CN115334109A - System architecture, transmission method, vehicle, medium and chip for traffic signal identification - Google Patents
System architecture, transmission method, vehicle, medium and chip for traffic signal identification Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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Abstract
The present disclosure relates to a system architecture, transmission method, vehicle, medium and chip for traffic signal identification, comprising: the system comprises a vehicle central computing domain controller, a traffic signal identification domain controller and a first bottom layer domain controller; the vehicle central computing domain controller is configured with a first SOA service corresponding to the traffic signal identifying domain controller, the traffic signal identifying domain controller generates an identifying result description according to a hierarchical structure of traffic signals in a traffic signal identifying result, an uploading interface is provided through the first SOA service to upload the traffic signal identifying result to the vehicle central computing domain controller, the vehicle central computing domain controller generates a service list according to the identifying result description and the uploading interface and broadcasts the service list to the Ethernet, so that a first underlying domain controller which subscribes and calls the first SOA service on the vehicle central computing domain controller can obtain the service list, and calls the traffic signal identifying result according to the identifying result description in the service list.
Description
Technical Field
The present disclosure relates to the field of vehicle engineering technologies, and in particular, to a system architecture, a transmission method, a vehicle, a medium, and a chip for traffic signal identification.
Background
In the technical field of intelligent driving, in order to realize the control of vehicle execution mechanisms in control domains of different domain controllers but not the local domain controller, cross-domain service calling can be carried out through SOA (service oriented architecture) service, however, when a new domain controller is added into the whole vehicle, the calling service of the newly added domain controller needs to be set, so that the workload of vehicle development is large.
Disclosure of Invention
To overcome the problems in the related art, the present disclosure provides a system architecture, a transmission method, a vehicle, a medium, and a chip for traffic signal identification.
According to a first aspect of the embodiments of the present disclosure, there is provided a system architecture for traffic signal identification, applied to a vehicle, the system architecture comprising:
the system comprises a whole vehicle central computing domain controller and a plurality of bottom layer domain controllers, wherein the bottom layer domain controllers are connected with the whole vehicle central computing domain controller through an Ethernet and comprise a traffic signal identification domain controller and a first bottom layer domain controller;
the vehicle central computing domain controller is configured with a first SOA service corresponding to the traffic signal identification domain controller, the first SOA service provides an uploading interface, the traffic signal identification domain controller generates identification result description corresponding to the traffic signal identification result according to the hierarchical structure of each traffic signal in the traffic signal identification result, uploads the traffic signal identification result to the vehicle central computing domain controller through the uploading interface, the vehicle central computing domain controller generates a service list according to the identification result description of the traffic signal identification result and the uploading interface of the first SOA service, and broadcasts the service list to the Ethernet, so that a first underlying domain controller which subscribes and calls the first SOA service on the vehicle central computing domain controller can obtain the service list, calls the traffic signal identification result according to the identification result description in the service list, and the traffic signal identification result is obtained by identifying each traffic signal.
Optionally, the control domains of the multiple bottom-layer domain controllers include corresponding vehicle actuators, second SOA services corresponding to the vehicle actuators in the control domains of the multiple bottom-layer domain controllers are configured in the entire vehicle central computing domain controller, cross-domain services for cross-domain calling of the second SOA services are configured in the multiple bottom-layer domain controllers, and the cross-domain services are used for calling the second SOA services corresponding to the vehicle actuators in the control domains of the non-local domain controllers.
Optionally, the cross-domain service is configured to:
monitoring the interface state of an uploading interface corresponding to the first SOA service, and generating a calling instruction under the condition that the monitored interface state represents that the traffic signal identification domain controller uploads the traffic signal identification result to the vehicle central computing domain controller;
and monitoring the information broadcast by the whole vehicle central computing domain controller on the Ethernet according to the calling instruction, and acquiring the traffic signal identification result from the Ethernet under the condition that the whole vehicle central computing domain controller broadcasts the traffic signal identification result on the Ethernet is monitored.
Optionally, the traffic signal recognition result is obtained by recognizing at least one of a traffic signboard, a traffic signal lamp and a traffic police command.
According to a second aspect of the embodiments of the present disclosure, there is provided a transmission method for traffic signal identification, the method being applied to a traffic signal identification domain controller of the system architecture of any one of the first aspect, the transmission method including:
generating an identification result description corresponding to the traffic signal identification result according to the hierarchical structure of each traffic signal in the traffic signal identification result;
and uploading a traffic signal identification result to the vehicle central computing domain controller through an uploading interface provided by a first SOA service corresponding to the traffic signal identification domain controller in the vehicle central computing domain controller, wherein the vehicle central computing domain controller generates a service list according to the identification result description of the traffic signal identification result and the uploading interface of the first SOA service and broadcasts the service list to the Ethernet, so that a first underlying domain controller subscribing and calling the first SOA service on the vehicle central computing domain controller can acquire the service list, and calls the traffic signal identification result according to the identification result description in the service list, and the traffic signal identification result is obtained by identifying each traffic signal.
