CN113815533B - Forward ADAS and automatic parking fusion controller - Google Patents
Forward ADAS and automatic parking fusion controller Download PDFInfo
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- CN113815533B CN113815533B CN202010566469.7A CN202010566469A CN113815533B CN 113815533 B CN113815533 B CN 113815533B CN 202010566469 A CN202010566469 A CN 202010566469A CN 113815533 B CN113815533 B CN 113815533B
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- 230000006870 function Effects 0.000 claims abstract description 19
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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Abstract
The invention discloses a forward ADAS and automatic parking fusion controller, which comprises an ECU embedded electronic controller, wherein the ECU embedded electronic controller consists of an MCU microprocessor and a VPU image processing unit, the MCU microprocessor and the VPU image processing unit are in communication connection through an SPI communication protocol, sensor data are fused and distributed to the VPU image processing unit for carrying out, meanwhile, the sensor data are returned through a redefined SPI communication protocol, and the fused data are returned to the MCU microprocessor for decision control. And the graphics processing cores and the hardware accelerators in the VPU image processing unit are redistributed, and the two graphics processing cores are distributed to two core functional blocks of sensor data fusion and target selection for operation. The redefined system architecture transfers the sensor data fusion part work originally executed by the MCU to the VPU for processing, thereby liberating the computing power of the MCU to realize the track computation of parking control and the realization of control functions, and greatly reducing the cost.
Description
Technical Field
The invention relates to the technical field of electronic information technology applied to intelligent driving assistance of automobiles, in particular to a forward ADAS and an automatic parking fusion controller which are applied to an intelligent driving assistance system of an automobile to assist a driver in vehicle control and driving.
Background
The advanced driving assistance system utilizes various sensors or sensing systems arranged on a vehicle to collect environmental data inside and outside the vehicle at the first time and carries out technical processing such as identification, detection and tracking of static and dynamic objects, so that the vehicle can detect the danger possibly occurring at the fastest time, and a driver is reminded or even intervenes in vehicle control to avoid the danger. The automatic parking system is a comfortable and safe system which utilizes a sensing system of equipment around the vehicle, such as an ultrasonic radar or a look-around camera to identify the surrounding environment, the dynamic object and the static object of the vehicle, so as to extract the coordinate information of the available parking space around the vehicle, and control the speed and the steering of the vehicle by combining the obstacle information which possibly appears on the path through path planning according to the current coordinate position of the vehicle, thereby leading the vehicle to park in the target parking space.
The advanced driving auxiliary system and the automatic parking system can be divided into three main functions of perception, decision and control, the development of the advanced driving auxiliary system depends on integrated visual suppliers in the perception field, such as anaglyph (Mobiley), horizon and other visual perception chip providers, and the perception fusion function is integrated into another embedded control MCU for implementation, because the fusion algorithm requires higher computing resources, the computing power of the mainstream embedded MCU occupies more, after the perception fusion computation is completed by a single MCU platform, the redundant computing power only supports the final decision and control part of the vehicle, and the fusion of the ultrasonic radar information and the vehicle control required by the automatic parking system is not high, but the same hardware platform can not be developed, so that the development of the same hardware platform and the hardware platform can not be realized at the same bottom layer; the cost is high, the development cost is increased, and the whole car factory needs to invest more single-piece cost, research and development cost and extra engineering resources to develop two sets of systems.
Disclosure of Invention
Technical problem to be solved
The invention aims to provide a forward ADAS and automatic parking fusion controller, a redefined system architecture and aims to transfer the sensor data fusion part work originally executed by an MCU into a VPU for processing, thereby liberating the computing power of the MCU for realizing the track calculation and control functions of parking control, realizing two functions of intelligent driving assistance and full-automatic parking on one embedded controller and greatly reducing the cost.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: the forward ADAS and automatic parking integrated controller comprises an ECU embedded electronic controller, wherein the ECU embedded electronic controller consists of an MCU microprocessor and a VPU image processing unit, the MCU microprocessor and the VPU image processing unit are in communication connection through an SPI communication protocol, sensor data are fused and distributed to the VPU image processing unit for conducting, meanwhile, the sensor data are returned through a redefined SPI communication protocol, and the fused data are returned to the MCU microprocessor for conducting decision control.
