CN113721614A - Integrated Beidou navigation high-performance automatic driving control domain controller, system and vehicle - Google Patents
Integrated Beidou navigation high-performance automatic driving control domain controller, system and vehicle Download PDFInfo
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention is used in the field of automatic driving of level L4 and above; the double Xavier computing platform in the controller provides 60Tops AI computing power, and can meet the requirement of big data access under a multi-sensor fusion sensing scheme, such as analysis and fusion of sensors such as laser radar, cameras, millimeter waves and the like, decision planning and computing and the like; the double backup MCU system is designed in a redundant way, when the master MCU fails, the slave MCU can effectively monitor and carry out brake protection processing, and the functional safety of the system can be ensured; by receiving PPS signals of the combined inertial navigation and using CPLD hardware for synchronous processing in the controller, the space-time consistency of a laser radar, a camera and the like is realized, and an effective solution is provided for perception fusion algorithm transplantation and calculation; by integrating the multi-mode GNSS chip supporting the Beidou, the high-precision IMU and the real-time differential positioning RTK module, the internal communication of high-precision positioning data is realized, the time delay and the failure probability brought by multi-wiring-beam interface cascade are reduced, the number of system associated parts is reduced, and the purpose of reducing the cost of the technology is achieved.
Description
Technical Field
The invention relates to the technical field of automatic driving automobiles, in particular to an automatic driving domain controller integrated with a Beidou high-precision navigation system, which is suitable for automatic driving vehicles of L4 and above.
Background
With the rapid development of the Beidou positioning technology and the rapid improvement of the positioning precision, the state advocates the use of the Beidou positioning technology in the fields of industry, automobiles and the like. In the field of automobiles, along with the popularization of an automatic driving technology and the complexity of vehicle environment perception requirements, an automatic driving domain controller is required to bear the module computational power and performance requirements of environment perception fusion, decision planning, chassis control and the like. Generally, an automatic driving vehicle is separately configured with high-precision inertial navigation, satellite navigation and 4G RTK (Real-time kinematic/carrier-phase differential technology) to realize the positioning function of the automatic driving vehicle, because a plurality of systems are involved, a plurality of levels of wire harness interfaces are required for connection, and most of the interfaces cannot meet the requirements of a vehicle gauge, so that the stability and the positioning precision of the whole positioning system are affected. Through with high accuracy inertia module, support GPS big dipper bimodulus wei dao module and 4G RTK real-time difference system at autopilot territory controller internal integration, through internal communication, reduce the external line and connect, can improve the location data communication real-time, also can be through module internal integration, reach the technique and fall the cost purpose.
Disclosure of Invention
The invention aims to design an automatic driving area controller with a high-precision positioning hardware function. In order to achieve the purpose, the hardware integrated combined navigation module of the automatic driving domain controller is designed to acquire high-precision positioning data through internal communication.
As a first aspect, the present invention provides an automatic driving area controller with a high-precision positioning hardware function, which includes an AI chip module, an integrated navigation module, and an MCU control chip module, wherein: the AI chip module and the MCU control chip module are interconnected through a gigabit Ethernet switch, and the combined navigation module is interconnected with the MCU control chip module through a UART interface.
The AI chip module is a double Xavier chip module and comprises an Xavier chip A and an Xavier chip B, wherein the Xavier chip A and the Xavier chip B are interconnected through a gigabit Ethernet, and the Xavier chip A and the Xavier chip B are both configured with an Ubuntu Linux operating system.
The MCU control chip module is a double-backup MCU system chip module and comprises a main MCU chip and a slave MCU chip, and the main MCU chip and the slave MCU chip are interconnected through a UART.
The combined navigation module is formed by integrating an inertial sensor IMU, a GNSS positioning chip, a real-time differential positioning RTK module and a fusion processor MCU, wherein the fusion processor MCU is connected with the GNSS positioning chip and the inertial sensor IMU through serial ports, the fusion processor MCU is respectively interconnected with an Xavier chip A and a main MCU chip through a UART, and the real-time differential positioning RTK module and the GNSS positioning chip are integrated into the GNSS positioning module.
