CN115042781A - Centralized software-defined lane keeping networked control system - Google Patents
Centralized software-defined lane keeping networked control system Download PDFInfo
- Publication number
- CN115042781A CN115042781A CN202210985423.8A CN202210985423A CN115042781A CN 115042781 A CN115042781 A CN 115042781A CN 202210985423 A CN202210985423 A CN 202210985423A CN 115042781 A CN115042781 A CN 115042781A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- module
- lane
- controller unit
- domain controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 claims abstract description 53
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 230000006399 behavior Effects 0.000 claims abstract description 7
- 238000012546 transfer Methods 0.000 claims abstract description 7
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 claims abstract 6
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 claims abstract 6
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 claims abstract 6
- 238000000034 method Methods 0.000 claims description 15
- 238000005070 sampling Methods 0.000 claims description 9
- 230000001276 controlling effect Effects 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 230000008901 benefit Effects 0.000 abstract description 6
- 230000006855 networking Effects 0.000 abstract description 4
- 230000006870 function Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Mobile Radio Communication Systems (AREA)
- Small-Scale Networks (AREA)
Abstract
The invention discloses a centralized software-defined lane keeping networked control system, which comprises: the lane keeping system application module is used for controlling a vehicle steering system to assist a vehicle to keep running in the lane; the centralized SDN scheduler is used for performing centralized control on communication behaviors of the in-vehicle communication network and realizing unified management and scheduling on the network; and the vehicle-mounted communication data layer is used for receiving and executing the unified management and scheduling instruction from the vehicle-mounted communication control layer. The lane keeping system application module regulates information flow transfer from the ADAS domain controller unit to the chassis domain controller unit based on a central SDN scheduler framework. The invention has the advantages that: the communication behavior of the in-vehicle communication network is centrally controlled through a centralized SDN scheduler, so that unified management and scheduling of the whole network are realized, the efficiency and flexibility of information transmission under an intelligent networking automobile heterogeneous network are ensured, and the uniformity and stability of a lane keeping system are further ensured.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a centralized software-defined lane keeping networked control system.
Background
In recent years, the progress of vehicle electronic technology and intelligent transportation system has pushed the development of intelligent networked automobiles towards intellectualization, and the lane keeping auxiliary system is one of the key technologies of the advanced driving auxiliary system. With the rapid development of Advanced Driving Assistance Systems (ADAS), a higher demand is put on a novel electronic and electrical architecture, and due to the obvious advantages of reducing wiring harnesses and upgrading software in terms of function integration of a domain architecture, research on intelligent internet-connected automobiles based on the domain architecture has become a hotspot. However, in the electronic/electrical architecture (E/E) based on functional domain, the addition of E/E components, more complex network topology and protocols, etc. may bring unknown multi-hop information delay, uncertainty of the system, and thus may pose a potential threat to the stability of the lane keeping assist system.
Software Defined Networking (SDN) -based technologies separate the control and forwarding of information flows, with a centralized control of information flows on a top-level computing device, bringing new advantages and configuration capabilities for improving network management. The control and forwarding functions of traditional network nodes (switches and routers) are separated, the control functions are centralized, unified management and scheduling of the whole network are realized, and the efficiency and flexibility of the network are improved. Some studies have introduced SDN into the field of in-vehicle technology applications, but their focus is to improve the flexibility and scalability of in-vehicle networks. For example, P Fussey et al advocate an in-vehicle software defined network architecture and discuss the benefits that such a transition in the architecture paradigm would provide by enforcing network security defenses and by network programmability and extensibility. Timo Hckel et al propose that Software Defined Networking (SDN) extends the ethernet control plane through programming options, which may add a lot of value to the elasticity, security and adaptability of the automotive environment. However, for real-time application oriented in-vehicle networks, such as lane keeping assistance systems, the potential of SDN methods in terms of behavior synchronization and real-time enhanced communication has not been discussed.
Disclosure of Invention
The invention aims at the problem that the lane keeping effect is poor because a lane keeping networked control system in the prior art does not consider the network delay influence based on a domain architecture and uses a centralized SDN scheduling method. A centralized software-defined lane-keeping networked control system is provided. To solve the problems existing in the prior art.
In order to realize the purpose, the technical scheme adopted by the invention is as follows:
a centralized software-defined lane-keeping networked control system, comprising: the system comprises a vehicle-mounted application strategy layer, a vehicle-mounted communication control layer and a vehicle-mounted communication data layer;
the vehicle-mounted application strategy layer comprises: the lane keeping system application module is used for controlling a vehicle steering system to assist a vehicle to keep running in the lane;
the vehicle-mounted communication control layer comprises: the centralized SDN scheduler is used for performing centralized control on communication behaviors of the in-vehicle communication network and realizing unified management and scheduling on the network;
the vehicle-mounted communication data layer comprises: the system comprises an ADAS domain controller unit, a vehicle body domain controller unit, a cockpit domain controller unit, a chassis domain controller unit and a switch unit, and is used for receiving and executing unified management and scheduling instructions from a vehicle-mounted communication control layer.