According to a third aspect of the disclosed embodiments, a transmission method for traffic signal identification is provided, and the method is applied to a vehicle central computing domain controller of the system architecture of any one of the first aspect, and the transmission method includes:
receiving a traffic signal identification result uploaded by a traffic signal identification domain controller, wherein the traffic signal identification result carries identification result descriptions corresponding to the traffic signal identification result generated according to the hierarchical structure of each traffic signal in the traffic signal identification result, the traffic signal identification result is uploaded through an uploading interface provided by a first SOA service corresponding to the traffic signal identification domain controller in a vehicle central computing domain controller, and the traffic signal identification result is obtained by identifying each traffic signal;
generating a service list according to the identification result description of the traffic signal identification result and the uploading interface of the first SOA service;
broadcasting the service list to the Ethernet, so that a first underlying domain controller which subscribes and calls the first SOA service on the whole vehicle central computing domain controller can acquire the service list, and calling the traffic signal identification result according to the identification result description in the service list.
According to a fourth aspect of an embodiment of the present disclosure, there is provided a vehicle including: the system comprises a whole vehicle central computing domain controller and a plurality of bottom layer domain controllers, wherein the bottom layer domain controllers are connected with the whole vehicle central computing domain controller through an Ethernet and comprise a traffic signal identification domain controller and a first bottom layer domain controller;
the traffic signal identification domain controller is configured to execute the method of the second aspect, the vehicle central computing domain controller is configured to execute the method of the third aspect, and the first underlying domain controller is configured to subscribe and call the service list generated by the vehicle central computing domain controller according to the identification result description of the traffic signal identification result and the uploading interface of the first SOA service through the Ethernet so as to call the traffic signal identification result uploaded by the traffic signal identification domain controller.
According to a fifth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method of the second or third aspect.
According to a sixth aspect of embodiments of the present disclosure, there is provided a chip comprising a processor and an interface; the processor is configured to read instructions to perform the method of the second or third aspect.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
the first SOA service corresponding to the traffic signal identification domain controller is configured in the vehicle central computing domain controller, the first SOA service provides an uploading interface, the traffic signal identification domain controller generates identification result description corresponding to the traffic signal identification result according to the hierarchical structure of each traffic signal in the traffic signal identification result, the traffic signal identification result is uploaded to the vehicle central computing domain controller through the uploading interface, the vehicle central computing domain controller generates a service list according to the identification result description of the traffic signal identification result and the uploading interface of the first SOA service, and broadcasts the service list to the Ethernet, so that a first bottom domain controller which subscribes and calls the first SOA service on the vehicle central computing domain controller can obtain the service list, and calls the traffic signal identification result according to the identification result description in the service list. Depending on SOA service, the first underlying domain controller CAN freely call the traffic signal identification result from the service list, and the domain controller newly added to the Ethernet CAN also directly subscribe and call from the service list, so that the development workload is reduced, the first underlying domain controller CAN acquire the traffic signal identification result without being limited by the bandwidth of a CAN bus, and when the function is expanded, the traffic signal identification result CAN be acquired only by adding the expanded domain controller to the Ethernet without adjusting or adapting other domain controllers and the like of the vehicle, so that the cost for developing the vehicle function is reduced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a block diagram illustrating a system architecture for traffic signal identification in accordance with an exemplary embodiment.
Fig. 2 is a data structure diagram illustrating a traffic signal recognition result according to an exemplary embodiment.
FIG. 3 is a functional block diagram schematic of a vehicle shown in an exemplary embodiment.
Fig. 4 is a block diagram illustrating a domain controller in accordance with an example embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
It should be noted that all the actions of acquiring signals, information or data in the present application are performed under the premise of complying with the corresponding data protection regulation policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.
Fig. 1 is a block diagram schematically illustrating a system architecture for traffic signal identification, applied to a vehicle, according to an exemplary embodiment, as shown in fig. 1, the system architecture including:
the system comprises a whole vehicle central computing domain controller and a plurality of bottom layer domain controllers, wherein the bottom layer domain controllers are connected with the whole vehicle central computing domain controller through an Ethernet and comprise a traffic signal identification domain controller and a first bottom layer domain controller;
in the embodiment of the disclosure, the vehicle central computing domain controller VCCD is directly connected to the plurality of underlying domain controllers through the ethernet, the vehicle central computing domain controller VCCD is in Service-Oriented Architecture (SOA) message communication with the plurality of underlying domain controllers, and functions of unified data and function call interfaces are abstracted on a heterogeneous distributed system by means of SOA Service, so that differences between different operating systems and different communication buses can be shielded, the vehicle is packaged into a logic device, and transverse and longitudinal complexity of software development is simplified.