As a further improvement of the invention, the graphics processing core and the hardware accelerator in the VPU image processing unit are redistributed, and the two graphics processing cores are distributed to two core functional blocks of sensor data fusion and target selection for operation.
(III) advantageous effects
Compared with the prior art, after the technical scheme is adopted, the invention has the beneficial effects that:
1. the invention transplants the sensor data fusion to the image processing unit instead of the traditional way on the embedded microcontroller, realizes the forward intelligent driving auxiliary function and the full-automatic parking function on one ECU embedded electronic controller, judges the current vehicle motion state through the signal provided by the whole vehicle electronic framework, and schedules the awakening and activation of the forward and parking functions.
2. The invention successfully fuses two systems into the same ECU embedded electronic controller, realizes the functions of the two systems by using the cost of a single system, can save the part cost of about 200-300 RMB for a single vehicle, is calculated by the sales number of 20-30 ten thousand of a half passenger vehicle in the whole life cycle, can save the cost of more than 5000 ten thousand RMB for whole vehicle enterprises and the development cost of more than 500 ten thousand of each vehicle type, and creates more value for vehicle factory customers and terminal consumers.
Drawings
FIG. 1 is a system architecture diagram of an embodiment provided by the present invention;
FIG. 2 is a functional block diagram of an embodiment provided by the present invention;
FIG. 3 is a flow chart of the operation of an embodiment provided by the present invention;
FIG. 4 is a diagram of an example of image processing by a VPU image processing unit in an embodiment provided by the present invention;
description of reference numerals:
1. an ECU embedded electronic controller; 2. an MCU microprocessor; 3. a VPU image processing unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, an embodiment of the present invention is shown: the forward ADAS and automatic parking fusion controller comprises an ECU embedded electronic controller 1, an MCU microprocessor 2 and a VPU image processing unit 3, wherein the ECU embedded electronic controller 1 consists of the MCU microprocessor 2 and the VPU image processing unit 3, the MCU microprocessor 2 and the VPU image processing unit 3 are in communication connection through an SPI (serial peripheral interface) communication protocol, sensor data are fused and distributed to the VPU image processing unit 3 to be processed, meanwhile, the sensor data are returned through a redefined SPI communication protocol, the fused data are returned to the MCU microprocessor 2 to be subjected to decision control, a graphic processing core and a hardware accelerator inside the VPU image processing unit 3 are redistributed, and the two graphic processing cores are distributed to two core function blocks, namely sensor data fusion and target selection, for operation. Referring to fig. 4, the image processing algorithm inside the VPU image processing unit 3 is optimized, thereby releasing the computational power of the image processing core for the sensor data fusion and target selection computation functions.
Referring to fig. 2-3, the working principle and process of the present embodiment are as follows:
1. by redefining a system architecture, a communication protocol and function distribution, the work of a sensor data fusion part originally executed by the MCU microprocessor 2 is transferred to the VPU image processing unit 3 for processing, and simultaneously, a data transmission protocol between the MCU microprocessor 2 and the VPU image processing unit 3 is redefined, so that the MCU microprocessor 2 transmits millimeter wave radar or ultrasonic radar data to the VPU image processing unit 3;
2. in the VPU image processing unit 3, image recognition data processed by the other 6 image processing cores and radar data transmitted from the MCU microprocessor 2 are fused through two processor cores in 8 image processing cores of the VPU image processing unit 3, and finally target data after fusion is transmitted back to the MCU microprocessor 2 for decision control, so that sensor fusion work originally processed by the MCU microprocessor 2 is successfully transferred to the VPU image processing unit 3, calculation power of the MCU microprocessor 2, which is close to 500DMIPS, is released, the calculation power is successfully used for processing track calculation and control of full-automatic parking, and meanwhile, two sets of system functions of forward intelligent driving assistance and full-automatic parking are successfully realized in the ECU embedded electronic controller 1.
