CN113589824A - Distributed sensing system based on edge calculation - Google Patents
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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Abstract
The application discloses distributed sensing system based on edge calculation, through set up switch and edge calculation module in the system, realized carrying out multiclass data fusion processing at the edge that is closer to the raw data that the sensor acquireed, the value of full play front end data collection improves data processing's ageing and convenience, reduce system response time delay, save the network bandwidth, still have the effect of protection data safety, simultaneously, can also reduce the systematic risk that high in the clouds trouble led to the fact to vehicle safe driving. The system that this application provided still can construct intelligent car networking solution with data transmission to cloud computing platform or other vehicles through wireless routing module, promotes the holistic intelligent driving level of vehicle, for the user provides safe, comfortable, intelligent, efficient driving impression and traffic service, improves traffic operating efficiency simultaneously.
Description
Technical Field
The application relates to the field of automatic driving, in particular to a distributed sensing system based on edge calculation.
Background
With the continuous progress of the automatic driving technology, the hardware composition in the automatic driving solution tends to be more and more complex and diversified, and vehicle scale sensors such as a visible light image sensor, an infrared image sensor, a laser radar, a millimeter wave radar or an ultrasonic radar are widely applied to the automatic driving solution. With the increase of the complexity of data, the data volume increases in a geometric level, and the problem that how to analyze and process a large amount of data captured by the sensors is accompanied with, because the change of the vehicle motion state in the automatic driving process depends on the processing and analysis of the data captured by the sensors, higher requirements are put on the timeliness and convenience of data processing, and the automatic driving function is supported to work normally.
According to traditional mode, unified transmission is carried out analysis processes to host system or cloud computing platform after each sensor of vehicle catches data, and in the face of along with the complexity increase of data, under the condition that the data bulk is the geometric grade and increases, network transmission pressure and data delay problem cause adverse effect to vehicle automatic driving function, and a large amount of data transmission also can have the problem of threatening data safety to high in the clouds, and in addition, if host system or high in the clouds break down, there is the risk in the security that the automatic driving vehicle travel.
Disclosure of Invention
In view of the above, the present application provides a distributed sensing system based on edge calculation.
In order to solve the technical problem, the following technical scheme is adopted in the application:
an edge-computing-based distributed sensing system, the system comprising:
the first sensor group is used for acquiring first data of surrounding environment information in the running process of the vehicle;
the second sensor group is used for acquiring second data of the vehicle characteristic information;
the switch is connected with the first sensor group or the second sensor group, and the switch is connected with an edge computing module and used for transmitting the first data or the second data to the edge computing module;
the edge calculation module is used for processing the first data or the second data to obtain third data;
the storage module is connected with the edge calculation module and is used for storing the first data, the second data or the third data;
a first wireless routing module connected with the switch for transmitting the third data to a cloud computing platform.
Preferably, the system further comprises a second wireless routing module, connected to the switch, and configured to transmit or receive the first data, the second data, or the third data with a sensing system of another vehicle through a wireless network.
Preferably, the system further comprises a codec module connected to the switch for transmitting the third data compression to the cloud computing platform via the first wireless module or decompressing data received from the cloud computing platform via the first wireless module.
Preferably, the system further includes a preprocessing module, connected to the switch and the edge computing module, and configured to perform format conversion, data encryption, or filtering on the first data.
Preferably, the system further comprises a control module, connected to the switch and the edge computing module, for receiving a control signal sent by the edge computing module, and controlling the sensor or the vehicle component via the switch.
Preferably, the first sensor set includes a visible light image sensor, an infrared image sensor, a laser radar, a millimeter wave radar, or an ultrasonic radar.
Preferably, the second sensor group includes a temperature and humidity sensor, a tire pressure sensor, a multi-axis gyroscope, an acceleration sensor, or a vibration sensor.
Preferably, the first data comprises raw data of target object features, distances, road conditions or road signs in the environment.
Preferably, the second data includes raw data of vehicle temperature, humidity, tire pressure, acceleration or vibration amplitude.