Wherein the first underlying domain controller may be, for example, any of an auxiliary driving domain controller, a chassis domain controller, a power domain controller, a cockpit domain controller, and a body domain controller.
It is worth mentioning that each control domain of the underlying domain controller includes a corresponding vehicle actuator, for example, the control domain of the traffic signal identification domain controller includes an image capturing device, and the image capturing device is usually installed at a vehicle head position, for example, at a vehicle head grid.
In the embodiment of the disclosure, the corresponding vehicle execution mechanism in the control domain of each bottom layer domain controller is in communication connection with the bottom layer domain controller through a CAN bus, and meanwhile, the corresponding vehicle execution mechanism in the control domain of each bottom layer domain controller is in communication connection with the whole vehicle central computing domain controller VCCD through the CAN bus. Exemplarily, an image acquisition device in a control domain of the traffic signal identification domain controller is in communication connection with the traffic signal identification domain controller through a CAN bus, and is in communication connection with a vehicle central computing domain controller VCCD through the CAN bus.
The vehicle central computing domain controller is configured with a first SOA service corresponding to the traffic signal identification domain controller, the first SOA service provides an uploading interface, the traffic signal identification domain controller generates identification result description corresponding to the traffic signal identification result according to the hierarchical structure of each traffic signal in the traffic signal identification result, uploads the traffic signal identification result to the vehicle central computing domain controller through the uploading interface, the vehicle central computing domain controller generates a service list according to the identification result description of the traffic signal identification result and the uploading interface of the first SOA service, and broadcasts the service list to the Ethernet, so that a first underlying domain controller which subscribes and calls the first SOA service on the vehicle central computing domain controller can obtain the service list, calls the traffic signal identification result according to the identification result description in the service list, and the traffic signal identification result is obtained by identifying each traffic signal.
The hierarchical structure may be a classification hierarchy of each traffic signal in the traffic signal identification result. The identification result description is used for representing the semantics of the current traffic signal, and further, the service list not only includes the identification result description of the traffic signal identification domain controller and the uploading interface of the first SOA service, but also includes the identification result description of each first underlying domain controller and the uploading interface of the first SOA service. And the underlying domain controller can invoke the recognition result of any other domain underlying controller from the service list.
According to the system architecture, a first SOA service corresponding to a traffic signal identification domain controller is configured in a vehicle central computing domain controller, the first SOA service provides an uploading interface, the traffic signal identification domain controller generates identification result description corresponding to the traffic signal identification result according to the hierarchical structure of each traffic signal in the traffic signal identification result, the traffic signal identification result is uploaded to the vehicle central computing domain controller through the uploading interface, the vehicle central computing domain controller generates a service list according to the identification result description of the traffic signal identification result and the uploading interface of the first SOA service, and broadcasts the service list to the Ethernet, so that a first underlying domain controller which subscribes and calls the first SOA service on the vehicle central computing domain controller can obtain the service list, and calls the traffic signal identification result according to the identification result description in the service list. Depending on SOA service, the first underlying domain controller CAN freely call the traffic signal identification result from the service list, and the domain controller newly added into the Ethernet CAN also directly subscribe and call from the service list, so that the development workload is reduced, the first underlying domain controller CAN acquire the traffic signal identification result without being limited by the bandwidth of a CAN bus, and when the function is expanded, the traffic signal identification result CAN be acquired only by adding the expanded domain controller into the Ethernet without adjusting or adapting other domain controllers and the like of a vehicle, so that the cost for developing the vehicle function is reduced.
Optionally, the control domains of the multiple bottom-layer domain controllers include corresponding vehicle execution mechanisms, second SOA services corresponding to the vehicle execution mechanisms in the control domains of the multiple bottom-layer domain controllers are configured in the entire vehicle central computing domain controller, cross-domain services for cross-domain calling of the second SOA services are configured in the multiple bottom-layer domain controllers, and the cross-domain services are used for calling of the second SOA services corresponding to the vehicle execution mechanisms in the control domains of non-local-domain controllers.
It CAN be understood that a plurality of bottom layer domain controllers are in communication connection with vehicle execution mechanisms in the control domains thereof through a CAN bus, and the whole vehicle central computing domain controller is in communication connection with any vehicle execution mechanism through the CAN bus.
Optionally, the cross-domain service is configured to:
monitoring the interface state of an uploading interface corresponding to the first SOA service, and generating a calling instruction under the condition that the monitored interface state represents that the traffic signal identification domain controller uploads the traffic signal identification result to the vehicle central computing domain controller;
and monitoring the information broadcast by the whole vehicle central computing domain controller on the Ethernet according to the calling instruction, and acquiring the traffic signal identification result from the Ethernet under the condition that the whole vehicle central computing domain controller broadcasts the traffic signal identification result on the Ethernet is monitored.
