CN114056352A - Automatic driving control device and vehicle - Google Patents
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Abstract
The application provides an automatic driving control device and a vehicle, wherein the device comprises a main control unit, a positioning unit, a clock control unit, a plurality of state sensing units, a plurality of control units, and a control sensing unit and an execution unit which correspond to each control unit; the main control unit can sense various types of sensing data such as positions, environments, vehicle bodies, execution, control and the like in the driving process of the vehicle in real time through the positioning unit, the plurality of state sensing units and the control sensing unit, and the driving control strategy is calculated by inputting the sensing data into a self-learning algorithm, so that the driving skill of a driver is learned, and the adaptability of the automatic driving system to a new road condition environment is improved.
Description
Technical Field
The application relates to the technical field of automatic driving and assistant driving, in particular to an automatic driving control device and a vehicle.
Background
In the prior art, the work flow of the automatic driving system is generally as follows: the position of the vehicle body, the surrounding environment of the vehicle body, the running state of the vehicle body and the like are sensed by various sensors to serve as input information of the controller, the controller runs an automatic driving algorithm, the input information is substituted into the automatic driving algorithm to calculate a control result, and then the control result is utilized to drive a control component to control the vehicle body to run automatically. However, implementation of the autonomous driving algorithm requires an existing driving maneuver strategy. Because the software and hardware system for generating the driving control strategy is a separate computer system, does not belong to an automatic driving system, and is not deployed on a final vehicle, the existing driving control strategy deployed on the final vehicle is usually preconfigured, cannot be optimized and upgraded by self, can only optimize control parameters locally, but does not change the mode of the logical structure of the driving control strategy. This results in poor adaptability of existing driving control strategies to new environments and failure to provide a better automated driving experience.
Disclosure of Invention
The application provides an automatic driving control device and a vehicle, which are used for improving the adaptability of an automatic driving algorithm to a new environment.
In a first aspect, an embodiment of the present application provides an automatic driving control device, where the device includes a main control unit, a positioning unit, a clock control unit, a plurality of state sensing units, a plurality of control units, and an execution unit and a control sensing unit corresponding to each control unit; wherein:
the main control unit is used for receiving the synchronous pulse signals and the time information from the clock control unit, receiving the position information and the corresponding time stamp from the positioning unit, the various state information and the corresponding time stamp from the sensing units, and the control action information from the control sensing unit, calculating by using a self-learning algorithm according to the position information, the various state information and the control action information in a set time period, and generating or updating a driving control strategy;
the positioning unit is used for receiving positioning data from a satellite positioning system in real time, generating position information according to the positioning data and sending the position information and a corresponding timestamp to the main control unit;
the clock control unit is used for generating a system reference clock and sending synchronization pulse signals and time information under the system reference clock to the plurality of state sensing units and the control sensing unit;
the state sensing unit is used for sensing state information of a vehicle and sending the state information sensed in real time and a corresponding timestamp to the main control unit under the control of the synchronous pulse signal;
the control unit is used for receiving control action signals from a driver or the main control unit and sending execution signals to the corresponding execution units according to the control action signals;
the execution unit is used for receiving the execution signal from the corresponding control unit and executing the control action indicated by the execution signal;
the control sensing unit is used for sensing control action information from the driver or the main control unit and sending the sensed control action information and the corresponding timestamp to the main control unit in real time.
In one possible design, the positioning unit is further configured to output a PPS second pulse signal and corresponding time information to the clock control unit according to the positioning data from the satellite positioning system;
the clock control unit is specifically configured to: and receiving the PPS second pulse signal and the corresponding time information from the positioning unit, and generating the system basic clock by dividing the PPS second pulse signal and the corresponding time information, wherein the frequency of the synchronous pulse signal under the system basic clock is higher than that of the PPS second pulse signal.
In one possible embodiment, the driving maneuver strategy is used to indicate a correlation of the position information, the plurality of state information and the maneuver information of the vehicle in a plurality of dimensions.