Further, the lane keeping system application module regulates information flow transfer from the ADAS domain controller unit to the chassis domain controller unit based on a central SDN scheduler framework.
Further, the centralized SDN scheduler comprises: the system comprises a northbound interface module, a southbound interface module and a scheduling policy module.
The northbound interface module is an interface module of a centralized SDN scheduler and a vehicle-mounted application strategy layer and is responsible for sending information such as steering wheel turning angles of a lane keeping system application module to the scheduling strategy module;
the southward interface module is an interface module of a centralized SDN scheduler and a vehicle-mounted communication data layer and is responsible for sending a scheduling instruction of the scheduling strategy module to a corresponding communication entity;
the scheduling policy module generates scheduling instructions based on the communication requirements of the lane keeping system application module communicated by the northbound interface module and the communication requirements of the data communication layer communicated by the southbound interface module.
Furthermore, an ADAS domain controller unit, a vehicle body domain controller unit, a cabin domain controller unit, a chassis domain controller unit and a switch unit of the vehicle-mounted communication data layer are connected through a vehicle-mounted Ethernet; the switch unit transfers messages among the ADAS domain controller unit, the vehicle body domain controller unit, the cabin domain controller unit and the chassis domain controller unit, and plays a role in regulating and controlling a central hub;
furthermore, the scheduling strategy module adopts a fractional basic cycle scheduling method and is responsible for regulating and controlling and scheduling the information flow direction of the vehicle-mounted communication network system.
Further, in order to ensure the synchronism and the real-time performance of the message transmission of each domain controller unit, the scheduling method divides the sampling period of the lane keeping networked control system into
A basic period wherein
Is the number of basic cycles required by the lane keeping system application module;
the information flow loop delay of the lane keeping networked control system is expressed as:
wherein
Represents the total loop delay of the information flow transmission of the whole lane keeping networked control system,
representing the sampling period of the lane-keeping networked control system,
representing the delay incurred by the sensor node within the ADAS domain controller unit,
representing the delay generated by an actuator node within the chassis domain controller unit.
Each communication entity must complete the transmission of the message frame in the corresponding basic period.
Further, the basic cycle lengthT bp The following conditions are satisfied:
wherein
Is as followsiThe maximum physical transmission time of the individual pieces of information,i=1,2,3...m，
the maximum physical transmission time of all the information packets is less than or equal to the size of the basic period;
Further, the lane keeping application module includes: the system comprises a lane line identification module, a decision-making module and an execution module;
the road line identification module consists of a radar and a camera module and is used for detecting and acquiring road condition information;
a decision module: the system is responsible for calculating the corner deviation of the steering wheel and the distance between the vehicle and the transverse deviation according to the image information of the lane line identification module;
the execution module comprises a driving motor and an execution motor and is responsible for executing the offset corner information and the distance feedback sent by the decision module. To implement the lane keeping function under the software defined network framework.
Compared with the prior art, the invention has the advantages that:
the communication behavior of the in-vehicle communication network is centrally controlled through a centralized SDN scheduler, so that unified management and scheduling of the whole network are realized, the efficiency and flexibility of information transmission under an intelligent networking automobile heterogeneous network are ensured, and the uniformity and stability of a lane keeping system are further ensured.
Drawings
Fig. 1 is a schematic diagram of a lane-keeping networked control system framework according to an embodiment of the invention.
Fig. 2 is a block diagram of a centralized SDN scheduler architecture according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a lane-keeping networked control system according to an embodiment of the present invention.
Fig. 4 is a flowchart of a control method of the lane keeping system according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings by way of examples.
Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the description of the methods may be transposed or transposed in order, as will be apparent to a person skilled in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
Referring to fig. 1, the present embodiment proposes a centralized software-defined lane-keeping networked control system, which includes: the system comprises a vehicle-mounted application strategy layer, a vehicle-mounted communication control layer and a vehicle-mounted communication data layer;
the vehicle-mounted application strategy layer comprises: the lane keeping system application module is used for controlling a vehicle steering system to assist a vehicle to keep running in the lane;
wherein on-vehicle communication control layer includes: the centralized SDN scheduler is used for performing centralized control on communication behaviors of the in-vehicle communication network and realizing unified management and scheduling on the network;
wherein on-vehicle communication data layer includes: the system comprises an ADAS domain controller unit, a vehicle body domain controller unit, a cockpit domain controller unit, a chassis domain controller unit and a switch unit, and is used for receiving and executing unified management and scheduling instructions from a vehicle-mounted communication control layer.