With reference to the first aspect, in a first case of any possible case, the Xavier chip a and the Xavier chip B both define a camera serial interface CSI, the two sets of chip modules are connected to the MAX96712 chip through the CSI interface, and are connected to the vision sensor at the vehicle end through the MAX96712 chip, so that zero-delay data sharing is realized between the Xavier chip a and the Xavier chip B.
In combination with the first aspect or the first condition, the second condition under any possible condition is that the master MCU chip and the slave MCU chip are not provided with operating systems, the slave MCU chip is powered by adopting an independent power supply, the slave MCU chip monitors the working state of the master MCU chip through heartbeat signals exchanged by the CAN bus, and the slave MCU chip monitors the power state of the AI chip module in real time through the CAN bus.
With reference to the first aspect or the first and second cases, a third case in any possible case is that GNSS positioning chip data is synchronized with inertial sensor IMU data in the fusion processor MCU through the PPS interface and then distributed and transmitted to the Xavier chip a and the main MCU chip through the PPS interface.
With reference to the first aspect or the first, second, or third cases, a fourth case in any possible case is that the automatic driving area controller supports a 6-way adaptive ethernet interface, supports an 8-way high-definition camera access interface, and supports a 2-way USB interface and a 3-way serial communication interface.
As a second aspect, the present invention provides an automatic driving area control system with a high-precision positioning hardware function, which is characterized in that the system includes an automatic driving area controller, and the automatic driving area controller includes an AI chip module, a combined navigation module, and an MCU control chip module.
The AI chip module adopts a double-Xavier chip architecture, namely comprises an Xavier chip A and an Xavier chip B, and is used for acquiring various data to calculate in real time and selecting a corresponding strategy to make a decision.
The MCU control chip module adopts a double-backup MCU system, namely comprises a main MCU chip and a slave MCU chip, wherein the main MCU chip is used for power control of the AI chip module and the combined navigation module, and interaction of a vehicle transverse and longitudinal control algorithm and chassis data; adopt solitary power supply from the MCU chip, follow the operating condition of MCU chip through the heartbeat signal monitoring main MCU chip of CAN bus exchange, follow the power state of MCU chip through CAN bus real-time supervision AI chip module, carry out the function switch according to above-mentioned monitoring result respectively from the MCU chip for guarantee vehicle end control and safety monitoring's real-time security.
The integrated navigation module is formed by integrating an inertial sensor IMU, a GNSS positioning chip, a real-time differential positioning RTK module and a fusion processor MCU, wherein the fusion processor MCU receives the GNSS positioning chip orientation data, the inertial sensor IMU data and the vehicle-end odometer data through serial ports, and synchronizes the IMU data with the GNSS positioning chip orientation data through PPS; the real-time differential positioning RTK module and the GNSS positioning chip are integrated into a GNSS positioning module and used for acquiring high-precision GNSS positioning chip orientation data. And settling and outputting 100Hz integrated navigation result data comprising position, speed, attitude and IMU data by a built-in fusion algorithm of the fusion processor MCU for high-precision integrated navigation. Settling and outputting 100Hz combined navigation result data by a fusion algorithm built in the fusion processor MCU, and giving a positioning confidence coefficient; the integrated navigation module sends the algorithm parameters before parking and flameout to the automatic driving domain controller, and the automatic driving domain controller returns the algorithm parameters to the integrated navigation module after restarting for integrated navigation quick calibration; meanwhile, the automatic driving domain controller sends an NDT Normal Distribution Transformation (Normal Distribution Transformation) positioning result to the integrated navigation module for correcting a positioning error of the integrated navigation module in a sheltered environment.
With reference to the second aspect, in a fifth possible case, the AI chip modules respectively form hardware mappings with the vision sensor through two defined camera serial interfaces CSI for zero-delay video stream data sharing between the Xavier chip a and the Xavier chip B.
With reference to the second aspect or the fifth aspect, a sixth aspect in any possible case is that the method includes the following steps of monitoring the working state of the master MCU chip by the heartbeat signal exchanged by the slave MCU chip through the CAN bus, and performing function switching according to the monitoring result:
step 1, the slave MCU chip sends an exchange signal to the master MCU chip through a heartbeat signal exchanged through the CAN bus according to a 10ms period.
