CN115334114A

CN115334114A - System architecture, transmission method, vehicle, medium and chip for static object recognition

Info

Publication number: CN115334114A
Application number: CN202210946384.0A
Authority: CN
Inventors: 孙长宇
Original assignee: Xiaomi Automobile Technology Co Ltd
Current assignee: Xiaomi Automobile Technology Co Ltd
Priority date: 2022-08-08
Filing date: 2022-08-08
Publication date: 2022-11-11

Abstract

The present disclosure relates to a system architecture, transmission method, vehicle, medium and chip for static object recognition, comprising: the system comprises a vehicle central computing domain controller, a static identification domain controller and a first bottom layer domain controller; the whole vehicle central computing domain controller is provided with a first SOA service and a second SOA service, the first SOA service comprises an atom service and a combined service, the atom service is a minimum sensing unit obtained by decoupling a sensing action on an environment sensing device in a control domain of the static identification domain controller, and a function calling interface of the combined service is generated by combining function calling interfaces of a plurality of atom services; and the static identification domain controller uploads the static object identification result to the whole vehicle central computing domain controller through an uploading interface provided by the second SOA service, so that a first bottom domain controller subscribing the second SOA service on the whole vehicle central computing domain controller can acquire the static object identification result and call the first SOA service to send a control instruction to the environment sensing device.

Description

System architecture, transmission method, vehicle, medium and chip for static object recognition

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 static object recognition.

Background

In the technical field of intelligent driving, in order to realize the control of vehicle execution mechanisms in control domains other than a local controller by different domain controllers, the domain controllers are all connected with a CAN bus and are usually realized through the CAN bus, but the CAN message transmission is possibly out of time due to the limitation of the bandwidth of the CAN bus, and in the process of developing new functions, an original CAN message address needs to be known to prevent the CAN message address from being repeated, so that the workload of an engineer is large to know the existing CAN message address, and the progress of vehicle function development is influenced.

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 static object recognition.

According to a first aspect of the embodiments of the present disclosure, there is provided a system architecture for static object recognition, 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 connected with the whole vehicle central computing domain controller through an Ethernet, wherein each bottom layer domain controller comprises a static identification domain controller and a first bottom layer domain controller;

the whole vehicle central computing domain controller is provided with a first SOA service and a second SOA service corresponding to the static identification domain controller, the first SOA service comprises an atomic service and a combined service, the atomic service is a minimum sensing unit obtained by decoupling a sensing action of an environment sensing device in a control domain of the static identification domain controller, and a function calling interface corresponding to each combined service is generated by orderly combining and packaging function calling interfaces of a plurality of atomic services;

the second SOA service provides an uploading interface, the static identification domain controller uploads a static object identification result to the whole vehicle central computing domain controller through the uploading interface, so that a first underlying domain controller subscribing the second SOA service on the whole vehicle central computing domain controller can obtain the static object identification result, and calls the first SOA service to send a control instruction to an environment sensing device in a control domain of the static identification domain controller, and the static object identification result is obtained by identifying static objects in different directions.

Optionally, the static identification domain controller is in communication connection with the environment sensing device through a CAN bus, the first SOA service in the entire vehicle central computing domain controller is configured corresponding to the environment sensing device, and the entire vehicle central computing domain controller provides a function calling interface of the first SOA service to the first underlying domain controller, so that the first underlying domain controller CAN control the environment sensing device according to the function calling interface provided by the first SOA service.

Optionally, the first SOA service includes a parsing encapsulation service;

the atomic service is used for generating an atomic description of the minimum perception action of the environment perception device;

the combined service is used for generating a combined description of the perception action of the environment perception device;

the analysis encapsulation service is used for endowing the atomic service with a domain number, and determining an ordered combination sequence of the atomic service in the combined service according to the atomic description and the combined description; generating a combined service storage table corresponding to the combined service according to the ordered combination sequence; writing the domain number of the atomic service into the combined service storage table according to the ordered combination sequence; and according to the function call interface of the atomic service corresponding to each domain number in the combined service storage table, packaging and generating the function call interface of the combined service.

