CN113341940B - Parallel automatic driving system - Google Patents
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- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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Abstract
The invention discloses a parallel automatic driving system, which adopts a superimposed design concept for a sensing mechanism, wherein a higher-level automatic driving system reuses a sensing result of a lower-level system, autonomously calculates and processes additional sensing data, and an instruction arbitration mechanism is added in a bottom-layer actuator, so that execution instructions synchronously sent by the automatic driving systems of two levels in parallel can be executed according to arbitration decision. The parallel system architecture provided by the invention realizes the sharing of sensing results, avoids repeated development, solves the execution problem of control signals of two levels, can synchronously carry out automatic driving function development of different levels, can plan higher-level automatic driving function development in advance while not influencing the function development, and is favorable for improving the safety of the whole system by an independent domain controller.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a parallel automatic driving system.
Background
Currently, the automatic driving level is classified into 6 levels in total from L0 to L5, and the automatic driving skill level thereof is also increased from 0 level to 5 levels. Because different levels need different sensor schemes, domain controllers have different calculation forces and different function definitions, the automatic driving functions of different levels are developed, the system architecture designs of the automatic driving functions are generally independent of each other, and the automatic driving functions are not greatly related to each other.
The present invention focuses on the system architecture composition at the L3 level and the L4 level, and currently, there are two system architecture schemes for the two levels as follows:
the first scheme, the L3-grade automatic driving system and the L4-grade automatic driving system adopt the same sensor arrangement scheme, two sets of domain controllers are adopted to respectively receive sensor signals, respective systems are independently operated, and bottom layer actuators are respectively and independently controlled, and the functions of the two systems cannot be compatible with each other at the same time.
And the second scheme, the L3-level automatic driving system and the L4-level automatic driving system adopt the same sensor arrangement scheme, adopt the same domain controller, independently operate respective systems on different chips respectively, share a set of bottom layer communication logic and respectively and independently control a bottom layer actuator.
However, since the current L4-level autopilot technology is not yet mature, the L3 autopilot technology approaches mass production landing, which causes the following problems:
according to the scheme I and the mutually independent scheme, although the two sets of system synchronous researches are not interfered with each other, the perception algorithm is repeatedly developed and deployed, the calculation power of a domain controller is wasted, and meanwhile, the repeated development condition of signal transmission and matching of an actuator can also occur, so that personnel are wasted; in addition, how the L3 and the L4 interact, how the bottom-level executor executes the line-controlled commands of L3 and L4 all have problems to be solved.
According to the second scheme, although the same sensing result can be shared, the actuators can share one set of bottom layer handshake signals, and the waste of computing power is avoided, however, due to the fact that system development needs to be conducted synchronously in the same domain control, and due to the fact that the L4-level automatic driving technology cannot fall to the ground in a short period, the synchronous development difficulty is high, and if the domain control fails, the whole automatic driving system cannot be started.
Disclosure of Invention
In view of the foregoing, the present invention provides a parallel autopilot system to solve the problems of signal transmission and function interaction of bottom layer actuators in the development of different levels of autopilot functions.
The technical scheme adopted by the invention is as follows:
a parallel autopilot system comprising:
an L3 class autopilot sensor for L3 class autopilot for target detection and vehicle localization;
an L3-level automatic driving system domain controller for input of ambient perception information and output of a line control instruction;
an L4 level automatic driving sensor used for carrying out target detection, vehicle positioning and vehicle road cloud interaction on an L4 level automatic driving automobile;
an L4 level autopilot system domain controller for input of ambient perception information and output of drive-by-wire commands;
the system comprises a bottom-layer executor with a signal arbitration module, a signal arbitration module and a control module, wherein the signal arbitration module is used for arbitrating the line control instructions of the L3 level and the L4 level and deciding the line control instructions to be executed finally according to a preset control mechanism;
the L3-level automatic driving sensor is respectively in signal connection with the L3-level automatic driving system domain controller and the L4-level automatic driving system domain controller; the level L4 autopilot sensor is in signal connection with the level L4 autopilot system domain controller; the bottom layer actuator is respectively in signal connection with the L3 level automatic driving system domain controller and the L4 level automatic driving system domain controller.
In at least one possible implementation manner, the L3-level automatic driving sensor specifically includes: millimeter wave radar, vision camera, ultrasonic radar, preceding laser radar and lane level positioning device.
In at least one possible implementation manner, the L4-level automatic driving sensor specifically includes: blind area millimeter wave radar, vision camera, 360 degrees full coverage laser radar, high accuracy positioning device, V2X equipment and 5G communication equipment.
In at least one possible implementation, each of the L3 level autopilot system domain controller and the L4 level autopilot system domain controller includes at least: the system comprises an environment perception module, a decision planning module and a motion control module.