And 2, monitoring whether the communication connection is successfully established between the slave MCU chip and the master MCU chip or not by the slave MCU chip, if so, judging that the master MCU chip normally operates, repeating the step 1, and if not, accumulating the failure times for 1 time.
And 3, judging whether the failure times of the slave MCU chip are continuously accumulated for 3 times or not by the slave MCU chip, if not, resetting the failure times, repeating the step 1, if so, judging that the master MCU chip has a fault, and executing the step 4.
And 4, the slave MCU chip replaces the master MCU chip to take over vehicle control, and the vehicle is controlled to decelerate and stop through the CAN bus.
With reference to the second aspect or the fifth and sixth aspects, in a seventh aspect of any possible situation, the method includes the following steps of monitoring, by the slave MCU chip, a power state of the AI chip module in real time through the CAN bus, and switching functions according to a monitoring result:
step 1, monitoring whether the power state of the AI chip module meets the working requirement of the AI chip module in real time through a CAN bus from an MCU chip, and if not, executing step 2.
And 2, sending an instruction to the main MCU chip from the MCU chip, monitoring the running state of the AI chip module in real time by the main MCU chip, repeating the step 1 if the running state is faultless, and executing the step 3 if the running state reports faults and cannot meet the automatic driving condition.
And 3, controlling the vehicle to automatically enter a limp mode by the main MCU chip, and controlling the vehicle to slow down and stop.
As a third aspect, the present invention provides an autonomous vehicle equipped with any one of the first aspect and the first to fourth aspects described above, an autonomous driving domain controller with a high-precision positioning hardware function, the vehicle being equipped with any one of the second aspect and the fifth aspect described above, an autonomous driving domain control system with a high-precision positioning hardware function, a chip of the autonomous driving domain controller executing any one of the methods of the second aspect and the sixth to seventh aspects described above, in accordance with an operation instruction stored in a readable memory thereof.
The invention has the beneficial effects that:
through with high accuracy inertia module, support GPS big dipper bimodulus wei dao module and 4G RTK real-time difference system at autopilot territory controller internal integration, through internal communication, reduce the external line and connect, can improve the location data communication real-time, also can be through module internal integration, reach the technique and fall the cost purpose.
The vision sensor carries out zero-delay data sharing between the two Xavier modules through hardware mapping, and the parallel processing capacity of vision processing is improved. And high real-time positioning performance is realized through the integration of an internal Beidou module, high-precision inertial navigation and a real-time differential positioning RTK module.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic diagram of the hardware principle of the autopilot domain controller of the present invention;
FIG. 2 is a schematic diagram of an integrated Beidou integrated navigation plate of an automatic driving domain controller of the invention;
FIG. 3 is a stacked view of the combined navigation PCB board of the autopilot domain controller of the present invention.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings. It is obvious that the described embodiments are only some of the embodiments of the invention.
Example 1:
as shown in fig. 1, this embodiment provides an autopilot territory controller of taking high accuracy location hardware function, including AI chip module, integrated big dipper combination navigation module, MCU control chip module, form the interconnection through gigabit ethernet switch between AI chip module and the MCU control chip module, the combination navigation module forms the interconnection through UART interface and MCU control chip module.
The AI chip module adopts an NVidia double Xavier chip module (Xavier 1+ 1) and comprises an Xavier chip A and an Xavier chip B, the module is configured with an onboard gigabit Ethernet exchange module, the Xavier chip A and the Xavier chip B are interconnected through a gigabit Ethernet, and the Xavier chip A and the Xavier chip B are both configured with an Ubuntu Linux operating system. The Xavier chip A and the Xavier chip B both define a camera serial interface CSI, the two groups of chip modules are connected to the MAX96712 chip through the CSI interface interconnection and are interconnected with a vision sensor at the vehicle end, the vision sensor is mapped through hardware, zero-delay data sharing is realized between the Xavier chip A and the Xavier chip B module, and the parallel processing capability of vision processing is improved.