In one possible design, the plurality of state sensing units include an environment sensing unit, a vehicle body sensing unit and an execution sensing unit; wherein the content of the first and second substances,
the environment sensing unit is used for sensing the environment state information around the vehicle;
the vehicle body sensing unit is used for sensing vehicle body state information of the vehicle;
and the execution sensing unit is used for sensing the working state information of the vehicle.
In one possible design, the environmental status information includes one or more of the following: material environment state information, meteorological environment state information and geomagnetic field state information.
In one possible design, the body state information includes one or more of the following: the vehicle body posture information, the four-wheel tire pressure information, the deformation information and the stress information of the vehicle body axle and the suspension.
In one possible design, the operating state information includes one or more of the following: the control system comprises steering gear position information, throttle size information, motor driver output information, clutch position information, gearbox gear information, engine torque information, motor torque information, battery state information, oil tank allowance information, light working state information and windshield wiper working state information.
In one possible design, the control action information includes one or more of the following information: a steering wheel signal, an accelerator pedal signal, a brake pedal signal, a clutch pedal signal, a gear lever signal, a light control signal, and a wiper control signal.
In one possible design, the master control unit is further configured to: inputting the position information and the various state information of the current time, and the position information, the various state information and the control action information in a set time period before the current time into the driving control strategy to obtain a control action signal of the next step, and sending the control action signal to the control unit.
In a second aspect, the present invention provides a vehicle having an automatic driving or driving-assistance function, wherein the automatic driving control device as described in any one of the possible designs of the first aspect is provided in the vehicle, and the vehicle implements the automatic driving or driving-assistance function through the automatic driving control device.
Compared with the prior art, the technical scheme provided by the application has the beneficial effects that:
the automatic driving control device can sense position, environment, vehicle body, execution, control and other sensing data in real time in the driving process of the vehicle, and adds corresponding time stamps to a sensing tax bureau; the driving control strategy is generated or updated by inputting a self-learning algorithm by utilizing various perception data in a set time period so as to guide the control action of the vehicle in the automatic driving mode. The method can realize the learning of the driving skills of the driver, improve the adaptability of the automatic driving system to the new road condition environment through continuous learning and analysis, and bring good driving experience to the drivers with different driving styles.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an automatic driving control device according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a vehicle with an automatic driving or driving assistance function according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all 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 application.
In the embodiments of the present application, a plurality means two or more. The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, nor order.
Fig. 1 exemplarily shows an automatic driving control device provided by an embodiment of the present application, and as shown in fig. 1, the automatic driving control device includes a main control unit 10, a positioning unit 20, a clock control unit 30, a plurality of state sensing units (such as an environment sensing unit 40, a vehicle body sensing unit 50, and an execution sensing unit 90 in the drawing), a plurality of manipulation units 60, and an execution unit 70 and a manipulation sensing unit 80 corresponding to each manipulation unit.
The main control unit is used for receiving the synchronous pulse signals and the time information from the clock control unit, receiving the position information and the corresponding time stamp from the positioning unit, the various state information and the corresponding time stamp from the state sensing units, and the control action information from the control sensing units, calculating by using a self-learning algorithm according to the position information, the various state information and the control action information in a set time period, and generating or updating a driving control strategy.
The positioning unit is used for receiving positioning data from a satellite positioning system in real time, generating position information according to the positioning data, and sending the generated position information and a corresponding timestamp to the main control unit. The satellite positioning system can be a GPS system or a Beidou system and other various satellite navigation systems, and the application is not limited specifically. The positioning data may refer to satellite original broadcast data and reference station differential data. The process of calculating the position information of the vehicle by the positioning unit according to the received positioning data is not particularly limited.
Optionally, the positioning unit may be further configured to output, according to the received positioning data from the satellite positioning system, a PPS pulse-per-second signal and corresponding time information to the clock control unit, so that the clock control cell performs clock synchronization on each unit in the entire apparatus by using the pulse-per-second signal. The time information corresponding to the pulse per second signal may refer to a time at which a rising edge of each pulse per second signal is located.
