with laser radar can be respectively by CAN bus and center gateway unit 201 connections, merge with to realize radar fusion subelement 501 with laser radar subelement 502 calculated respectively with central domain control it is sub Unit 101 is with the communication of CAN bus transmission mode；Radar fusion subelement 501 can pass through CAN bus and microcontroller MCU1013 connection, to realize the communication of radar fusion subelement 501 Yu microcontroller 1013.

In concrete implementation, Intelligent Fusion independent unit 500 may include multiple radars 503 and multiple laser radars 504, for example may include in six short distances away from millimetre-wave radar (Short Range-Medium Range-Radar, SR-MR- Radar), one long away from millimetre-wave radar (Long Range-Radar, LR-Radar), two postposition laser radar (Rear- Lidar), a forward laser light radar (Front-Lidar).Wherein, two postposition laser radars can be located at vehicle Left back portion and right rear portion, i.e., be provided with a postposition laser radar in the left back portion of vehicle, the right rear portion of vehicle be provided with one A postposition laser radar.

In this way, conventionally, as the perception of the multisensor in the collecting and distributing type domain controller system of the network architecture System takes a long time in data fusion, and the real-time so as to cause data after fusion is poor, for this problem, in the present embodiment In, radar fusion subelement 501 merged with laser radar subelement 502 can based on the high-speed data process performance of FPGA, And pass through VHSIC hardware description language (Very High Speed Hardware Description Language, VHDL) to realize efficient fusion function early period of data and the data processing function of efficient pipeline synchronization formula, So that radar fusion subelement 501 swashs multiple radars 503 data collected, laser radar fusion subelement 502 to multiple The data collected of optical radar 504 carry out real time fusion and data processing, to reach the requirement of real-time perception in automatic Pilot.

In a kind of implementation of the present embodiment, referring to Fig. 5, further includes: external information communicates V2X unit 600, extraneous Information communicates V2X unit 600 for realizing vehicle and extraneous communication, and external information control unit 600 passes through vehicle-mounted Ethernet Mode is connect with vehicle-mounted Ethernet switch domain unit 102, and passes through control area net(CAN) CAN bus and center gateway unit 201 connections.

In the present embodiment, referring to Fig. 5, the collection of the network architecture provided by the embodiments of the present application based on automated driving system Dissipating in formula domain controller system can also include that external information communicates V2X unit 600, which communicates V2X unit 600 can To be based on dedicated short-range wireless communication technologies (Dedicated Short Range Communications, DSRC), honeycomb vehicle Join (Cellular Vehicle-to-Everything, C-V2X) wireless communication technique and car networking (Long Term Evolution-Vehicles, LTE-V) any one technology in wireless communication technique, to realize vehicle-to-vehicle (Vehicle to Vehicle, V2V) and vehicle to the communication function of infrastructure (Vehicle to Infrastructure, V2I).In addition, logical The function of communicating between the vehicle of external information communication V2X unit 600 is crossed, can also realize platooning (Platooning).Wherein, platooning's technology can be it is a kind of by number connection make more vehicles with fleet Form traveling, with fuel-saving technology.

Wherein, external information communication V2X unit 600 can pass through vehicle-mounted ether net mode and vehicle-mounted Ethernet switch domain Unit 102 connects, to realize external information communication V2X unit 600 with central domain calculating control subelement 101 with vehicle-mounted ether The communication of net mode；External information communication V2X unit 600 can be connect by CAN bus with center gateway unit 201, with reality Existing external information communication V2X unit 600 and central domain calculate control subelement 101 with the communication of CAN bus transmission mode.

In a kind of implementation of the present embodiment, referring to Fig. 5, further includes: remote radio communication units 700, long-range nothing Line communication unit 700 is used for the remote radio communication of vehicle, and it is soft to be embedded with safety filtering gateway in remote radio communication units 700 Part 710, safety filtering gateway software 710 are used to filter the insecure network information content in remote radio communication, long distance wireless Communication unit 700 is connect by vehicle-mounted ether net mode with vehicle-mounted Ethernet switch domain unit 102, and passes through control local Net CAN bus is connect with center gateway unit 201.