The MCU control chip module is a double-backup MCU system chip module and comprises a main MCU SPC5748 chip and a slave MCU S08D chip, and the main MCU SPC5748 chip and the slave MCU S08D chip are interconnected through a UART. The main MCU SPC5748 chip and the slave MCU S08D chip are not provided with an operating system, the slave MCU S08D chip adopts an independent power supply for power supply, the slave MCU S08D chip monitors the working state of the main MCU SPC5748 chip through heartbeat signals exchanged by a CAN bus, and the slave MCU S08D chip monitors the power state of the AI chip module in real time through the CAN bus.
The integrated Beidou combined navigation module is formed by integrating an inertial sensor IMU, a GNSS positioning chip, a real-time differential positioning RTK module and a fusion processor MCU, wherein the fusion processor MCU is connected with the GNSS positioning chip and the inertial sensor IMU through serial ports, the fusion processor MCU is respectively interconnected with an Xavier chip A and a main MCU chip through a UART, the real-time differential positioning RTK module and the GNSS positioning chip are integrated into the GNSS positioning module and used for real-time accurate positioning, and the integrated positioning terminal technology on the market is very mature.
GNSS positioning chip data are synchronized with inertial sensor IMU data in the fusion processor MCU through the PPS interface and then distributed and transmitted to the Xavier chip A and the main MCU chip through the PPS interface. As shown in fig. 1, the fusion processor MCU transmits the synchronized data to a CPLD (complex programmable logic device) and distributes the data to the Xavier chip a and the main MCU chip.
In summary, the automatic driving area controller supports 6 paths of adaptive ethernet interfaces, supports 8 paths of high-definition camera access interfaces, and supports 2 paths of USB interfaces and 3 paths of serial communication interfaces. And the periphery of the automatic driving area controller is respectively provided with a wire harness interface connected with a vehicle end, a laser radar Ethernet interface, a camera GSML interface, a master-slave antenna interface integrated with a Beidou combined navigation plate, a real-time differential positioning RTK 4G antenna interface, a USB/HDMI interface used for debugging and the like. The parameter indexes of the automatic driving area controller are shown in table 1:
table 1: automatic driving domain controller parameter index
The automatic driving area controller integrally adopts a shell passive heat dissipation design, a cooling fan is not used, good fan heating function is guaranteed, and the problem that the controller is abnormal due to fan failure is solved. In the low-speed communication connector connected with the whole vehicle, a large number of whole vehicle low-speed communication interfaces are defined as shown in table 2:
table 2: low speed communication interface definition
Example 2
On the basis of the above embodiment, the MCU control chip module in the above embodiment adopts a dual-backup MCU system design to ensure overall safety. The chip comprises a main MCU SPC5748 chip and a slave MCU S08D chip, wherein the main MCU SPC5748 chip and the slave MCU S08D chip are interconnected through a UART.
The Ubuntu Linux operating system is configured on the Xavier and optimized, and the main aim is to reduce the starting time and reduce the delay time of the driver for acquiring data. The main MCU SPC5748 chip and the slave MCU S08D chip are not provided with operating systems, and are operated by bare computers, so that the real-time requirements of vehicle control and safety monitoring are met.
The main MCU 5748 chip is mainly responsible for power control of the AI chip module and the combined navigation module, a vehicle transverse and longitudinal control algorithm and chassis data interaction. The slave MCU S08D chip is designed according to the reliability of the vehicle specification level, and is powered by an independent power supply, so that the influence of other high-power load circuits on the power supply is avoided. The power supply main chip adopts LM5175-Q of TI, supports the input voltage to be 3.5V at the minimum, therefore, when the external power supply voltage is reduced to 5.4V, the slave MCU S08D chip and the peripheral circuit thereof can keep normal operation. In terms of software, the slave MCU S08D chip does not run any functional software, the slave MCU S08D chip monitors other computing units only through heartbeat signals exchanged by a CAN bus, and the function switching is carried out once the other functional units are monitored to have faults. The function switching mainly comprises the function switching of a master MCU and a slave MCU, and the master MCU SPC5748 chip controls the vehicle to be switched from an automatic driving mode to a limp-home mode.
The method for switching the functions of the master MCU and the slave MCU comprises the following steps:
step 1, the slave MCU S08D chip transmits the heartbeat signal exchanged through the CAN bus to the master MCU SPC5748 chip at a 10ms cycle with the heartbeat signal exchanged through the CAN bus.