The clock control unit is used for generating a system reference clock according to the pulse-per-second signals and the corresponding time information received from the positioning unit, and sending synchronous pulse signals and corresponding time information under the system reference clock to the plurality of state sensing units and the control sensing unit, so that the plurality of state sensing units and the control sensing unit can synchronously acquire and transmit various sensing data under the action of the synchronous pulse signals. The time information corresponding to the synchronization pulse signal may refer to a time at which a rising edge of each synchronization pulse signal is located. The timestamps corresponding to the various pieces of state information and the control action information also refer to time information generated by the clock control unit under the system reference clock, namely time information corresponding to the synchronous pulse signals.
In a possible embodiment, the clock control unit may generate the synchronization pulse signal and its corresponding time information by dividing the received pulse-per-second signal and the corresponding time information, for example, by 30 or 1000 (kHz) division. Moreover, the frequency of the synchronous pulse signal obtained by frequency division is higher than that of the original pulse signal per second, so that the time control precision of the driving control strategy can be improved.
The state sensing unit is used for sensing the state information of the vehicle and sending the real-time sensed state information and the corresponding timestamp to the main control unit under the control of the synchronous pulse signal, so that the main control unit can generate or update a driving control strategy by using the information or make a decision on the next automatic control action.
As described above, the plurality of state sensing units may include an environment sensing unit, a vehicle body sensing unit, and an execution sensing unit; accordingly, the various state information of the vehicle may include environmental state information, body state information, and operational state information.
Specifically, the environment sensing unit is used for sensing the environmental state information around the vehicle, such as the material environmental state information around the vehicle, such as light, rain, snow, temperature, humidity, wind, road, surrounding vehicles and pedestrians, etc., through various sensors such as a camera, a laser radar, a millimeter wave radar, or an ultrasonic radar; weather environment state information around the vehicle can be sensed through various sensors such as a rainfall sensor, an illumination sensor, a temperature sensor, a humidity sensor, an air pressure sensor or an air speed sensor, such as rainfall, illumination intensity, temperature, humidity, air pressure, air speed and the like; the geomagnetic field state information and the like around the vehicle can also be sensed by the magnetic field sensor.
The vehicle body sensing unit is used for sensing vehicle body state information of the vehicle, for example, vehicle body attitude information such as acceleration, angular velocity, pitch angle, roll angle and the like can be sensed through an acceleration sensor and an angular velocity sensor; the four-wheel tire pressure information can be sensed through the tire pressure sensor; deformation information, stress information, and the like of the vehicle body, the axle, and the suspension can be sensed by the deformation and stress sensors.
The execution sensing unit is configured to sense operating state information of the vehicle, for example, the operating state information of the vehicle may be sensed by various sensors or data collectors, and the operating state information may include one or more of the following information: the system comprises steering gear position information, accelerator size information, motor driver output information, clutch position information, gearbox gear information, engine torque information, motor torque information, battery state information, oil tank allowance information, light working state information and wiper working state information.
The control unit is used for receiving control action signals from a driver or the main control unit and sending execution signals to the corresponding execution units according to the control action signals. For example, the manipulation unit may include a steering wheel, an accelerator pedal, a brake pedal, a clutch pedal, a gear lever, a light controller, a wiper controller, and the like.
And the execution unit receives the execution signal from the corresponding control unit and executes the control action indicated by the execution signal. For example, the execution units may include a steering gear, a throttle, a motor driver, a clutch, a transmission, an engine, a motor, a lamp, a wiper, and the like.
The control sensing unit is used for sensing control action information from a driver or the main control unit and sending the sensed control action information and the corresponding timestamp to the main control unit in real time. The control sensing unit can comprise sensors arranged in various control units so as to measure various parameters of the controller, such as displacement, rotation, pressure and the like.
In the application, the driving control strategy can indicate the correlation of various sensing data such as position information, various state information, control action information and the like of the vehicle on various dimensions, and the automatic driving system can be guided to take what driving control action under a specific environment state through the correlation so as to improve the safety and accuracy of automatic driving.