In the present embodiment, referring to Fig. 5, the collection of the network architecture provided by the embodiments of the present application based on automated driving system Dissipating formula domain controller system can also include remote radio communication units 700.The remote radio communication units 700 can be the base The entrance and outlet function of remote radio communication are provided in the collecting and distributing type domain controller system of the network architecture of automated driving system, It for example may include the function of remote routing function and remote gateway；Safe mistake can be embedded in the wireless communication unit 700 Gateway software 710 is filtered, which can be based on safety filtering algorithm, with the mistake in remote radio communication Insecure network information and content are filtered, and then guarantees the communication security of system.Remote radio communication units 700 can be by vehicle-mounted Ether net mode is connect with vehicle-mounted Ethernet switch domain unit 102, to realize in terms of remote radio communication units 700 and central domain Calculate the communication with vehicle-mounted ether net mode of control subelement 101；And remote radio communication units 700 can also pass through CAN Bus is connect with center gateway unit 201, to realize that remote radio communication units 700 and central domain calculate control subelement 101 With the communication of CAN bus transmission mode.

In a kind of implementation of the present embodiment, referring to Fig. 5, further includes: ultrasound unit 800, ultrasound unit 800 For detecting close vehicle from interior object, ultrasound unit includes multiple ultrasonic wave subelements, multiple ultrasound unit difference It is connect by control area net(CAN) CAN bus with microcontroller 1103.

In the present embodiment, referring to Fig. 5, the collection of the network architecture provided by the embodiments of the present application based on automated driving system Dissipating formula domain controller system can also include ultrasound unit 800, which can be used for vehicle periphery low coverage Detection from object information, ultrasound unit may include multiple ultrasonic wave subelements, wherein ultrasonic wave subelement such as can be with It is ultrasonic radar etc..Multiple ultrasonic wave subelements can be connect by CAN bus with microcontroller 1013 respectively, with reality Now with the communication of microcontroller 1013.

To sum up, the embodiment of the present application provides a kind of collecting and distributing type domain controller of network architecture based on automated driving system System, the system are supported to connect the cloud service to be communicated with backstage.It is provided with central domain calculation control unit, wherein should Central domain calculation control unit includes that central domain calculates control subelement and vehicle-mounted Ethernet switch domain unit, center domain meter Control subelement is calculated to connect by vehicle-mounted ether net mode with vehicle-mounted Ethernet switch domain unit.And it is provided with vehicle control Unit processed, wherein the control unit for vehicle includes central gateway unit, power domain control unit, chassis domain control unit, car body Control domain unit, electronic seat shipping bill member, wherein power domain control unit, chassis domain control unit, car body control domain unit, with And electronic seat shipping bill member passes through CAN bus respectively and connect with central gateway unit, central gateway unit passes through vehicle-mounted Ethernet side Formula is connect with vehicle-mounted Ethernet switch domain unit.In this way, the domain of corresponding exclusive function is respectively set for different functions Control unit, so that the controller in each exclusive functional domain control unit only has a kind of function, concentrated by exclusive function, The mode of regional function dispersion improves the number under the flexibility of the system configured in one piece, different exclusive functional domain control unit According to operation and orders the high efficiency executed and processing is carried out to exception and failure and low cost is carried out more to local trouble unit The convenience changed.It is understood that the functional unit for dividing and being arranged in the control unit for vehicle be not limited in it is above-mentioned Related functional unit.In concrete implementation, it is also based on existing Vehicular system, is drawn in the control unit for vehicle Divide and other a variety of different functional units are set.

The embodiment of the present application also provides a kind of collecting and distributing type domain controller systems of network architecture based on automated driving system System.Central domain calculation control unit is provided in the collecting and distributing type domain controller system of the network architecture based on automated driving system 100, it may include that central domain calculates control subelement 101 and vehicle-mounted Ethernet exchanging in the center domain calculation control unit 100 Machine domain unit 102.Wherein, it may include two integrated microprocessor chip SOC- that central domain, which calculates control subelement 101, A1011, SOC-B 1102 and microcontroller Safety-MCU1013.And integrated microprocessor chip SOC-A1011, SOC-B 1102 and microcontroller Safety-MCU1013 can pass through vehicle-mounted ether net mode and vehicle-mounted Ethernet switch domain respectively Unit 102 connects.