In the embodiment, to realize the core release of the VPU image processing unit 3, a visual processing chip needs to be customized by a co-operator with the visual processing chip, the image processing efficiency of a hardware accelerator is optimized, redundant visual processing load in a visual processing algorithm is removed by a large amount of accumulated intelligent driving scene data according to the actual environment in china, meanwhile, algorithm optimization is performed by traffic participants according to the road route of china, so that the visual processing efficiency is improved, a part of calculation power of the calculation core optimized in the visual processing chip is released, then, by the method, a perception fusion function occupying a large amount of calculation resources of the main control MCU microprocessor 2 is transplanted into the visual processing chip, an information interaction database between the visual processing chip and the MCU microprocessor 2 is re-customized, a radar signal received by the main control is transmitted to the visual processing chip, after the perception fusion is completed, fused target object information is fed back to the main control MCU microprocessor 2 for decision and control, a data communication architecture between the two chips is re-established, so that the calculation load of the MCU 2 is greatly reduced, the part of calculation resources are used for automatic parking trajectory calculation and control functions, and the integrated decision making an innovation of vehicle control through an energy integration mode and an integrated control function of a whole vehicle integrated control module.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.
Claims (3)
1. The forward ADAS and automatic parking fusion controller comprises an ECU embedded electronic controller, and is characterized in that the ECU embedded electronic controller consists of an MCU microprocessor and a VPU image processing unit, the MCU microprocessor and the VPU image processing unit are in communication connection through an SPI communication protocol, sensor data are fused and distributed to the VPU image processing unit for carrying out, meanwhile, the sensor data are returned through a redefined SPI communication protocol, and the fused data are returned to the MCU microprocessor for decision control.
2. The forward ADAS and auto park fusion controller of claim 1, wherein the VPU image processing unit is configured to redistribute the graphics processing cores and the hardware accelerators, and assign the two graphics processing cores to the two core function blocks for sensor data fusion and target selection.
3. The forward ADAS and automated parking fusion controller of claim 1, wherein the workflow is:
by redefining a system architecture, a communication protocol and function distribution, transferring the sensor data fusion part originally executed by the MCU into the VPU image processing unit for processing, and redefining a data transmission protocol between the MCU microprocessor and the VPU image processing unit, so that the MCU microprocessor transmits millimeter wave radar or ultrasonic radar data to the VPU image processing unit;
in the VPU image processing unit, image recognition data processed by the other 6 image processing cores and radar data transmitted from the MCU microprocessor are fused through two processor cores in 8 image processing cores of the VPU image processing unit, and finally target data after fusion is returned to the MCU microprocessor for decision control, so that sensor fusion work originally processed by the MCU microprocessor is successfully transferred to the VPU image processing unit, the computing power of the MCU microprocessor is released, the computing power is successfully used for processing track calculation and control of full-automatic parking, and meanwhile, two functions of forward intelligent driving assistance and full-automatic parking systems are realized in the ECU embedded type electronic controller.
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| CN107958224A (en) * | 2017-12-14 | 2018-04-24 | 智车优行科技（北京）有限公司 | The upper image preprocessing system and methods based on ISP of ADAS |
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US10196069B2 (en) * | 2015-03-02 | 2019-02-05 | Surya Kiran Satyavolu | Methods and systems of algorithmically controlling automotive functions |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104853972A (en) * | 2012-11-16 | 2015-08-19 | 英特尔公司 | Augmenting ADAS features of vehicle with image processing support in on-board vehicle platform |
| CN106740630A (en) * | 2016-12-06 | 2017-05-31 | 惠州市德赛西威汽车电子股份有限公司 | Automobile external active safety airbag control system and method based on ADAS and IVI |
| CN107958224A (en) * | 2017-12-14 | 2018-04-24 | 智车优行科技（北京）有限公司 | The upper image preprocessing system and methods based on ISP of ADAS |
| 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 |
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