Optionally, after the main control unit generates or updates the driving control strategy, the main control unit may be further configured to generate a next control action signal according to the generated or updated driving control strategy, and send the control action signal to the control unit.
For example, the main control unit may receive, in real time, a plurality of sensing data, such as position information from the positioning unit, environmental status information from the environmental sensing unit, vehicle status information from the vehicle sensing unit, operating status information from the execution sensing unit, and control action information from the control sensing unit, and each sensing data has a corresponding timestamp, so that the main control unit identifies a generation time of the sensing data. Therefore, the main control unit may specifically input the generated or updated driving control strategy according to the position information, the environmental state information, the vehicle body state information, the execution state information of the current time, and the position information, the environmental state information, the vehicle body state information, the execution state information, and the control action information in the set time period before the current time, generate a control action signal of the next step, and send the control action signal to the control unit. That is, when the generated or updated driving maneuver strategy is used to guide the subsequent maneuver operation of the automatic driving, the position information, the environmental state information, the vehicle body state information, the execution state information of the current time, and the position information, the environmental state information, the vehicle body state information, the execution state information, the maneuver operation information, etc. in the set time period before the current time can be used as the input of the driving maneuver strategy, and then the corresponding maneuver operation signal can be obtained.
Through setting up above-mentioned multiple perception unit (like positioning unit, environmental perception unit, automobile body perception unit, execution perception unit and control the perception unit), the automatic driving device in this application can acquire many-sided perception data such as the position of vehicle, environment, state, control and carry out in real time to utilize these perception data to calculate the driving and control the strategy, thereby make input information abundanter and perfect, the driving of calculating is controlled the strategy and is also more reasonable feasible.
It should be noted that, the frequency of the data collected by the multiple sensing units is not specifically limited, and may be specifically set according to actual needs. For example, in one possible implementation, a fast changing state quantity may be acquired at a higher frequency, and a slow changing state quantity may be acquired at a lower frequency, as long as the frequency of the timestamps is greater than or equal to the maximum state acquisition frequency. Moreover, the multiple sensing units may send the collected sensing data synchronously, may send the collected sensing data asynchronously, and is not limited. In addition, since the multiple sensing units continuously transmit the acquired sensing data to the main control unit, the sensing units may also be considered to transmit a stream of the acquired sensing data to the main control unit, where each sensing data is attached with a specific acquisition time, i.e. a timestamp. The position information, the environmental state information, the vehicle body state information and the execution state information can be regarded as input information of the driving control strategy, and the control action information can be regarded as output information of the driving control strategy.
Furthermore, since the sensing data output by the sensing units have corresponding timestamps, the input information and the output information of the driving control strategy are not only related at a certain time point, but also related between a certain dimension of the input information of a specific time period and a certain dimension of the input information of the specific time period can be established, related between a certain dimension of the input information of the specific time period and a certain dimension of the output information of the specific time period, related between a certain dimension of the output information of the specific time period and a certain dimension of the output information of the specific time period, and the like, and the time period of the specific input information and the time period of the specific output information are not necessarily the same time period and are not necessarily different in time scale.
The driving maneuver strategy may vary with the constant operation of the self-learning algorithm. For example, when the vehicle runs to a new road section, because various sensing units can continuously sense input information such as the position, the environment, the vehicle body and the like under the new road section and output information such as the control action of a driver and the working state of the vehicle, and input a self-learning algorithm for calculation, the driving control strategy is optimized, the correlation of various sensing data on various dimensions can be enriched, and more guidance can be provided for the control decision of automatic driving. The driving control strategy may not be described in natural language or need not be described in natural language, and in a specific implementation, the driving control strategy may be a set of lookup tables for recording correlation relationships or a set of mathematical function relationships, and the like, and the present application is not limited specifically.
The self-learning algorithm is a mathematical description of the correlation between the input information and the output information, which is established by collecting the input information flow and the output information flow, and the mathematical description can be continuously changed and improved along with the increase of the information quantity of the input information and the output information. The driving control strategy generated by the self-learning algorithm is not particularly limited.