In the embodiment of the disclosure, the bottom-layer domain controller determines the uploading interface corresponding to the first SOA service to be subscribed and called from the service list, and monitors the interface state of the uploading interface provided by the first SOA service subscribed and called in the service list after the subscription and calling are successful. Monitoring is not needed for the interface state of the uploading interface provided for the called first SOA service.
Optionally, the traffic signal recognition result is obtained by recognizing at least one of a traffic signboard, a traffic signal lamp and a traffic police command.
Referring to the data structure diagram of the traffic signal recognition result shown in fig. 2, the data structure may further include the data sending time of the traffic signal recognition result, and further, the recognition result for the traffic signboard may include the speed limit represented by the traffic signboard and the current distance from the host vehicle. While the target traffic light may include the current distance of the traffic light from the host vehicle and the type of traffic light, e.g., only one signal light for indicating both left turn and straight ahead; the two signal lamps are respectively used for indicating left turning and straight going; three signal lamps are respectively used for indicating left turning, right turning and straight going; there are four signal lamps for indicating left turn, right turn, turning around and straight going. Further, traffic light states such as blinking, normally on, or normally off may also be included, and of course, the identification result of the traffic light should include the color of the light, such as green, red, or yellow, and each color may correspond to the presence of a number (reading a second countdown). In an embodiment, the identification result of the traffic signal lamp may further include whether the signal lamp duration is normal, which indicates that other domain controllers may be invoked when the signal lamp duration is normal, and indicates that other domain controllers may not be invoked when the signal lamp duration is abnormal.
The traffic signboard may include a ground traffic signboard and an air traffic signboard, and the ground traffic signboard is specifically an identification shape such as a circle, an arrow (turn left, turn around, go straight, turn left prohibited, turn right prohibited, go straight), a triangle, a diamond, a square, or a rectangle. Various traffic guidance gestures, such as a passable gesture, a non-passable gesture, a side parking gesture, a passage warning gesture and the like, can be included in the recognition result of the traffic police guidance traffic signal.
Based on the same inventive concept, the embodiment of the present disclosure further provides a transmission method for traffic signal identification, where the method is applied to a traffic signal identification domain controller of the system architecture in any one of the foregoing embodiments, and the transmission method includes:
generating an identification result description corresponding to the traffic signal identification result according to the hierarchical structure of each traffic signal in the traffic signal identification result;
and uploading a traffic signal identification result to the vehicle central computing domain controller through an uploading interface provided by a first SOA service corresponding to the traffic signal identification domain controller in the vehicle central computing domain controller, wherein the vehicle central computing domain controller generates a service list according to the identification result description of the traffic signal identification result and the uploading interface of the first SOA service and broadcasts the service list to the Ethernet, so that a first underlying domain controller subscribing and calling the first SOA service on the vehicle central computing domain controller can acquire the service list, and calls the traffic signal identification result according to the identification result description in the service list, and the traffic signal identification result is obtained by identifying each traffic signal.
Based on the same inventive concept, the embodiment of the present disclosure further provides a transmission method for traffic signal identification, where the method is applied to a vehicle central computing domain controller of the system architecture in any one of the foregoing embodiments, and the transmission method includes:
receiving a traffic signal identification result uploaded by a traffic signal identification domain controller, wherein the traffic signal identification result carries identification result descriptions corresponding to the traffic signal identification result generated according to the hierarchical structure of each traffic signal in the traffic signal identification result, the traffic signal identification result is uploaded through an uploading interface provided by a first SOA service corresponding to the traffic signal identification domain controller in a vehicle central computing domain controller, and the traffic signal identification result is obtained by identifying each traffic signal;
generating a service list according to the identification result description of the traffic signal identification result and the uploading interface of the first SOA service;
broadcasting the service list to the Ethernet, so that a first underlying domain controller which subscribes and calls the first SOA service on the whole vehicle central computing domain controller can acquire the service list, and calling the traffic signal identification result according to the identification result description in the service list.
Based on the same inventive concept, the disclosed embodiments also provide a vehicle, including: the system comprises a vehicle central computing domain controller, a plurality of bottom layer domain controllers connected with the vehicle central computing domain controller through an Ethernet, wherein each bottom layer domain controller comprises a traffic signal identification domain controller and a first bottom layer domain controller;
the traffic signal identification domain controller is configured to execute the transmission method of the traffic signal identification domain controller side, the vehicle central computing domain controller is configured to execute the transmission method of the vehicle central computing domain controller side, and the first bottom domain controller is configured to subscribe and call a service list generated by the vehicle central computing domain controller according to the identification result description of the traffic signal identification result and an uploading interface of the first SOA service through the Ethernet so as to call the traffic signal identification result uploaded by the traffic signal identification domain controller.
Embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steps of the method described in any of the preceding embodiments.
According to a sixth aspect of an embodiment of the present disclosure, there is provided a chip comprising a processor and an interface; the processor is configured to read instructions to perform the method described in any preceding embodiment.
The apparatus may be a part of a stand-alone electronic device, for example, in an embodiment, the apparatus may be an Integrated Circuit (IC) or a chip, where the IC may be one IC or a set of multiple ICs; the chip may include, but is not limited to, the following categories: a GPU (Graphics Processing Unit), a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an SOC (System on Chip, SOC, system on Chip, or System on Chip), and the like. The integrated circuit or chip can be used to execute executable instructions (or codes) to implement the transmission method for traffic signal identification. Where the executable instructions may be stored in the integrated circuit or chip or may be retrieved from another device or apparatus, for example, where the integrated circuit or chip includes a processor, a memory, and an interface for communicating with other devices. The executable instructions may be stored in the memory, and when executed by the processor, implement the transmission method for traffic signal identification described above; alternatively, the integrated circuit or chip may receive executable instructions through the interface and transmit the instructions to the processor for execution, so as to implement the transmission method for traffic signal identification.
Referring to fig. 3, fig. 3 is a functional block diagram of a vehicle 300 according to an exemplary embodiment. The vehicle 300 may be configured in a fully or partially autonomous driving mode. For example, the vehicle 300 may acquire environmental information around it through the sensing system 320 and derive an automatic driving strategy based on an analysis of the surrounding environmental information to achieve full automatic driving, or present the analysis results to the user to achieve partial automatic driving.
The vehicle 300 may include various subsystems such as an infotainment system 310, a perception system 320, a decision control system 330, a drive system 340, and a computing platform 350. Alternatively, the vehicle 300 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each of the sub-systems and components of the vehicle 300 may be interconnected by wire or wirelessly.
In some embodiments, infotainment system 310 may include a communication system 311, an entertainment system 312, and a navigation system 313.
The communication system 311 may include a wireless communication system that may wirelessly communicate with one or more devices, either directly or via a communication network. For example, the wireless communication system may use 3G cellular communication, such as CDMA, EVD0, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system may communicate with a Wireless Local Area Network (WLAN) using WiFi. In some embodiments, the wireless communication system may communicate directly with the device using an infrared link, bluetooth, or ZigBee. Other wireless protocols, such as various vehicular communication systems, for example, a wireless communication system may include one or more Dedicated Short Range Communications (DSRC) devices that may include public and/or private data communications between vehicles and/or roadside stations.
The entertainment system 312 may include a display device, a microphone, and a sound box, and a user may listen to a broadcast in the car based on the entertainment system, playing music; or the mobile phone is communicated with the vehicle, screen projection of the mobile phone is realized on the display equipment, the display equipment can be in a touch control type, and a user can operate the display equipment by touching the screen.
In some cases, the voice signal of the user may be acquired through a microphone, and certain control of the vehicle 300 by the user, such as adjusting the temperature in the vehicle, etc., may be implemented according to the analysis of the voice signal of the user. In other cases, music may be played to the user through a stereo.
The navigation system 313 may include a map service provided by a map provider to provide navigation of a route traveled by the vehicle 300, and the navigation system 313 may be used in conjunction with the global positioning system 321 and the inertial measurement unit 322 of the vehicle. The map service provided by the map supplier can be a two-dimensional map or a high-precision map.
The perception system 320 may include several types of sensors that sense information about the environment surrounding the vehicle 300. For example, the sensing system 320 may include a global positioning system 321 (the global positioning system may be a GPS system, a beidou system, or other positioning system), an Inertial Measurement Unit (IMU) 322, a laser radar 323, a millimeter wave radar 324, an ultrasonic radar 325, and a camera 326. The sensing system 320 may also include sensors of internal systems of the monitored vehicle 300 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors may be used to detect the object and its corresponding characteristics (position, shape, orientation, velocity, etc.). Such detection and identification is a critical function of the safe operation of the vehicle 300.
The global positioning system 321 is used to estimate the geographic location of the vehicle 300.
The inertial measurement unit 322 is used to sense the pose change of the vehicle 300 based on the inertial acceleration. In some embodiments, inertial measurement unit 322 may be a combination of accelerometers and gyroscopes.
Lidar 323 utilizes laser light to sense objects in the environment in which vehicle 300 is located. In some embodiments, lidar 323 may include one or more laser sources, laser scanners, and one or more detectors, among other system components.