Compared with the prior art, the method has the following beneficial effects:
based on the technical scheme, the distributed sensing system based on edge calculation provided by the application realizes multi-class data fusion processing at the edge closer to the original data acquired by the sensor by arranging the switch and the edge calculation module in the system, selects different analysis algorithms at the front end, fully exerts the value of the front end acquired data, improves the timeliness and convenience of data processing, reduces the system response time delay, saves the network bandwidth, further has the function of protecting data safety, and meanwhile can reduce the systematic risk of safe driving of a vehicle caused by cloud faults. The system that this application provided still can construct intelligent car networking solution with data transmission to cloud computing platform or other vehicles through wireless routing module, promotes the holistic intelligent driving level of vehicle, for the user provides safe, comfortable, intelligent, efficient driving impression and traffic service, improves traffic operating efficiency simultaneously.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a logic block diagram of a distributed sensing system based on edge calculation according to an embodiment of the present application.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or device that comprises a list of elements does not include only those elements but may include other elements not expressly listed. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of additional like elements in the article or device comprising the element.
Referring to fig. 1, fig. 1 is a logic block diagram of a distributed sensing system based on edge calculation provided in the present application.
The distributed sensing system based on edge calculation provided by the embodiment of the application comprises a plurality of sensors, the sensors can be classified into two types according to the detection object classification of the sensors, the first type of sensors are used for detecting the external information of the vehicle, namely the surrounding environment information in the driving process of the vehicle, for example, the information can comprise the original data of the characteristics of a target object, the distance of the target object, the road condition or a road sign in the environment; the second type of sensor is a sensor that detects vehicle internal information, i.e., characteristic information of the vehicle itself, which may include raw data of vehicle temperature, humidity, tire pressure, acceleration, or vibration amplitude, for example.
The first type of sensor includes a visible light image sensor, an infrared image sensor, a laser radar, a millimeter wave radar, or an ultrasonic radar.
The visible light image sensor generates an optical image of a target object through a lens and projects the optical image onto the image sensor, an optical signal is converted into an electric signal, the electric signal is converted into a digital image signal through analog-to-digital conversion, the digital image signal is finally sent into a digital signal processor for processing, and the digital signal processor processes the signal into an image with a specific format and outputs the image.
The infrared image sensor receives electromagnetic radiation in a spectral range corresponding to the thermal radiation reflected by the target object, for example, electromagnetic waves with a wavelength of 8 to 14 micrometers, converts an optical signal into raw data in the form of an electrical signal through a thermosensitive film, and processes the raw data to obtain an infrared image.
The principle of the laser radar, the millimeter wave radar and the ultrasonic radar is similar, detection signals are transmitted to a target, then received signals reflected from the target are compared with the transmitted signals, and after appropriate processing is carried out, relevant information of the target, such as target distance, direction, height, speed, attitude, even shape and other parameters, can be obtained.
In some embodiments, the visible light image sensor or the infrared image sensor may be an image sensor with a polarization device, since the reflection of an object and the electromagnetic radiation may generate polarization characteristics determined by their own properties, different states (e.g., roughness, moisture content, material physicochemical characteristics, etc.) of different objects or the same object may have different polarization states in a thermal infrared band, and by using an infrared polarization imaging technique in which an object indicates radiation or reflection polarization information, multi-dimensional feature information such as intensity, polarization, and image of the object may be comprehensively obtained, thereby effectively improving the contrast between the object and the background, highlighting the detailed features of the object, enhancing the object recognition effect, and more comprehensively and deeply knowing the attributes and behaviors of the object.
The second type of sensor comprises a temperature and humidity sensor, a tire pressure sensor, a multi-axis gyroscope, an acceleration sensor, a vibration sensor or a rainfall sensor.