Wherein the lane keeping system application module regulates information flow transfer from the ADAS domain controller unit to the chassis domain controller unit based on a central SDN scheduler framework.
Referring to fig. 2, a centralized SDN scheduler comprises: the system comprises a northbound interface module, a southbound interface module and a scheduling policy module.
The northbound interface module is an interface module of a centralized SDN scheduler and a vehicle-mounted application strategy layer and is responsible for sending information such as steering wheel turning angles of a lane keeping system application module to the scheduling strategy module;
the southward interface module is an interface module of a centralized SDN scheduler and a vehicle-mounted communication data layer and is responsible for sending a scheduling instruction of the scheduling strategy module to a corresponding communication entity;
the scheduling policy module generates scheduling instructions based on the communication requirements of the lane keeping system application module communicated by the northbound interface module and the communication requirements of the data communication layer communicated by the southbound interface module.
The ADAS domain controller unit, the vehicle body domain controller unit, the cockpit domain controller unit, the chassis domain controller unit and the switch unit of the vehicle-mounted communication data layer are connected through a vehicle-mounted Ethernet; the switch unit transfers messages among all domain controller units, and plays a role in regulating and controlling a central hub;
the scheduling strategy module of the centralized SDN scheduler adopts a fractional basic cycle scheduling method and is responsible for regulating and scheduling the information flow direction of the vehicle-mounted communication network system.
Referring to fig. 3, in particular, the proposed scheduling method divides the sampling period of the lane-keeping networked control system into two periods in order to guarantee the synchronicity and real-time of message transmission of each domain controller unit
A basic period wherein
Is the number of basic cycles required by the lane keeping system application module; in this embodiment, takep=8, q=4。
The information flow loop delay (i.e. the end-to-end delay from the environmental sensing unit to the servo motor and the driving motor) of the lane keeping networked control system is expressed as:
wherein
Represents the total loop delay of the information flow transmission of the whole lane keeping networked control system,
representing the sampling period of the lane-keeping networked control system,
representing the delay incurred by the sensor node within the ADAS domain controller unit,
representing the delay generated by an actuator node within the chassis domain controller unit.
Fractional fundamental cycle length to ensure efficient transmission of information streamsT bp The following conditions are satisfied:
wherein
Is as followsiThe maximum physical transmission time of the individual pieces of information,i=1,2,3...m，
the maximum physical transmission time of all the information packets is smaller than or equal to the size of the basic period.
Referring to fig. 4, the lane keeping system application module includes: the system comprises a lane line identification module, a decision-making module and an execution module;
the road line identification module consists of a radar and a camera module and is used for detecting and acquiring road condition information;
a decision module: the system is responsible for calculating the corner deviation of the steering wheel and the distance between the vehicle and the transverse deviation according to the image information of the lane line identification module;
the execution module comprises a driving motor and an execution motor and is responsible for executing the offset corner information and the distance feedback sent by the decision module. To implement the lane keeping function under the software defined network framework.
The above-described methods may be implemented in hardware, firmware, or as software or computer code storable in a recording medium such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk, or as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the methods described herein may be stored in such software processes on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware such as an ASIC or FPGA. It will be appreciated that the computer, processor, microprocessor controller or programmable hardware includes memory components (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the processing methods described herein. Further, when a general-purpose computer accesses code for implementing the processes shown herein, execution of the code transforms the general-purpose computer into a special-purpose computer for performing the processes shown herein.
It will be appreciated by those of ordinary skill in the art that the examples described herein are intended to assist the reader in understanding the manner in which the invention is practiced, and it is to be understood that the scope of the invention is not limited to such specifically recited statements and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (8)
1. A centralized software-defined lane-keeping networked control system, comprising: the system comprises a vehicle-mounted application strategy layer, a vehicle-mounted communication control layer and a vehicle-mounted communication data layer;
the vehicle-mounted application strategy layer comprises: the lane keeping system application module is used for controlling a vehicle steering system to assist a vehicle to keep running in the lane;
the vehicle-mounted communication control layer comprises: the centralized SDN scheduler is used for performing centralized control on communication behaviors of the in-vehicle communication network and realizing unified management and scheduling on the network;
the vehicle-mounted communication data layer comprises: the system comprises an ADAS domain controller unit, a vehicle body domain controller unit, a cockpit domain controller unit, a chassis domain controller unit and a switch unit, and is used for receiving and executing unified management and scheduling instructions from a vehicle-mounted communication control layer.