And 2, monitoring whether the communication connection is successfully established between the slave MCU S08D chip and the main MCU SPC5748 chip, if the communication is available, judging that the main MCU SPC5748 chip normally operates, repeating the step 1, and if the communication is unavailable, accumulating the number of failure times for 1 time.
And step 3, judging whether the failure times are continuously accumulated for 3 times from the MCU S08D chip, namely whether the communication cannot be carried out continuously for three times. If not, resetting the failure times, repeating the step 1, if yes, judging that the main MCU SPC5748 chip has a fault, and executing the step 4.
And 4, the slave MCU S08D chip replaces a master MCU SPC5748 chip to take over vehicle control, and the vehicle is controlled to decelerate and stop through a CAN bus.
The method for controlling the vehicle to be switched from the automatic driving mode to the limp home mode by the main MCU SPC5748 chip comprises the following steps:
step 1, monitoring whether the power state of the AI chip module meets the working requirement of the AI chip module in real time through a CAN bus from the MCU S08D chip, and executing step 2 when detecting that the power system is not enough for the AI chip module to work normally.
And 2, the slave MCU S08D chip sends a parking instruction message to the main MCU SPC5748 chip through the CAN, the main MCU SPC5748 chip monitors the running state of the AI chip module in real time through various modes, if the running state has no fault, the step 1 is repeated, and if the current system state cannot meet the automatic driving condition due to the fact that the fault exists, the step 3 is executed.
And 3, controlling the vehicle to automatically enter a limp mode by the main MCU SPC5748 chip, and controlling the vehicle to slow down and stop. The limp mode is mainly used for emergency stop or side stop according to vehicle historical obstacle information, ultrasonic sensor real-time information and combined navigation and odometer information.
Example 3
As shown in fig. 2, on the basis of the above embodiment, the integrated Beidou combined navigation module mentioned in the above embodiment is formed by integrating an inertial sensor IMU, a Beidou GNSS positioning chip, a real-time differential positioning RTK 4G module, and a fusion processor MCU, and as shown in fig. 3, the integrated Beidou combined navigation module further includes a shield cover, an antenna pedestal, a PCB board, a pin header, and the like.
The fusion processor MCU is connected with the GNSS positioning chip and the inertial sensor IMU through serial ports, and is respectively interconnected with the Xavier chip A and the main MCU chip through the UART. The real-time differential positioning RTK 4G module and the Beidou GNSS positioning chip are integrated into a Beidou GNSS + RTK 4G positioning module and used for acquiring high-precision Beidou GNSS positioning chip positioning data. The Beidou GNSS + RTK 4G positioning terminal integrated product is very mature in the market.
The plate realizes the functions of double-antenna assisted rapid high-precision orientation and combined navigation, solves information such as position, speed, course, attitude and the like of a carrier in real time, resists shielding and multipath interference, realizes long-time, high-precision and high-reliability navigation in a complex environment, and the system supports the function of GNSS real-time RTK.
GNSS positioning chip data are synchronized with inertial sensor IMU data in the fusion processor MCU through the PPS interface and then distributed and transmitted to the Xavier chip A and the main MCU chip through the PPS interface. The fusion processor MCU receives the Beidou GNSS positioning chip orientation data, IMU data and odometer data through a serial port, synchronizes the IMU data with the Beidou data, and realizes high real-time positioning performance.
A fusion algorithm built in the fusion processor MCU can settle and output 100Hz combined navigation result data including position, speed, posture, IMU data and the like, and gives a positioning confidence coefficient; the PCB integrated with the Beidou integrated navigation module can send algorithm parameters before parking and flameout to the automatic driving area controller, and the automatic driving area controller returns the parameters to the PCB integrated with the Beidou integrated navigation module after the next ignition start of the vehicle, so that the rapid calibration of integrated navigation can be realized; meanwhile, the automatic driving area controller can send an NDT Normal Distribution Transformation (Normal Distribution Transformation) positioning result to the PCB of the integrated Beidou integrated navigation module, and can correct a positioning error of the PCB of the integrated Beidou integrated navigation module in a sheltered environment.