Millimeter-wave radar 324 utilizes radio signals to sense objects within the surrounding environment of vehicle 300. In some embodiments, in addition to sensing objects, millimeter-wave radar 324 may also be used to sense the speed and/or heading of objects.
The ultrasonic radar 325 may sense objects around the vehicle 300 using ultrasonic signals.
The camera 326 is used to capture image information of the surroundings of the vehicle 300. The camera 326 may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, and the like, and the image information acquired by the camera 326 may include still images or video stream information.
The decision control system 330 includes a computing system 331 for making analytical decisions based on information obtained by the sensing system 320, the decision control system 330 further includes a vehicle control unit 332 for controlling the powertrain of the vehicle 300, and a steering system 333, a throttle 334, and a braking system 335 for controlling the vehicle 300.
The computing system 331 may be operable to process and analyze various information acquired by the perception system 320 in order to identify objects, and/or features in the environment surrounding the vehicle 300. The target may comprise a pedestrian or an animal and the objects and/or features may comprise traffic signals, road boundaries and obstacles. The computing system 331 may use object recognition algorithms, motion from Motion (SFM) algorithms, video tracking, and like techniques. In some embodiments, the computing system 331 may be used to map an environment, track objects, estimate the speed of objects, and so forth. The computing system 331 may analyze the various information obtained and derive a control strategy for the vehicle.
The vehicle controller 332 may be used to perform coordinated control on the power battery and the engine 341 of the vehicle to improve the power performance of the vehicle 300.
The steering system 333 is operable to adjust the heading of the vehicle 300. For example, in one embodiment, a steering wheel system.
The throttle 334 is used to control the operating speed of the engine 341 and thus the speed of the vehicle 300.
The braking system 335 is used to control the deceleration of the vehicle 300. The braking system 335 may use friction to slow the wheel 344. In some embodiments, the braking system 335 may convert kinetic energy of the wheel 344 into electrical current. The braking system 335 may take other forms to slow the rotational speed of the wheels 344 to control the speed of the vehicle 300.
The drive system 340 may include components that provide powered motion to the vehicle 300. In one embodiment, drive system 340 may include an engine 341, an energy source 342, a transmission 343, and wheels 344. The engine 341 may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine consisting of a gasoline engine and an electric motor, a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 341 converts the energy source 342 into mechanical energy.
Examples of energy source 342 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electrical power. The energy source 342 may also provide energy to other systems of the vehicle 300.
The transmission 343 may transmit mechanical power from the engine 341 to the wheels 344. The driveline 343 may include a gearbox, a differential, and drive shafts. In one embodiment, the transmission 343 may also include other devices, such as clutches. Wherein the drive shaft may include one or more axles that may be coupled to one or more wheels 344.
Some or all of the functions of the vehicle 300 are controlled by the computing platform 350. Computing platform 350 may include at least one processor 351, processor 351 may execute instructions 353 stored in a non-transitory computer readable medium, such as first memory 352. In some embodiments, the computing platform 350 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 300 in a distributed manner.
The processor 351 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor 351 may also include a processor such as a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System On Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof. Although fig. 3 functionally illustrates a processor, memory, and other elements of a computer in the same block, those skilled in the art will appreciate that the processor, computer, or memory may actually comprise multiple processors, computers, or memories that may or may not be stored within the same physical housing. For example, the memory may be a hard drive or other storage medium located in a different enclosure than the computer. Thus, references to a processor or computer are to be understood as including references to a collection of processors or computers or memories which may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some of the components, such as the steering and deceleration components, may each have their own processor that performs only computations related to the component-specific functions.
In the disclosed embodiment, the processor 351 may execute the transmission method for traffic signal identification described above.
In various aspects described herein, the processor 351 may be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are executed on a processor disposed within the vehicle and others are executed by a remote processor, including taking the steps necessary to execute a single maneuver.
In some embodiments, the first memory 352 may include instructions 353 (e.g., program logic), the instructions 353 being executable by the processor 351 to perform various functions of the vehicle 300. The first memory 352 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of the infotainment system 310, the perception system 320, the decision control system 330, the drive system 340.
In addition to the instructions 353, the first memory 352 may also store data such as road maps, route information, location, direction, speed of the vehicle, and other such vehicle data, among other information. Such information may be used by the vehicle 300 and the computing platform 350 during operation of the vehicle 300 in autonomous, semi-autonomous, and/or manual modes.
Computing platform 350 may control functions of vehicle 300 based on inputs received from various subsystems, such as drive system 340, sensing system 320, and decision control system 330. For example, computing platform 350 may utilize input from decision control system 330 in order to control steering system 333 to avoid obstacles detected by sensing system 320. In some embodiments, the computing platform 350 is operable to provide control over many aspects of the vehicle 300 and its subsystems.