Optionally, the parsing and packaging service is specifically configured to:

deserializing the function call interface of the atomic service corresponding to each domain number in the combined service storage table, and rebuilding the function call interface of the atomic service, wherein the function call interface of the atomic service is serialized in the atomic service;

and packaging the reconstructed function call interface of the atomic service to generate the function call interface of the combined service.

Optionally, the static object identification result is obtained by identifying coordinates of a center point and a relative movement speed of the static object in different directions.

According to a second aspect of the embodiments of the present disclosure, there is provided a transmission method for static object identification, the method being applied to a static identification domain controller of the system architecture in any one of the first aspect, the transmission method including:

uploading a static object identification result to a whole vehicle central computing domain controller through an uploading interface provided by a second SOA service corresponding to the static identification domain controller in the whole vehicle central computing domain controller, wherein the whole vehicle central computing domain controller publishes the static object identification result on an Ethernet in a broadcasting mode so that a first bottom domain controller subscribing and calling the second SOA service acquires the static object identification result, and the static object identification result is obtained by identifying static objects in different directions;

the whole vehicle central computing domain controller is configured with a first SOA service, the first SOA service comprises an atomic service and a combined service, the atomic service is a minimum sensing unit obtained by decoupling a sensing action of an environment sensing device in a control domain of the static identification domain controller, and a function calling interface corresponding to each combined service is generated by sequentially combining and packaging a plurality of function calling interfaces of the atomic service.

According to a third aspect of the embodiments of the present disclosure, a transmission method for static object identification is provided, where the method is applied to a vehicle central computing domain controller of the system architecture in any one of the first aspect, and the transmission method includes:

receiving a static object identification result uploaded by a static identification domain controller, wherein the static object identification result is uploaded through an uploading interface provided by a second SOA service corresponding to the static identification domain controller in the whole vehicle central computing domain controller, and the static object identification result is obtained by identifying static objects in different directions;

publishing the static object identification result on an Ethernet in a broadcasting way so that a first bottom layer domain controller subscribing and calling the second SOA service acquires the static object identification result; and are

Receiving a control instruction uploaded by an uploading interface provided by a first bottom domain controller subscribing and calling the second SOA service through the first SOA service, wherein the control instruction is used for controlling an environment sensing device in a control domain of the static identification domain controller, the first SOA service comprises an atomic service and a combined service, the atomic service is a minimum sensing unit obtained by decoupling a sensing action of the environment sensing device in the control domain of the static identification domain controller, and a function calling interface corresponding to each combined service is generated by orderly combining and packaging function calling interfaces of a plurality of atomic services.

According to a fourth aspect of the embodiments of the present disclosure, a vehicle is provided, where the vehicle includes a whole vehicle central computing domain controller, and a plurality of bottom layer domain controllers connected to the whole vehicle central computing domain controller through an ethernet, where the bottom layer domain controllers include a static identification domain controller and a first bottom layer domain controller;

the static identification domain controller is configured to execute the method of the second aspect, the finished vehicle central computing domain controller is configured to execute the method of the third aspect, the first underlying domain controller is configured to subscribe and call a static object identification result uploaded by the static identification domain controller through the ethernet and upload an interface provided by a first SOA service configured by the finished vehicle central computing domain controller, and upload an instruction for an environment sensing device in a control domain of the static identification domain controller, the first SOA service includes an atomic service and a combined service, the atomic service is a minimum sensing unit obtained by decoupling a sensing action of the environment sensing device in the control domain of the static identification domain controller, and a function calling interface corresponding to each combined service is generated by packaging a plurality of function calling interfaces of the atomic service after orderly combining.

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 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 of the second or third aspect.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

configuring a first SOA service and a second SOA service corresponding to a static recognition domain controller in a central computing domain controller of a whole vehicle, wherein the first SOA service comprises an atomic service and a combined service, the atomic service is a minimum sensing unit obtained by decoupling a sensing action of an environment sensing device in a control domain of the static recognition domain controller, and a function calling interface corresponding to each combined service is generated by orderly combining and packaging function calling interfaces of a plurality of atomic services; in the process of developing new functions, only the minimum sensing unit needs to be developed, and the multiple functions can be orderly combined through the atomic service corresponding to the minimum sensing unit, so that the development workload is reduced, and the vehicle function development progress is prevented from being influenced. The second SOA service provides an uploading interface, the static identification domain controller uploads the static object identification result to the whole vehicle central computing domain controller through the uploading interface, so that a first bottom domain controller subscribing the second SOA service on the whole vehicle central computing domain controller can obtain the static object identification result, and the first SOA service is called to send a control instruction to an environment sensing device in a control domain of the static identification domain controller. The control of different domain controllers on vehicle execution mechanisms in the control domain which is not the controller of the local domain is realized through the call of SOA service, and the limitation of the bandwidth of a CAN bus is avoided.