Vehicle control list is additionally provided in the collecting and distributing type domain controller system of the network architecture based on automated driving system Member 200 may include central gateway unit 201, power domain control unit 202, the control of chassis domain in the control unit for vehicle 200 Unit 203, car body control domain unit 204, electronic seat shipping bill member 205.In addition, power domain control unit 202, chassis domain control list Member 203 and car body control domain unit 204 all include respective multiple ECU, and each ECU passes through CAN bus respectively It is connect with central gateway unit 201.Wherein, power domain control unit 202, chassis domain control unit 203, car body control domain unit 204, electronic seat shipping bill member 205 is all connect and central gateway unit 201 by CAN bus with central gateway unit 201 respectively It is connect by vehicle-mounted ether net mode with vehicle-mounted Ethernet switch domain unit 102.Electronic seat shipping bill member 205 also further passes through Vehicle-mounted ether net mode is connect with vehicle-mounted Ethernet switch domain unit 102, and is connected to central domain by HDMI wire and is calculated Control the HDMI 1014 of subelement 101.

The collecting and distributing type domain controller system of the network architecture based on automated driving system further includes map control unit 300.It may include having high-precision map controller 301 and four sensors 302 in map control unit 300.Wherein, high It include that locator unit and map datum handle engine, the function of the high-precision map controller 301 in precision map controller 301 It can be realized by high-performance SOC chip.Four sensors 302 can be respectively GNSS sensor, RTK sensor, mileometer A sensor in sensor and gyro sensor and acceleration transducer.High-precision map controller 301 can be with This four sensors 302 are attached respectively, and high-precision map controller 301 can also be by with vehicle-mounted ether net mode and vehicle It carries Ethernet switch domain unit 102 to connect, and is connect by CAN bus with center gateway unit 201.

It further include that vision is calculated and controlled in the collecting and distributing type domain controller system of the network architecture based on automated driving system Unit 400 processed.Vision calculates and control unit 400 may include intelligent vision controller 401 and seven cameras 402.Wherein, seven A camera 402 can be respectively two LR- cameras, a SR- camera and four fisheye cameras.Intelligent vision controller 401 can To be attached with this seven cameras 402, intelligent vision controller 401 can also pass through vehicle-mounted ether net mode and vehicle-mounted ether Network switch domain unit 102 connects, and is connect by CAN bus with center gateway unit 201.

It further include that Intelligent Fusion is autonomous in the collecting and distributing type domain controller system of the network architecture based on automated driving system Unit 500.Wherein, Intelligent Fusion independent unit 500 may include radar fusion subelement 501, laser radar fusion subelement 502, seven radars 503 and three laser radars 504.Wherein, seven radars 503 can be six SR-MR- radars and one LR- radar；Three laser radars 504 can be two postposition laser radars and a forward laser light radar.Radar fusion is single Member 501 can be connect by CAN bus respectively with seven radars 503, and laser radar merges subelement 502 can be with three laser Radar 504 is connected by vehicle-mounted ether net mode or CAN bus, radar fusion subelement 501 and laser radar fusant list Member 502 can be connect by vehicle-mounted ether net mode with vehicle-mounted Ethernet switch domain unit 102 respectively, radar fusion subelement 501, which merge subelement 502 with laser radar, to be connect respectively by CAN bus with center gateway unit 201, radar fusion Unit 501 can be connect by CAN bus with microcontroller 1013 respectively.

It further include external information communication in the collecting and distributing type domain controller system of the network architecture based on automated driving system V2X unit 600, which communicates V2X unit 600 can be based on the nothing of any one in DSRC, C-V2X and LTE-V Line communication technology, external information communication V2X unit 600 can be connect by CAN bus with center gateway unit 201, external world's letter Message communication V2X unit 600 can be connect by vehicle-mounted ether net mode with vehicle-mounted Ethernet switch domain unit 102.