The temperature and humidity sensor is used for collecting internal working environment state data of the vehicle-mounted terminal, and if the monitored environment state data exceeds a preset threshold value, prompt can be given to people in the vehicle, for example, when the environment temperature exceeds 60 ℃ or the humidity exceeds 90%, the vehicle-mounted terminal sends out a danger alarm to remind a driver of paying attention to possible failure of the terminal equipment and timely processes the failure.
The tire pressure sensor is used for judging whether the tire is abnormal or not through the rotating speed difference of the tire, or automatically monitoring the air pressure and the temperature of the tire in real time when the automobile is static or in the running process, and giving an alarm to the high pressure, the low pressure and the high temperature of the tire in time, so that traffic accidents caused by tire faults are avoided, and the running safety is ensured.
The multi-axis gyroscope or the acceleration sensor is used for measuring the angular velocity or the acceleration of the vehicle, can accurately describe the linear motion and the rotary motion including turning change of the vehicle so as to judge the motion state of an object and monitor the running state information of the vehicle in real time.
The vibration sensor collects the vibration state of the vehicle-mounted terminal and the vibration state of the vehicle in a large range in real time
The first type and the second type of sensor that this application embodiment provided connect the switch, and the switch still is connected with the edge calculation module, and the switch is used for transmitting the data that multiple sensor caught to the edge calculation module is to data analysis processing.
The edge calculation module receives the sensor data and analyzes and processes the data, and the edge calculation module includes, but is not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) calculation chips, various calculation units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like.
In some embodiments, two types of sensor data sometimes need to be fused, and switches in the system are connected with each other to facilitate fusion of multiple types of sensor data and support fused data processing for the edge computing module.
For example, during vehicle autonomous driving, the edge calculation module acquires raw data from a visible light image sensor, an infrared image sensor, a multi-axis gyroscope, and an acceleration sensor, respectively. The method has the advantages that clear, detailed and comprehensive information of the surrounding environment can be obtained by fusing the visible light image and the infrared image, halation is eliminated, the image detail characteristics are improved, objects in the environment are identified through an image target identification algorithm, current vehicle motion information from a multi-axis gyroscope and an acceleration sensor is fused, a decision for adjusting the vehicle motion state can be made by an edge calculation module, a motion control signal capable of changing the vehicle motion state is output, and intelligent automatic driving of a vehicle is achieved.
The system provided by the embodiment of the application is provided with a storage module connected with an edge calculation module, wherein the storage module is used for temporarily storing data, and the data can be original data acquired by a sensor or data processed by the edge calculation module. The memory module may include one or more volatile memory devices such as Random Access Memory (RAM), dynamic RAM (dram), synchronous dram (sdram), static RAM (sram), or other types of memory devices.
In some embodiments, the system includes a preprocessing module, the preprocessing module is connected to the switch and the edge computing module, respectively, and the preprocessing module is configured to perform data format conversion, data encryption, protocol analysis, or data filtering on the raw data acquired by the sensor.
In some embodiments, the system includes a control module, the control module is connected to the switch and the edge computing module, and the control module is configured to receive a request control signal from the edge computing module or the cloud computing platform, output the control signal to act on the sensor, and adjust an operating parameter of the sensor, for example, a focal length and an exposure time of a camera including a visible light sensor or an infrared sensor may be adjusted as needed.
The pre-processing and control modules include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like.
After the edge computing module processes the sensor data, the processed data can be sent to the cloud computing platform through the first wireless module in a wireless transmission mode, and more complex computing processing is carried out.
The first wireless routing module has a data receiving and sending function, and can send data to the cloud computing platform in a wireless mode, wherein the data can be processed by the edge computing module or raw data acquired by the sensor.
The first wireless routing module may be a WiFi transceiver, an infrared transceiver, a bluetooth transceiver, a WiMax transceiver, a wireless cellular telephone transceiver, a satellite transceiver (e.g., a Global Positioning System (GPS) transceiver), or other Radio Frequency (RF) transceiver, or a combination thereof.
In some embodiments, the system includes a codec module connected to the switch and the first wireless routing module, and the codec module is configured to compress data to be sent to the cloud computing platform or decompress data returned from the cloud computing platform. When the data is uploaded after being compressed, the uploading time can be reduced.