In at least one possible implementation manner, the drive-by-wire instruction includes one or more of the following: a mode request command, a gear command, a throttle command, a brake command, and a steering command.
The idea of the invention is that the sensing mechanism adopts a superimposed design concept, the higher-level automatic driving system multiplexes the sensing result of the lower-level system, and autonomously calculates and processes the additional sensing data, and meanwhile, an instruction arbitration mechanism is added in the bottom-layer actuator, so that the execution instructions synchronously sent by the two-level automatic driving systems in parallel can be determined to execute one of the two systems through arbitration. The parallel system architecture provided by the invention realizes the sharing of sensing results, avoids repeated development, solves the execution problem of control signals of two levels, can synchronously carry out automatic driving function development of different levels, can plan higher-level automatic driving function development in advance while not influencing the function development, and is favorable for improving the safety of the whole system by an independent domain controller.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
fig. 1 is a schematic diagram of a parallel type automatic driving system according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
The invention provides an embodiment of a parallel type automatic driving system, which specifically comprises the following components as shown in fig. 1:
an L3 class autopilot sensor for L3 class autopilot for target detection and vehicle localization; preferred include, but are not limited to: millimeter wave radar, vision camera, ultrasonic radar, preceding laser radar and lane level positioning device etc..
The level-L3 autopilot system domain controller for the input of ambient perception information and the output of drive-by-wire commands is also the main operational vehicle of the level-L3 autopilot.
An L4 level automatic driving sensor used for carrying out target detection, vehicle positioning and vehicle road cloud interaction on an L4 level automatic driving automobile; preferred include, but are not limited to: blind area millimeter wave radar, vision camera, 360 degrees full coverage laser radar, high accuracy positioning device, V2X equipment and 5G communication equipment.
The level-L4 autopilot system domain controller for the input of ambient perception information and the output of drive-by-wire commands is also the main operational vehicle of the level-L4 autopilot.
It may be added here to the accompanying drawings that each of said level L3 autopilot system domain controller and said level L4 autopilot system domain controller may include at least the following illustrated software modules: the system comprises an environment perception module, a decision planning module and a motion control module.
And the system embodiment also comprises a bottom layer executor with a signal arbitration module, wherein the signal arbitration module is used for arbitrating the line control instructions of the L3 level and the L4 level and deciding the line control instructions to be executed finally according to a preset control mechanism.
As shown, the L3 level automatic driving sensor is respectively in signal connection with the L3 level automatic driving system domain controller and the L4 level automatic driving system domain controller; the level L4 autopilot sensor is in signal connection with the level L4 autopilot system domain controller; the bottom layer actuator is respectively in signal connection with the L3 level automatic driving system domain controller and the L4 level automatic driving system domain controller. Wherein, the line control instruction can include but is not limited to one or more of the following: a mode request command, a gear command, a throttle command, a brake command, and a steering command.
With reference to the above embodiments and the preferred embodiments thereof, the operation of the system architecture is as follows:
(1) the L3-grade automatic driving sensor can send perception information to the L3-grade and L4-grade domain controllers respectively, and the L4-grade domain controller can synchronously receive additional perception information in the system of the L4-grade automatic driving sensor (the L4-grade automatic driving sensor is expressed as an L4-grade automatic driving additional sensor in the figure);
(2) the domain controllers of the L3 level and the L4 level respectively and simultaneously process the input information and respectively calculate the line control commands of the L3 level and the L4 level;
(3) after receiving the wire control commands of L3 and L4, the signal arbitration module of the bottom-layer actuator determines that the wire control command of the system of that level should be executed finally according to a preset control mechanism, which may be based on an application scenario or manual command writing. For example, the driver inputs a system activation request through the human-computer interaction system controlled by the L4 domain, and the human-computer interaction system L3 does not have a request, so that the signal arbitration module can obtain the driver's desire to activate and start the L4 system through the mode request logic, that is, the signal arbitration module can finally execute the drive-by-wire command of the automatic driving system L4.
In summary, the idea of the present invention is to adopt a superimposed design concept for the sensing mechanism, and the higher level autopilot system multiplexes the sensing results of the lower level systems and autonomously calculates and processes the additional sensing data, and at the same time, an instruction arbitration mechanism is added to the bottom actuator, so that the execution instructions synchronously sent by the two levels of autopilot systems in parallel can be executed by arbitration decision. The parallel system architecture provided by the invention realizes the sharing of sensing results, avoids repeated development, solves the execution problem of control signals of two levels, can synchronously carry out automatic driving function development of different levels, can plan higher-level automatic driving function development in advance while not influencing the function development, and is favorable for improving the safety of the whole system by an independent domain controller.
In the embodiments of the present invention, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, and may mean that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.