It further include remote radio communication in the collecting and distributing type domain controller system of the network architecture based on automated driving system Unit 700 is embedded with safety filtering gateway software 710 in the remote radio communication units 700.Remote radio communication units 700 It can be connect by vehicle-mounted ether net mode with vehicle-mounted Ethernet switch domain unit 102, and pass through CAN bus and central network Unit 201 is closed to connect.

It further include ultrasound unit in the collecting and distributing type domain controller system of the network architecture based on automated driving system 800, which includes multiple ultrasonic wave subelements, and these ultrasonic wave subelements can pass through CAN bus respectively It is connect with microcontroller 1013.

As seen through the above description of the embodiments, those skilled in the art can be understood that above-mentioned implementation All or part of the steps in example method can be realized by means of software and necessary general hardware platform.Based on such Understand, substantially the part that contributes to existing technology can be with software product and design in other words for the technical solution of the application The form of figure embodies, and the computer software product and design configuration can store in storage medium, as ROM/RAM, Magnetic disk, CD etc., including some instructions are used so that a computer equipment (can be personal computer, server or all Such as network communication equipments such as Media Gateway, etc.) it executes as described in certain parts of each embodiment of the application or embodiment Method.

It should be noted that each embodiment in this specification is described in a progressive manner, each embodiment emphasis is said Bright is the difference from other embodiments, and the same or similar parts in each embodiment may refer to each other.For reality For applying device disclosed in example, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place Referring to method part illustration.

It should also be noted that, herein, relational terms such as first and second and the like are used merely to one Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain Lid non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in process, method, article or equipment including the element.

The foregoing description of the disclosed embodiments makes professional and technical personnel in the field can be realized or use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the application.Therefore, the application It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one The widest scope of cause.

Claims

1. a kind of collecting and distributing type domain controller system of network architecture based on automated driving system characterized by comprising

Central domain calculation control unit, the center domain calculation control unit include central domain calculate control subelement and it is vehicle-mounted with Too network switch domain unit, the center domain calculate control subelement for the processing of core algorithm, the processing of data and patrol Issuing for order is collected, the vehicle-mounted Ethernet switch domain unit is used for transmission, exchange and the forwarding of data, center domain meter Control subelement is calculated to connect by vehicle-mounted ether net mode with the vehicle-mounted Ethernet switch domain unit；

Control unit for vehicle, the control unit for vehicle include central gateway unit, power domain control unit, chassis domain control list Member, car body control domain unit, electronic seat shipping bill member, the central gateway unit are used for the exchange and transmission of data, the power Domain control unit is used to control the dynamical system of vehicle, and chassis domain control unit is used to control the chassis system of vehicle, institute Car body control domain unit is stated for controlling the body electronics system of vehicle, the electronic seat shipping bill member is for controlling and handling vehicle Cockpit instrument and navigation information entertainment systems, power domain control unit, chassis domain control unit, the car body control Domain unit processed and the electronic seat shipping bill member pass through control area net(CAN) CAN bus respectively and connect with the central gateway unit, The central gateway unit is connect by vehicle-mounted ether net mode with the vehicle-mounted Ethernet switch domain unit.

2. system according to claim 1, which is characterized in that it includes microprocessor that the center domain, which calculates control subelement, SOC, microcontroller, then the central domain calculating control subelement passes through vehicle-mounted ether net mode and the vehicle-mounted Ethernet Switch domain unit connection, comprising: the microprocessor SOC and the microcontroller pass through vehicle-mounted ether net mode respectively It is connect with the vehicle-mounted Ethernet switch domain unit.

3. system according to claim 1, which is characterized in that the microprocessor SOC and the microcontroller are distinguished It is connect by control area net(CAN) CAN bus with the central gateway unit.

4. system according to claim 1, which is characterized in that the central gateway unit includes multiple ports, institute State power domain control unit, chassis domain control unit, the car body control domain unit and electronic seat shipping bill member difference It is connected to the port of the central gateway unit, by control area net(CAN) CAN bus to realize and the central gateway unit Connection.