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 static object recognition in accordance with an exemplary embodiment.

FIG. 2 is a data structure diagram illustrating a static object recognition result according to an example 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 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 schematic diagram illustrating the structure of a system architecture for static object recognition for a vehicle, as shown in fig. 1, according to an exemplary embodiment, the system architecture comprising:

a whole vehicle central computing domain controller 110, a plurality of bottom layer domain controllers connected with the whole vehicle central computing domain controller 110 through an ethernet, the bottom layer domain controllers including a static identification domain controller 120 and a first bottom layer domain controller 130;

in the embodiment of the disclosure, the entire vehicle central computing domain controller 110VCCD is directly connected to the plurality of bottom layer domain controllers through an ethernet, the entire vehicle central computing domain controller 110VCCD is in message communication with the plurality of bottom layer domain controllers through an SOA (Service Oriented Architecture), and functions of uniform data and function call interfaces are abstracted on a heterogeneous distributed system by means of the SOA Service, so that differences between different operating systems and different communication buses can be shielded, the entire vehicle is packaged as a logic device, and the horizontal and vertical complexity of software development is simplified.

The first underlying domain controller 130 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, among others.

It should be noted that each control domain of the underlying domain controller includes a corresponding vehicle actuator, for example, the control domain of the static identification domain controller 120 includes an environment sensing device, where the environment sensing device may include a camera, a laser radar, and a millimeter wave radar, where the camera is used to collect an environment image in a vehicle driving environment, and the laser radar and the millimeter wave radar are used to collect characteristic information such as a position and a speed of a dynamic object in the vehicle driving environment.

In the embodiment of the disclosure, the vehicle actuator corresponding to 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 vehicle actuator corresponding to the control domain of each bottom layer domain controller is in communication connection with the vehicle central computing domain controller 110VCCD through the CAN bus. Illustratively, the environment sensing devices in the control domain of static identification domain controller 120 are communicatively coupled to static identification domain controller 120 via a CAN bus, and to vehicle central computing domain controller 110VCCD via a CAN bus.

A first SOA service and a second SOA service corresponding to the static identification domain controller 120 are configured in the vehicle central computing domain controller 110, the first SOA service comprises an atomic service and a combined service, the atomic service is a minimum sensing unit obtained by decoupling a sensing action of an environment sensing device in a control domain of the static identification domain controller 120, and a function calling interface corresponding to each combined service is generated by orderly combining and packaging function calling interfaces of a plurality of atomic services;

the atomic service can also be understood as a basic service unit of the sensing action of the environment sensing device, and the atomic service performs corresponding data serialization after being packaged, for example, an atomic service is created, a name of an atomic file to be stored is defined, a function calling interface and an atomic description are converted into a Python base character string, and then the character string is written into the atomic file. And issuing through an RPC (Remote Procedure Call) service, performing data analysis on the data serialized atomic service in the process of packaging the combined service, performing deserialization on the data serialized atomic service, and performing ordered combination and packaging according to function Call interfaces of a plurality of atomic services after data analysis.

The second SOA service provides an upload interface, the static recognition domain controller 120 uploads a static object recognition result to the entire vehicle central computing domain controller 110 through the upload interface, so that the first underlying domain controller 130 subscribing the second SOA service on the entire vehicle central computing domain controller 110 can obtain the static object recognition result and call the first SOA service to send a control instruction to an environment sensing device in a control domain of the static recognition domain controller 120, and the static object recognition result is obtained by recognizing static objects in different directions.