Alternatively, one or more of these components described above may be mounted or associated separately from the vehicle 300. For example, the first memory 352 may exist partially or completely separate from the vehicle 300. The above components may be communicatively coupled together in a wired and/or wireless manner.
Optionally, the above components are only an example, in an actual application, components in the above modules may be added or deleted according to an actual need, and fig. 3 should not be construed as limiting the embodiment of the present disclosure.
An autonomous automobile traveling on a road, such as vehicle 300 above, may identify objects within its surrounding environment to determine an adjustment to the current speed. The object may be another vehicle, a traffic control device, or another type of object. In some examples, each identified object may be considered independently, and based on the respective characteristics of the object, such as its current speed, acceleration, separation from the vehicle, etc., may be used to determine the speed at which the autonomous vehicle is to be adjusted.
Optionally, the vehicle 300 or a sensing and computing device associated with the vehicle 300 (e.g., computing system 331, computing platform 350) may predict behavior of the identified object based on characteristics of the identified object and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each identified object depends on the behavior of each other, so it is also possible to predict the behavior of a single identified object taking all identified objects together into account. The vehicle 300 is able to adjust its speed based on the predicted behavior of the identified object. In other words, the autonomous vehicle is able to determine what steady state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the object. In this process, other factors may also be considered to determine the speed of the vehicle 300, such as the lateral position of the vehicle 300 in the road being traveled, the curvature of the road, the proximity of static and dynamic objects, and so forth.
In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may also provide instructions to modify the steering angle of the vehicle 300 to cause the autonomous vehicle to follow a given trajectory and/or maintain a safe lateral and longitudinal distance from objects in the vicinity of the autonomous vehicle (e.g., vehicles in adjacent lanes on the road).
The vehicle 300 may be any type of vehicle, such as a car, a truck, a motorcycle, a bus, a boat, an airplane, a helicopter, a recreational vehicle, a train, etc., and the embodiment of the present disclosure is not particularly limited.
In another exemplary embodiment, a computer program product is also provided, which contains a computer program executable by a programmable device, the computer program having code portions for performing the above-described transmission method for traffic signal identification when executed by the programmable device.
Fig. 4 is a block diagram illustrating a domain controller in accordance with an example embodiment. Referring to fig. 4, the domain controller 400 may be the traffic signal identification domain controller 120 shown in fig. 1 or the entire vehicle central computing domain controller 110, the domain controller 400 including a processing component 422, which further includes one or more processors, and memory resources represented by a second memory 432 for storing instructions, such as applications, executable by the processing component 422. The application programs stored in the second memory 432 may include one or more modules that each correspond to a set of instructions. Further, the processing component 422 is configured to execute instructions to perform the transmission method for traffic signal identification described above.
The domain controller 400 may also include a power component 426 configured to perform power management of the domain controller 400, a wired or wireless network interface 450 configured to connect the domain controller 400 to a network, and an input/output interface 458. The domain controller 400 may operate based on an operating system, such as Windows Server, stored in the secondary storage 432 TM ，Mac OS X TM ，Unix TM ，Linux TM ，FreeBSD TM Or the like.
The domain controller 400 may be a part of a separate electronic device, for example, in an embodiment, the domain controller 400 may be an Integrated Circuit (IC) or a chip, where the IC may be one IC or a set of multiple ICs; the chip may include, but is not limited to, the following categories: a GPU (Graphics Processing Unit), a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an SOC (System on Chip, SOC, system on Chip, or System on Chip), and the like. The integrated circuit or chip can be used to execute executable instructions (or codes) to implement the transmission method for traffic signal identification. Where the executable instructions may be stored in the integrated circuit or chip or may be retrieved from another device or apparatus, such as an integrated circuit or chip that includes a processor, memory, and an interface for communicating with other devices. The executable instructions may be stored in the memory, and when executed by the processor, implement the transmission method for traffic signal identification described above; alternatively, the integrated circuit or chip may receive the executable instructions through the interface and transmit the executable instructions to the processor for execution, so as to implement the transmission method for traffic signal identification.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice in the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (9)
1. A system architecture for traffic signal identification, for use in a vehicle, the system architecture comprising:
the system comprises a vehicle central computing domain controller, a plurality of bottom layer domain controllers connected with the vehicle central computing domain controller through an Ethernet, wherein each bottom layer domain controller comprises a traffic signal identification domain controller and a first bottom layer domain controller;
the vehicle central computing domain controller generates identification result description corresponding to the traffic signal identification result according to the hierarchical structure of each traffic signal in the traffic signal identification result, uploads the traffic signal identification result to the vehicle central computing domain controller through the uploading interface, generates a service list according to the identification result description of the traffic signal identification result and the uploading interface of the first SOA service, broadcasts the service list to the Ethernet, so that a first underlying domain controller which subscribes and calls the first SOA service on the vehicle central computing domain controller can obtain the service list, calls the traffic signal identification result according to the identification result description in the service list, and identifies each traffic signal according to the traffic signal identification result.