In some embodiments, the edge computing module receives data processed by the preprocessing module, analyzes and processes the data, transmits the processed data to the compression and decompression module through the switch, the compression and decompression module compresses the processed data, the compressed data is sent to the first wireless routing module and is uploaded to the cloud computing platform in a wireless manner, the cloud computing platform decompresses the data after receiving the compressed data and performs more complex computing processing, and after processing the data, the cloud computing platform can transmit the compressed data back to the compression and decompression module through the first wireless routing module in a wireless manner.
In some embodiments, the system comprises a second wireless routing module, the second wireless routing module is used for sending the original data acquired by the sensor to other vehicles in a wireless mode, so that the data sharing effect is achieved, the internet of vehicles is realized, the overall intelligent driving level of the vehicles is improved, safe, comfortable, intelligent and efficient driving feeling and traffic service are provided for users, and meanwhile, the traffic operation efficiency is improved.
The foregoing is only a preferred embodiment of the present invention, and although the present invention has been disclosed in the preferred embodiments, it is not intended to limit the present invention. Those skilled in the art can make numerous possible variations and modifications to the present teachings, or modify equivalent embodiments to equivalent variations, without departing from the scope of the present teachings, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (9)
1. An edge-computing-based distributed sensing system, the system comprising:
the first sensor group is used for acquiring first data of surrounding environment information in the running process of the vehicle;
the second sensor group is used for acquiring second data of the vehicle characteristic information;
the switch is connected with the first sensor group or the second sensor group, and the switch is connected with an edge computing module and used for transmitting the first data or the second data to the edge computing module;
the edge calculation module is used for processing the first data or the second data to obtain third data;
the storage module is connected with the edge calculation module and is used for storing the first data, the second data or the third data;
a first wireless routing module connected with the switch for transmitting the third data to a cloud computing platform.
2. The system of claim 1, further comprising a second wireless routing module coupled to the switch for transmitting or receiving the first data, the second data, or the third data with a sensing system of another vehicle over a wireless network.
3. The system of claim 1, further comprising a codec module coupled to the switch for transmitting the third data compression to the cloud computing platform via the first wireless module or for decompressing data received from the cloud computing platform via the first wireless module.
4. The system of claim 1, further comprising a preprocessing module, connected to the switch and the edge computing module, for performing format conversion, data encryption, or filtering on the first data.
5. The system of claim 1, further comprising a control module coupled to the switch and the edge computing module for receiving control signals sent by the edge computing module to control the sensor or the vehicle component via the switch.
6. The system of claim 1, wherein the first sensor set comprises a visible light image sensor, an infrared image sensor, a lidar, a millimeter wave radar, or an ultrasonic radar.
7. The system of claim 1, wherein the second sensor group comprises a temperature and humidity sensor, a tire pressure sensor, a multi-axis gyroscope, an acceleration sensor, or a shock sensor.
8. The system of claim 1, wherein the first data comprises raw data of target object features, distances, road conditions, or road signs in the environment.
9. The system of claim 1, wherein the second data comprises raw data of vehicle temperature, humidity, tire pressure, acceleration, or vibration amplitude.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114697199A (en) * | 2022-05-31 | 2022-07-01 | 苏州映赛智能科技有限公司 | High-robustness data acquisition method and system based on edge calculation |
| CN114838760A (en) * | 2022-04-11 | 2022-08-02 | 湖南中融汇智信息科技股份有限公司 | Edge calculation system of temperature and vibration intelligent monitoring module |
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2021
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114838760A (en) * | 2022-04-11 | 2022-08-02 | 湖南中融汇智信息科技股份有限公司 | Edge calculation system of temperature and vibration intelligent monitoring module |
| CN114697199A (en) * | 2022-05-31 | 2022-07-01 | 苏州映赛智能科技有限公司 | High-robustness data acquisition method and system based on edge calculation |
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