Optionally, the main control unit may include multiple types of control devices to perform different sub-functions, which may include but are not limited to: general CPU, GPU, ARM, special MCU, FPGA, etc.
Optionally, the automatic driving control device may further include a communication unit 100, a human-computer interaction unit 110, a storage unit 120, and a power supply unit 130.
The communication unit 100 is used for data interaction with an external electronic system, such as a remote server or an electronic device of a driver or a passenger. Illustratively, the communication unit can bidirectionally transmit data with a remote server through a long-distance wireless communication mode such as 5G or 4G, UWB or NB or LORA, for example, uploading or downloading a generated driving control strategy and the like; data can also be transmitted in two ways with the electronic equipment of the driver and the crew in a short-range wireless communication mode such as WIFI, Bluetooth or NFC, for example, the driving control strategy can be interacted with other automatic driving control devices (or other vehicles).
The human-computer interaction unit 110 is configured to perform information interaction with a driver and a passenger through an interactive device, and transmit interaction information to the main control unit. The interactive device may include a camera, a microphone, a touch display screen, a speaker, a key or an indicator light, and the driver and the crew may perform information interaction through the above devices and then transmit the interaction information to the main control unit 10 for processing.
The storage unit 120 is configured to store sensing data (e.g., location information output by the location unit, multiple state information output by the state sensing units, and control action information output by the control sensing unit) output by each sensing unit, store driving control strategies generated or updated after calculation by the main control unit, store configuration parameters of each sensing unit, control unit, and execution unit, store driving control strategies received from the outside, and store interaction information of the human-computer interaction unit.
The power supply unit 130 is used for providing reliable power supply for each unit in the device.
One of the applications of the automatic driving control device is as follows:
after a user purchases an automatic driving automobile containing the automatic driving control device, the user can select a factory to preset a driving control strategy directly or generate or update the driving control strategy by self training; in the process of driving the vehicle by the user, various perception data such as positions, environments, vehicle bodies, control and execution are collected through a self-learning algorithm, the correlation among the perception data streams of the positions, the environments and the vehicle bodies and the perception data streams of the control and the execution are established, and a driving control strategy is formed and continuously optimized. The user can also upload the driving control strategy generated by the personal driving to a server through a wireless network so as to be used or referenced by other users. For example, when other users travel to some unfamiliar complicated road sections (such as narrow roads, dangerous slopes, curves, potholes and the like) or some complicated environment time periods of a road section (such as rain, snow, fog, wind and the like), the driving control strategy of the unfamiliar complicated road sections can be imported on line in a wireless mode, and vehicles can automatically drive through the road section on the premise that the unfamiliar complicated road sections are generated into reliable driving control strategies by manufacturers or other users.
In conclusion, the driving control strategy can be generated by a self-learning algorithm through sensing various input and output data in the driving process of the vehicle without introducing a formed driving control strategy from the outside, and a large number of vehicles can quickly have the driving control strategy of a strange road section through outputting the device on line and inputting driving control strategy data from the outside; a driving control strategy is not required to be generated in advance through special drive tests; the driving control strategy is continuously optimized through continuous self-learning, and customized driving experience is given to a driver; the interconnected vehicles can quickly have driving control strategies of the road sections in the unfamiliar state by exchanging driving control strategy data with other interconnected vehicles.