2. The system architecture of claim 1, wherein the control domains of the multiple bottom-layer domain controllers include corresponding vehicle actuators, a second SOA service corresponding to the vehicle actuators in the control domains of the multiple bottom-layer domain controllers is configured in the entire vehicle central computing domain controller, a cross-domain service for calling the second SOA service across domains is configured in each of the multiple bottom-layer domain controllers, and the cross-domain service is used for calling the second SOA service corresponding to the vehicle actuators in the control domains of non-local-domain controllers.
3. The system architecture of claim 2, wherein the cross-domain service is configured to:
monitoring the interface state of an uploading interface corresponding to the first SOA service, and generating a calling instruction under the condition that the monitored interface state represents that the traffic signal identification domain controller uploads the traffic signal identification result to the vehicle central computing domain controller;
and monitoring the information broadcast by the whole vehicle central computing domain controller on the Ethernet according to the calling instruction, and acquiring the traffic signal identification result from the Ethernet under the condition that the whole vehicle central computing domain controller broadcasts the traffic signal identification result on the Ethernet is monitored.
4. The system architecture according to any of claims 1-3, wherein the traffic signal recognition result is obtained by recognizing at least one of a traffic signboard, a traffic light, and a traffic police command.
5. A transmission method for traffic signal identification, wherein the method is applied to a traffic signal identification domain controller of the system architecture of any one of claims 1-4, and the transmission method comprises the following steps:
generating an identification result description corresponding to the traffic signal identification result according to the hierarchical structure of each traffic signal in the traffic signal identification result;
and uploading a traffic signal identification result to the vehicle central computing domain controller through an uploading interface provided by a first SOA service corresponding to the traffic signal identification domain controller in the vehicle central computing domain controller, wherein the vehicle central computing domain controller generates a service list according to the identification result description of the traffic signal identification result and the uploading interface of the first SOA service and broadcasts the service list to the Ethernet, so that a first underlying domain controller which subscribes and calls the first SOA service on the vehicle central computing domain controller can obtain the service list, and calls the traffic signal identification result according to the identification result description in the service list, and the traffic signal identification result is obtained by identifying each traffic signal.
6. A transmission method for traffic signal identification, wherein the method is applied to an entire vehicle central computing domain controller of the system architecture of any one of claims 1 to 4, and the transmission method comprises the following steps:
receiving a traffic signal identification result uploaded by a traffic signal identification domain controller, wherein the traffic signal identification result carries identification result descriptions corresponding to the traffic signal identification result generated according to the hierarchical structure of each traffic signal in the traffic signal identification result, the traffic signal identification result is uploaded through an uploading interface provided by a first SOA service corresponding to the traffic signal identification domain controller in the vehicle central computing domain controller, and the traffic signal identification result is obtained by identifying each traffic signal;
generating a service list according to the identification result description of the traffic signal identification result and the uploading interface of the first SOA service;
broadcasting the service list to the Ethernet, so that a first underlying domain controller which subscribes and calls the first SOA service on the whole vehicle central computing domain controller can obtain the service list, and calling the traffic signal identification result according to the identification result description in the service list.
7. A vehicle, characterized by comprising: the system comprises a vehicle central computing domain controller, a plurality of bottom layer domain controllers connected with the vehicle central computing domain controller through an Ethernet, wherein each bottom layer domain controller comprises a traffic signal identification domain controller and a first bottom layer domain controller;
wherein the traffic signal identification domain controller is configured to execute the method of claim 5, the vehicle central computing domain controller is configured to execute the method of claim 6, and the first underlying domain controller is configured to subscribe to and call a service list generated by the vehicle central computing domain controller according to the identification result description of the traffic signal identification result and the uploading interface of the first SOA service through the Ethernet so as to call the traffic signal identification result uploaded by the traffic signal identification domain controller.
8. A computer-readable storage medium, on which computer program instructions are stored, which program instructions, when executed by a processor, carry out the steps of the method as claimed in claim 5 or 6.
9. A chip comprising a processor and an interface; the processor is configured to read instructions to perform the method of claim 5 or 6.
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| CN116913132A (en) * | 2023-09-12 | 2023-10-20 | 武汉理工大学 | Forward collision early warning system based on domain centralized architecture |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116913132A (en) * | 2023-09-12 | 2023-10-20 | 武汉理工大学 | Forward collision early warning system based on domain centralized architecture |
| CN116913132B (en) * | 2023-09-12 | 2024-01-09 | 武汉理工大学 | Forward collision early warning system based on domain centralized architecture |
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