In the embodiment of the present disclosure, the first bottom-level domain controller 130 may upload a control instruction to the entire vehicle central computing domain controller 110 through a DDS (Data Distribution Service) protocol stack, and invoke an atomic Service and a combined Service in the entire vehicle central computing domain controller 110, for example, invoke an atomic Service and a combined Service corresponding to an environment sensing device in a control domain of the static identification domain controller 120 in the entire vehicle central computing domain controller 110, and further, the environment sensing device uploads sensing information to the entire vehicle central computing domain controller 110, and the entire vehicle central computing domain controller 110 converts the sensing information into a corresponding sensing Service according to a S2S (Signal 2 Service) manner. Further, the entire vehicle central computing domain controller 110 broadcasts the sensing service to the first underlying domain controller 130 calling the atomic service and the composite service corresponding to the environment sensing device within the control domain of the static recognition domain controller 120 through the DDS protocol stack.

The system architecture is configured with a first SOA service and a second SOA service corresponding to a static identification domain controller through a central computing domain controller of a whole vehicle, wherein the first SOA service comprises an atomic service and a combined service, the atomic service is a minimum sensing unit obtained by decoupling a sensing action of an environment sensing device in a control domain of the static identification domain controller, and a function calling interface corresponding to each combined service is generated by orderly combining and then packaging function calling interfaces of a plurality of atomic services; in the process of developing the new functions, only the minimum sensing unit needs to be developed, and the multiple functions can be combined in order through the atomic service corresponding to the minimum sensing unit, so that the workload of development is reduced, and the development progress of the vehicle functions is prevented from being influenced. By configuring the atomic service in the vehicle central computing domain controller, a plurality of atomic services CAN be intelligently aggregated based on vehicle function development, and the traditional form that each function is configured with a CAN message address is broken. The second SOA service provides an uploading interface, the static recognition domain controller uploads the static object recognition result to the whole vehicle central computing domain controller through the uploading interface, so that a first bottom domain controller which subscribes the second SOA service on the whole vehicle central computing domain controller can obtain the static object recognition result, and the first SOA service is called to send a control instruction to an environment sensing device in a control domain of the static recognition domain controller. The control of different domain controllers on vehicle execution mechanisms in the control domain which is not the controller of the local domain is realized through the call of SOA service, and the limitation of the bandwidth of a CAN bus is avoided.

Optionally, the static identification domain controller 120 is in communication connection with the environment sensing device through a CAN bus, the first SOA service in the entire vehicle central computing domain controller 110 is configured corresponding to the environment sensing device, and the entire vehicle central computing domain controller 110 provides the first bottom-layer domain controller 130 with a function calling interface of the first SOA service, so that the first bottom-layer domain controller 130 CAN control the environment sensing device according to the function calling interface provided by the first SOA service.

The entire vehicle central computing domain controller 110 is connected with the environment sensing device in the control domain of the static identification domain controller 120 through a CAN bus.

Optionally, the first SOA service includes a parsing package service;

wherein, the atom description and the combined description are both used for language description of the functions of the service.

The analysis encapsulation service is used for endowing the atomic service with a domain number and determining an ordered combination sequence of the atomic service in the combined service according to the atomic description and the combined description; generating a combined service storage table corresponding to the combined service according to the ordered combination sequence; writing the domain number of the atomic service into the combined service storage table according to the ordered combination sequence; and according to the function call interface of the atomic service corresponding to each domain number in the combined service storage table, packaging and generating the function call interface of the combined service.

In the embodiment of the present disclosure, the atomic description of each node is matched from the atomic description according to the combination description, for example, each function in the combination description is used as a chain combination, each node in the chain combination needs to be filled with one atomic description, and then the node in the chain combination is filled according to the domain number corresponding to the atomic service, and the filled chain combination is used as a combination service storage table.

Optionally, the parsing and packaging service is specifically configured to:

it can be understood that the function call interface corresponding to the atomic service is issued by means of RPC after data serialization, so that the atomic service can be used by a cross-domain controller, and original contents of the atomic service are maintained, and then the atomic service is orderly combined, so that the combined service needs to perform deserialization on the function call interface of the atomic service and reconstruct the function call interface of the atomic service.

Optionally, the static object identification result is obtained by identifying coordinates of a center point of the static object in different orientations and a relative movement speed.