2. A centralized software-defined lane-keeping networked control system according to claim 1, wherein: the lane keeping system application module regulates information flow transfer from the ADAS domain controller unit to the chassis domain controller unit based on a central SDN scheduler framework.
3. The centralized software-defined lane-keeping networked control system of claim 1, wherein: the centralized SDN scheduler comprises: the system comprises a northbound interface module, a southbound interface module and a scheduling strategy module;
the northbound interface module is an interface module of a centralized SDN scheduler and a vehicle-mounted application strategy layer and is responsible for sending information such as steering wheel turning angles of a lane keeping system application module to the scheduling strategy module;
the southward interface module is an interface module of a centralized SDN scheduler and a vehicle-mounted communication data layer and is responsible for sending a scheduling instruction of the scheduling strategy module to a corresponding communication entity;
the scheduling policy module generates scheduling instructions based on the communication requirements of the lane keeping system application module communicated by the northbound interface module and the communication requirements of the data communication layer communicated by the southbound interface module.
4. The centralized software-defined lane-keeping networked control system of claim 1, wherein: the ADAS domain controller unit, the vehicle body domain controller unit, the cockpit domain controller unit, the chassis domain controller unit and the switch unit of the vehicle-mounted communication data layer are connected through a vehicle-mounted Ethernet; the switch unit transfers messages among the ADAS domain controller unit, the vehicle body domain controller unit, the cabin domain controller unit and the chassis domain controller unit, and plays a role in regulating and controlling the central hub.
5. A centralized software-defined lane-keeping networked control system according to claim 3, wherein: the scheduling strategy module adopts a fractional basic cycle scheduling method and is responsible for regulating and controlling the information flow direction of the vehicle-mounted communication network system.
6. The centralized software-defined lane-keeping networked control system of claim 5, wherein: in order to ensure the synchronism and the real-time property of the message transmission of each domain controller unit, the scheduling method divides the sampling period of the lane keeping networked control system into
A basic period wherein
Is the number of basic cycles required by the lane keeping system application module;
the information flow loop delay of the lane keeping networked control system is expressed as:
wherein
Represents the total loop delay of the information flow transmission of the whole lane keeping networked control system,
representing the sampling period of the lane-keeping networked control system,
representing the delay incurred by the sensor node within the ADAS domain controller unit,
representing the delay generated by an actuator node in the chassis domain controller unit;
each communication entity must complete the transmission of the message frame in the corresponding basic period.
7. The centralized software-defined lane-keeping networked control system of claim 6, wherein: the basic cycle lengthT bp The following conditions are satisfied:
wherein
Is as followsiThe maximum physical transmission time of the individual pieces of information,i=1,2,3...m，
the maximum physical transmission time of all the information packets is less than or equal to the size of the basic period;
8. The centralized software-defined lane-keeping networked control system of claim 1, wherein: the lane keeping system application module includes: the system comprises a lane line identification module, a decision-making module and an execution module;
the road line identification module consists of a radar and a camera module and is used for detecting and acquiring road condition information;
a decision module: the system is responsible for calculating the corner deviation of the steering wheel and the distance between the vehicle and the transverse deviation according to the image information of the lane line identification module;
the execution module comprises a driving motor and an execution motor and is responsible for executing the deviation corner information and the distance feedback sent by the decision module to realize the lane keeping function under the software defined network framework.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210985423.8A CN115042781A (en) | 2022-08-17 | 2022-08-17 | Centralized software-defined lane keeping networked control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210985423.8A CN115042781A (en) | 2022-08-17 | 2022-08-17 | Centralized software-defined lane keeping networked control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115042781A true CN115042781A (en) | 2022-09-13 |
Family