The structure, features and effects of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the above embodiments are merely preferred embodiments of the present invention, and it should be understood that technical features related to the above embodiments and preferred modes thereof can be reasonably combined and configured into various equivalent schemes by those skilled in the art without departing from and changing the design idea and technical effects of the present invention; therefore, the invention is not limited to the embodiments shown in the drawings, and all the modifications and equivalent embodiments that can be made according to the idea of the invention are within the scope of the invention as long as they are not beyond the spirit of the description and the drawings.
Claims (5)
1. A parallel autopilot system, comprising:
an L3 class autopilot sensor for L3 class autopilot for target detection and vehicle localization;
an L3-level automatic driving system domain controller for input of ambient perception information and output of a line control instruction;
an L4 level automatic driving sensor used for carrying out target detection, vehicle positioning and vehicle road cloud interaction on an L4 level automatic driving automobile;
an L4-level automatic driving system domain controller for input of ambient perception information and output of a line control instruction;
the system comprises a bottom-layer executor with a signal arbitration module, a signal arbitration module and a control module, wherein the signal arbitration module is used for arbitrating the line control instructions of the L3 level and the L4 level and deciding the line control instructions to be executed finally according to a preset control mechanism;
the L3-level automatic driving sensor is respectively in signal connection with the L3-level automatic driving system domain controller and the L4-level automatic driving system domain controller; the level L4 autopilot sensor is in signal connection with the level L4 autopilot system domain controller; the bottom layer actuator is respectively in signal connection with the L3 level automatic driving system domain controller and the L4 level automatic driving system domain controller.
2. A parallel autopilot system according to claim 1, characterized in that the level L3 autopilot sensors include in particular: millimeter wave radar, vision camera, ultrasonic radar, preceding laser radar and lane level positioning device.
3. A parallel autopilot system according to claim 1, characterized in that the level L4 autopilot sensors include in particular: blind area millimeter wave radar, vision camera, 360 degrees full coverage laser radar, high accuracy positioning device, V2X equipment and 5G communication equipment.
4. A parallel autopilot system according to any one of claims 1-3 wherein each of the level L3 autopilot system domain controllers and the level L4 autopilot system domain controller includes at least: the system comprises an environment perception module, a decision planning module and a motion control module.
5. A parallel autopilot system according to any one of claims 1-3 wherein the by-wire commands include one or more of: a mode request command, a gear command, a throttle command, a brake command, and a steering command.
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| CN111994019A (en) * | 2020-09-01 | 2020-11-27 | 驭势科技（北京）有限公司 | Data one-to-two conversion circuit and system and unmanned vehicle |
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| US9829884B1 (en) * | 2016-05-10 | 2017-11-28 | Dura Operating, Llc | Scalable driver assistance system |
| KR20200081530A (en) * | 2018-12-19 | 2020-07-08 | 주식회사 만도 | Safety control system and method of self-driving vehicles |
| CN109917779A (en) * | 2019-03-26 | 2019-06-21 | 中国第一汽车股份有限公司 | Redundancy control system towards L3 automatic Pilot |
| KR102183952B1 (en) * | 2019-06-27 | 2020-11-27 | 현대모비스 주식회사 | Control apparatus of autonomous driving vehicle |
| CN110779730A (en) * | 2019-08-29 | 2020-02-11 | 浙江零跑科技有限公司 | L3-level automatic driving system testing method based on virtual driving scene vehicle on-ring |
| CN110568852A (en) * | 2019-10-12 | 2019-12-13 | 深圳市布谷鸟科技有限公司 | Automatic driving system and control method thereof |
| CN110641367A (en) * | 2019-10-31 | 2020-01-03 | 东风汽车股份有限公司 | Environment sensing system arrangement structure for automatic driving |
| CN111025959B (en) * | 2019-11-20 | 2021-10-01 | 华为技术有限公司 | Data management method, device and equipment and intelligent automobile |
| CN110955232A (en) * | 2019-12-13 | 2020-04-03 | 深圳市英博超算科技有限公司 | Automatic driving system architecture |
| CN112406892B (en) * | 2020-11-03 | 2022-11-18 | 上海大学 | Intelligent networking automobile perception decision module function safety and network safety endogenous guarantee method |
| CN112373477B (en) * | 2020-11-23 | 2023-03-28 | 重庆长安汽车股份有限公司 | Redundancy control method for automatic driving system, automobile, controller, and computer-readable storage medium |
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| CN110531746A (en) * | 2018-05-23 | 2019-12-03 | 郑州宇通客车股份有限公司 | A kind of automatic driving vehicle control method and system, vehicle |
| CN111994019A (en) * | 2020-09-01 | 2020-11-27 | 驭势科技（北京）有限公司 | Data one-to-two conversion circuit and system and unmanned vehicle |
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