5. system according to claim 1, which is characterized in that power domain control unit, chassis domain control are single Member and the car body control domain unit include respective multiple electronic control unit ECU, power domain control unit, It is total that respective ECU in chassis domain control unit and the car body control domain unit passes through control area net(CAN) CAN respectively Line is connected to the port of the central gateway unit, to realize the connection with the central gateway unit.

6. system according to claim 1, which is characterized in that the electronic seat shipping bill member further passes through vehicle-mounted Ethernet Mode is connect with the vehicle-mounted Ethernet switch domain unit.

7. system according to claim 1, which is characterized in that it is more that the electronic seat shipping bill member further passes through fine definition Media interface HDMI wire accesses to the HDMI of the central domain calculation control unit.

8. system described in -7 any one according to claim 1, which is characterized in that further include: map control unit, describedly Figure control unit includes high-precision map controller and sensor, and the quantity of the sensor is multiple, the high-precision map Controller is used for path computing, Global motion planning and the positioning of vehicle, and the sensor is used to detect the location information of vehicle, institute It states high-precision map controller and the sensor is attached, the high-precision map controller passes through vehicle-mounted ether net mode It is connect with the vehicle-mounted Ethernet switch domain unit, and passes through controller area network bus and the center gateway list Member connection.

9. system according to claim 8, which is characterized in that the high-precision map controller include locator unit and Map datum handles engine, to lead between the process of operating system between the locator unit and map datum processing engine Letter technology IPC mode is communicated.

10. system described in -7 any one according to claim 1, which is characterized in that further include: vision calculates and control is single Member, the vision calculates and control unit is based on image recognition technology, and the vision calculates and control unit is for detecting and knowing Other external environment, the vision calculates and control unit includes intelligent vision controller and camera, and the quantity of the camera is more A, the intelligent vision controller is attached with the camera, and the vision controller passes through vehicle-mounted ether net mode and institute The connection of vehicle-mounted Ethernet switch domain unit is stated, and is connect by control area net(CAN) CAN bus with the center gateway unit.

11. system described in -7 any one according to claim 1, which is characterized in that further include: Intelligent Fusion independent unit, Real time fusion of the Intelligent Fusion independent unit for realizing multimodal sensor data, the Intelligent Fusion independent unit packet Include radar fusion subelement, laser radar fusion subelement, radar and laser radar, the quantity point of the radar and laser radar Wei not be multiple, the radar fusion subelement is connect with the radar by control area net(CAN) CAN bus, and the laser radar melts Zygote unit is connect with the laser radar by vehicle-mounted ether net mode or control area net(CAN) CAN bus, and the radar melts Zygote unit merges subelement with the laser radar and passes through vehicle-mounted ether net mode and the vehicle-mounted Ethernet switch respectively The connection of domain unit, the radar fusion subelement merges subelement with the laser radar, and to pass through control area net(CAN) CAN respectively total Line is connect with the center gateway unit, and the radar fusion subelement passes through control area net(CAN) CAN bus and the microcontroller Device MCU connection.

12. system described in -7 any one according to claim 1, which is characterized in that further include: it is mono- that external information communicates V2X Member, for the external information communication V2X unit for realizing vehicle and extraneous communication, the external information control V2X unit is logical Vehicle-mounted ether net mode is crossed to connect with the vehicle-mounted Ethernet switch domain unit, and by control area net(CAN) CAN bus with The center gateway unit connection.

13. system described in -7 any one according to claim 1, which is characterized in that further include: remote radio communication units, The remote radio communication units are used for the remote radio communication of vehicle, are embedded with safe mistake in the remote radio communication units Gateway software is filtered, the safety filtering gateway software is used to filter the insecure network information content in remote radio communication, institute It states remote radio communication units to connect by vehicle-mounted ether net mode with the vehicle-mounted Ethernet switch domain unit, and passes through Control area net(CAN) CAN bus is connect with the center gateway unit.

14. system described in -7 any one according to claim 1, which is characterized in that further include: ultrasound unit is described super For sound unit for detecting close vehicle from interior object, the ultrasound unit includes multiple ultrasonic wave subelements, described more A ultrasonic wave subelement passes through control area net(CAN) CAN bus respectively and connect with the microcontroller.