ID=83168372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210985423.8A Pending CN115042781A (en) | 2022-08-17 | 2022-08-17 | Centralized software-defined lane keeping networked control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115042781A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115348298A (en) * | 2022-10-19 | 2022-11-15 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | SDN-based intelligent vehicle equal-hop redundant area architecture and redundancy scheduling method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108334087A (en) * | 2018-01-25 | 2018-07-27 | 广州大学 | A kind of advanced driving assistance system of hardware and software platform based on software definition |
| CN109606346A (en) * | 2018-12-29 | 2019-04-12 | 武汉超控科技有限公司 | A kind of Lane Keeping System of automatic Pilot |
| KR20200076024A (en) * | 2018-12-19 | 2020-06-29 | (주)에이텍티앤 | Vehicle-network load balancing method in cooperative intelligent transport system |
| US20210179125A1 (en) * | 2019-12-11 | 2021-06-17 | At&T Intellectual Property I, L.P. | Method and apparatus for personalizing autonomous transportation |
| CN113771849A (en) * | 2021-09-02 | 2021-12-10 | 英博超算(南京)科技有限公司 | Be applicable to lane and keep auxiliary system |
| CN114802058A (en) * | 2022-06-23 | 2022-07-29 | 北京理工大学 | Intelligent electric vehicle regional architecture vehicle-mounted networked control system and scheduling method |
| CN114884998A (en) * | 2022-07-11 | 2022-08-09 | 北京理工大学 | Cooperative software-defined vehicle-mounted network system, scheduling method and CACC |
-
2022
- 2022-08-17 CN CN202210985423.8A patent/CN115042781A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108334087A (en) * | 2018-01-25 | 2018-07-27 | 广州大学 | A kind of advanced driving assistance system of hardware and software platform based on software definition |
| KR20200076024A (en) * | 2018-12-19 | 2020-06-29 | (주)에이텍티앤 | Vehicle-network load balancing method in cooperative intelligent transport system |
| CN109606346A (en) * | 2018-12-29 | 2019-04-12 | 武汉超控科技有限公司 | A kind of Lane Keeping System of automatic Pilot |
| US20210179125A1 (en) * | 2019-12-11 | 2021-06-17 | At&T Intellectual Property I, L.P. | Method and apparatus for personalizing autonomous transportation |
| CN113771849A (en) * | 2021-09-02 | 2021-12-10 | 英博超算(南京)科技有限公司 | Be applicable to lane and keep auxiliary system |
| CN114802058A (en) * | 2022-06-23 | 2022-07-29 | 北京理工大学 | Intelligent electric vehicle regional architecture vehicle-mounted networked control system and scheduling method |
| CN114884998A (en) * | 2022-07-11 | 2022-08-09 | 北京理工大学 | Cooperative software-defined vehicle-mounted network system, scheduling method and CACC |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115348298A (en) * | 2022-10-19 | 2022-11-15 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | SDN-based intelligent vehicle equal-hop redundant area architecture and redundancy scheduling method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zheng et al. | Distributed model predictive control for heterogeneous vehicle platoons under unidirectional topologies | |
| Ploeg et al. | Graceful degradation of cooperative adaptive cruise control | |
| Ge et al. | Communication resource-efficient vehicle platooning control with various spacing policies | |
| Navale et al. | (R) evolution of E/E architectures | |
| Xiao et al. | Dynamic event-triggered platooning control of automated vehicles under random communication topologies and various spacing policies | |
| Syed et al. | MIP-based joint scheduling and routing with load balancing for TSN based in-vehicle networks | |
| CN114884998B (en) | Cooperative software defined vehicle-mounted network system, scheduling method and CACC | |
| CN115042781A (en) | Centralized software-defined lane keeping networked control system | |
| CN111314420A (en) | Flexible vehicle-mounted network system and vehicle for intelligent driving | |
| CN111818189B (en) | Vehicle road cooperative control system, method and medium | |
| EP3609206B1 (en) | Method and backend structure for providing network based computational power to a moving vehicle and a vehicle designed to use the backend structure | |
| CN112995315A (en) | Service-oriented intelligent vehicle-mounted network QoS guarantee method | |
| Li et al. | An adversarial attack defending system for securing in-vehicle networks | |
| CN113765825B (en) | Planning method and system architecture for chained service flow scheduling | |
| Ploeg et al. | Guest editorial introduction to the special issue on the 2016 grand cooperative driving challenge | |
| Kenjić et al. | Connectivity challenges in automotive solutions | |
| Wang et al. | Fog‐Based Distributed Networked Control for Connected Autonomous Vehicles | |
| Bonomi et al. | The role of fog computing in the future of the automobile | |
| Wang et al. | Review of Electrical and Electronic Architectures for Autonomous Vehicles: Topologies, Networking and Simulators | |
| CN113140118B (en) | Distributed single intersection control system, multiple intersection control system, method and medium | |
| CN115576309A (en) | Multi-objective design-based vehicle-mounted network area architecture method and vehicle | |
| CN114374714A (en) | Construction method, topological structure and storage medium of centralized automobile electronic and electrical architecture | |
| CN113377393B (en) | Diagnosis refreshing system and method for vehicle-mounted system main node | |
| Foukalas et al. | Distributed control plane for safe cooperative vehicular cyber physical systems | |
| Berdigh et al. | Connected car & IoT: A review |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220913 |
|
| RJ01 | Rejection of invention patent application after publication |