As shown in fig. 3, the integrated big dipper combination navigation module's PCB board is through arranging the needle interface and dock with autopilot domain controller mainboard, arranges the needle interface definition as shown in table 3:
table 3: combined navigation PCB and domain controller main board interface definition
The PCB board of integrated big dipper combination navigation module communicates through serial ports URAT with autopilot domain controller main board, and the serial ports distributes as follows:
COM3(UART3) sends combined navigation result data and receives lever arm parameters and RTCM data. If the lever arm parameters need to be configured, the configuration should be carried out before sending RTCM data;
COM2 (UART 2): receiving power-on calibration information and laser visual data;
COM1(UART 1): receiving odometer data;
the protocol output by the PCB integrated with the Beidou combined navigation module adopts a 16-system protocol, and a frame is 93B; a small end sequence transmission mode is adopted, the low byte is transmitted firstly, and the high byte is transmitted later; the data transmission is checked by accumulating all bytes before the check field according to the uint8 and ignoring carry overflow beyond the uint 16. The overall output protocol data is defined as follows:
table 4: combined navigation board card output data definition
It should be understood that the above examples are only for illustrating the present invention and are not intended to limit the scope of the present invention. It should also be understood that various changes and modifications can be made by one skilled in the art after reading the disclosure of the present invention, and equivalents fall within the scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a take autopilot territory controller of high accuracy positioning hardware function which characterized in that, includes AI chip module, combination navigation module, MCU control chip module, wherein: the AI chip module and the MCU control chip module are interconnected through an Ethernet switch, and the combined navigation module and the MCU control chip module are interconnected through a UART interface;
the AI chip module is a double Xavier chip module and comprises an Xavier chip A and an Xavier chip B, wherein the Xavier chip A and the Xavier chip B are interconnected through a gigabit Ethernet, and both the Xavier chip A and the Xavier chip B are configured with an Ubuntu Linux operating system;
the MCU control chip module is a double-backup MCU system chip module and comprises a main MCU chip and a slave MCU chip, and the main MCU chip and the slave MCU chip are interconnected through a UART;
the combined navigation module is formed by integrating an inertial sensor IMU, a GNSS positioning chip, a real-time differential positioning RTK module and a fusion processor MCU, wherein the fusion processor MCU is connected with the GNSS positioning chip and the inertial sensor IMU through serial ports, the fusion processor MCU is respectively interconnected with an Xavier chip A and a main MCU chip through a UART, and the real-time differential positioning RTK module and the GNSS positioning chip are integrated into the GNSS positioning module.
2. The automatic driving area controller with the high-precision positioning hardware function according to claim 1, wherein both the Xavier chip a and the Xavier chip B define a camera serial interface CSI, the Xavier chip a and the Xavier chip B are commonly connected to the MAX96712 chip through the camera serial interface CSI interconnection to acquire data information, and zero-delay data sharing is realized between the Xavier chip a and the Xavier chip B modules.
3. The automatic driving area controller with high-precision positioning hardware function of claim 1, wherein the master MCU chip and the slave MCU chip are not configured with an operating system, the slave MCU chip is powered by a separate power supply, the slave MCU chip monitors the working state of the master MCU chip through the heartbeat signal exchanged by the CAN bus, and the slave MCU chip monitors the power supply state of the AI chip module in real time through the CAN bus.
4. The autopilot domain controller with high-precision positioning hardware function of claim 1 wherein GNSS positioning chip data is synchronized with inertial sensor IMU data in the fusion processor MCU through PPS interface and then distributed and transmitted to Xavier chip a and main MCU chip through PPS interface.
5. The automatic driving domain controller with the high-precision positioning hardware function according to any one of claims 1 to 4, wherein the automatic driving domain controller supports 6-way adaptive Ethernet interfaces, 8-way high-definition camera access interfaces, 2-way USB interfaces and 3-way serial communication interfaces.