The embodiment of the present application further provides a vehicle with an automatic driving or driving assistance function, as shown in fig. 2, the vehicle 200 is provided with the automatic driving control device 210, and the vehicle can realize the automatic driving or driving assistance function through the automatic driving control device, so that a driver can rest and user experience is improved.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. An automatic driving control device is characterized by comprising a main control unit, a positioning unit, a clock control unit, a plurality of state sensing units, a plurality of control units, and a control sensing unit and an execution unit which correspond to each control unit; wherein:
the main control unit is used for receiving the synchronous pulse signals and the time information from the clock control unit, receiving the position information and the corresponding time stamp from the positioning unit, the various state information and the corresponding time stamp from the state sensing units, and the control action information from the control sensing unit, calculating by using a self-learning algorithm according to the position information, the various state information and the control action information in a set time period, and generating or updating a driving control strategy;
the positioning unit is used for receiving positioning data from a satellite positioning system in real time, generating position information according to the positioning data and sending the position information and a corresponding timestamp to the main control unit;
the clock control unit is used for generating a system reference clock and sending synchronization pulse signals and corresponding time information under the system reference clock to the plurality of state sensing units and the control sensing unit;
the state sensing unit is used for sensing state information of a vehicle and sending the state information sensed in real time and a corresponding timestamp to the main control unit under the control of the synchronous pulse signal;
the control unit is used for receiving control action signals from a driver or the main control unit and sending execution signals to the corresponding execution units according to the control action signals;
the execution unit is used for receiving the execution signal from the corresponding control unit and executing the control action indicated by the execution signal;
the control sensing unit is used for sensing control action information from the driver or the main control unit and sending the sensed control action information and the corresponding timestamp to the main control unit in real time.
2. The apparatus of claim 1, wherein the positioning unit is further configured to output a PPS pulse signal and corresponding time information to the clock control unit according to the positioning data from the satellite positioning system;
the clock control unit is specifically configured to: and receiving the PPS second pulse signal and the corresponding time information from the positioning unit, and generating the system basic clock by dividing the PPS second pulse signal and the corresponding time information, wherein the frequency of the synchronous pulse signal under the system basic clock is higher than that of the PPS second pulse signal.
3. The apparatus of claim 1, wherein the driving maneuver strategy is configured to indicate a correlation of the position information, the plurality of state information, and the maneuver information of the vehicle in a plurality of dimensions.
4. The apparatus of claim 3, wherein the plurality of state sensing units comprise an environment sensing unit, a vehicle body sensing unit, and an execution sensing unit; wherein the content of the first and second substances,
the environment sensing unit is used for sensing the environment state information around the vehicle;
the vehicle body sensing unit is used for sensing vehicle body state information of the vehicle;
and the execution sensing unit is used for sensing the working state information of the vehicle.
5. The apparatus of claim 4, wherein the environmental status information comprises one or more of:
material environment state information, meteorological environment state information and geomagnetic field state information.
6. The apparatus of claim 4, wherein the body state information comprises one or more of the following:
the vehicle body posture information, the four-wheel tire pressure information, the deformation information and the stress information of the vehicle body axle and the suspension.
7. The apparatus of claim 4, wherein the operating state information comprises one or more of the following:
the control system comprises steering gear position information, throttle size information, motor driver output information, clutch position information, gearbox gear information, engine torque information, motor torque information, battery state information, oil tank allowance information, light working state information and windshield wiper working state information.
8. The apparatus of claim 3, wherein the maneuver information comprises one or more of the following:
a steering wheel signal, an accelerator pedal signal, a brake pedal signal, a clutch pedal signal, a gear lever signal, a light control signal, and a wiper control signal.
9. The apparatus of any of claims 3-8, wherein the master unit is further configured to:
inputting the position information and the various state information of the current time, and the position information, the various state information and the control action information in a set time period before the current time into the driving control strategy, generating a control action signal of the next step, and sending the control action signal to the control unit.
10. A vehicle, characterized in that an automatic driving control device according to any one of claims 1-9 is provided in the vehicle, and the vehicle realizes an automatic driving or driving assistance function by the automatic driving control device.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111599939.0A CN114056352A (en) | 2021-12-24 | 2021-12-24 | Automatic driving control device and vehicle |
| PCT/CN2022/078700 WO2023115700A1 (en) | 2021-12-24 | 2022-03-02 | Autonomous-driving control apparatus, and vehicle |
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| WO2023115700A1 (en) * | 2021-12-24 | 2023-06-29 | 上海海积信息科技股份有限公司 | Autonomous-driving control apparatus, and vehicle |
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