6. An automatic driving domain control system with high-precision positioning hardware function is characterized by comprising an automatic driving domain controller, wherein the automatic driving domain controller comprises an AI chip module, a combined navigation module and an MCU control chip module,
the AI chip module adopts a double Xavier chip architecture, comprises an Xavier chip A and an Xavier chip B, and is used for acquiring various data to calculate in real time and selecting a corresponding strategy to make a decision;
the MCU control chip module adopts a double-backup MCU system and comprises a main MCU chip and a slave MCU chip, wherein the main MCU chip is used for power control of the AI chip module and the combined navigation module and interaction of a vehicle transverse and longitudinal control algorithm and chassis data; the slave MCU chip is powered by an independent power supply, the slave MCU chip monitors the working state of the master MCU chip through heartbeat signals exchanged by the CAN bus, the slave MCU chip monitors the power supply state of the AI chip module in real time through the CAN bus, and the slave MCU chip performs function switching according to the monitoring results respectively to ensure the real-time safety of vehicle end control and safety monitoring;
the integrated navigation module is formed by integrating an inertial sensor IMU, a GNSS positioning chip, a real-time differential positioning RTK module and a fusion processor MCU, wherein the fusion processor MCU receives the GNSS positioning chip orientation data, the inertial sensor IMU data and the vehicle-end odometer data through a serial port, and synchronizes the IMU data with the GNSS positioning chip orientation data through a PPS interface; the real-time differential positioning RTK module and the GNSS positioning chip are integrated into a GNSS positioning module and used for acquiring high-precision GNSS positioning chip orientation data, a fusion algorithm built in a fusion processor MCU settles and outputs 100Hz combined navigation result data including position, speed, attitude and IMU data, and positioning confidence is given; the integrated navigation module sends the algorithm parameters before parking and flameout to the automatic driving domain controller, and the automatic driving domain controller returns the algorithm parameters to the integrated navigation module after restarting for integrated navigation quick calibration; meanwhile, the automatic driving domain controller sends the NDT normal distribution transformation positioning result to the integrated navigation module for correcting the positioning error of the integrated navigation module in the sheltered environment.
7. The automatic driving area control system with the high-precision positioning hardware function according to claim 6, wherein the AI chip module forms a hardware mapping with a vision sensor through two defined Camera Serial Interfaces (CSI) respectively, and is used for zero-delay video stream data sharing between the Xavier chip A and the Xavier chip B.
8. The automatic driving area control system with the high-precision positioning hardware function according to claim 6, wherein the method for monitoring the working state of the master MCU chip by the heartbeat signal exchanged by the slave MCU chip through the CAN bus and switching the functions according to the monitoring result comprises the following steps:
step 1, the slave MCU chip sends an exchange signal to the master MCU chip according to a 10ms period by a heartbeat signal exchanged through a CAN bus;
step 2, monitoring whether the communication connection is successfully established between the slave MCU chip and the master MCU chip or not by the slave MCU chip, if so, judging that the master MCU chip operates normally, repeating the step 1, and if not, accumulating the failure times for 1 time;
step 3, judging whether the failure times of the slave MCU chip are continuously accumulated for 3 times, if not, resetting the failure times, repeating the step 1, if so, judging that the master MCU chip has a fault, and executing the step 4;
and 4, the slave MCU chip replaces the master MCU chip to take over vehicle control, and the vehicle is controlled to decelerate and stop through the CAN bus.
9. The automatic driving area control system with the high-precision positioning hardware function as claimed in claim 6, wherein the method steps of monitoring the power state of the AI chip module in real time by the slave MCU chip through the CAN bus and switching the functions according to the monitoring result are as follows:
step 1, monitoring whether the power state of an AI chip module meets the working requirements of the AI chip module in real time through a CAN bus from an MCU chip, and if not, executing step 2;
step 2, sending an instruction to a main MCU chip from the MCU chip, monitoring the running state of the AI chip module in real time by the main MCU chip, if the running state is not faulted, repeating the step 1, and if the running state reports faults and cannot meet the automatic driving condition, executing the step 3;
and 3, controlling the vehicle to automatically enter a limp mode by the main MCU chip, and controlling the vehicle to slow down and stop.
10. An autonomous vehicle equipped with an autonomous driving domain controller with a high-precision positioning hardware function as claimed in any of claims 1 to 5, the vehicle being equipped with an autonomous driving domain control system with a high-precision positioning hardware function as claimed in any of claims 6 to 7, the chip of the autonomous driving domain controller executing the method of any of claims 8 or 9 according to operating instructions stored in a readable memory thereof.
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