Wherein the different directions may include left front, right front, left rear, right rear, left side, and right side of the host vehicle. The center point coordinates may include lateral center point coordinates and longitudinal center point coordinates. The relative movement speed may include a lateral relative movement speed and a longitudinal relative movement speed.

Referring to fig. 2, a schematic diagram of a data structure of the static object identification result, the data structure may further include data transmission time of the static object identification result, and further, the static object in each position may be divided into the center point coordinate and the relative movement speed. For example, the left front static object may include left front static object center point coordinates and left front static object relative motion speed, and the left front static object center point coordinates may include lateral center point coordinates and longitudinal center point coordinates, and the left front static object relative motion speed may include lateral relative motion speed and longitudinal relative motion speed. The same processing for the static objects in other orientations is not described herein.

The technical scheme can identify the static object in any direction, and can be quickly uploaded to the whole vehicle central computing domain controller 110 through the Ethernet, so that other domain controllers on the vehicle can conveniently acquire the identification result of the static object from the Ethernet.

The embodiment of the present disclosure further provides a transmission method for static object identification, where the method is applied to a static identification domain controller of a system architecture in any one of the foregoing embodiments, and the transmission method includes:

The embodiment of the present disclosure further provides a transmission method for static object identification, where the method is applied to a vehicle central computing domain controller of a system architecture according to any one of the foregoing embodiments, and the transmission method includes:

publishing the static object identification result on an Ethernet in a broadcasting way so that a first bottom layer domain controller subscribing and calling the second SOA service acquires the static object identification result; and are combined

The steps of the transmission method have already been described in the system architecture, and are not described herein again.

The embodiment of the disclosure further provides a vehicle, which includes a whole vehicle central computing domain controller, and a plurality of bottom layer domain controllers connected with the whole vehicle central computing domain controller through an ethernet, wherein each bottom layer domain controller includes a static identification domain controller and a first bottom layer domain controller;

the static identification domain controller is configured to execute the transmission method of the static identification domain controller side in the foregoing embodiment, the entire vehicle central computing domain controller is configured to execute the transmission method of the entire vehicle central computing domain controller side in the foregoing embodiment, the first bottom-layer domain controller is configured to subscribe and call a static object identification result uploaded by the static identification domain controller through the ethernet and upload an instruction for an environment sensing device in a control domain of the static identification domain controller through an upload interface provided by a first SOA service configured by the entire vehicle central computing domain controller, the first SOA service includes an atomic service and a combined service, the atomic service is a minimum sensing unit obtained by decoupling a sensing action provided for the environment sensing device in the control domain of the static identification domain controller, and a function call interface corresponding to each combined service is generated by sequentially combining and packaging function call interfaces of the atomic service.

Embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method described in the foregoing embodiments.

The embodiment of the present disclosure further provides a chip, which includes a processor and an interface; the processor is used for reading instructions to execute the method of the previous 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 collection 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 may be configured to execute executable instructions (or code) to implement the transmission method for static object recognition described above. 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 static object recognition described above; alternatively, the integrated circuit or chip may receive executable instructions through the interface and transmit them to the processor for execution, so as to implement the transmission method for static object recognition described above.

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 implement fully automatic driving, or present the analysis results to the user to implement partially 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 utilize an infrared link, bluetooth, or ZigBee to communicate directly with the device. 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, the screen projection of the mobile phone is realized on the display equipment, the display equipment can be in a touch control mode, and a user can operate the display equipment by touching the screen.

In some cases, the voice signal of the user may be captured by 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 of travel for 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 provider 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 a 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 a laser 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 analysis decisions based on information obtained by the sensing system 320, and the decision control system 330 further includes a vehicle controller 332 for controlling the power system 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 the kinetic energy of the wheels 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 comprise 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 Graphic 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 processors, memories, and other elements of the computer in the same block, one of ordinary skill in the art will appreciate that the processors, computers, or memories 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 static object recognition 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 perform 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 aforementioned 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 roadway, 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 static 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 disclosed embodiment is not particularly limited.

In another exemplary embodiment, a computer program product is also provided, which contains a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described transmission method for static object recognition when executed by the programmable apparatus.

Fig. 4 is a block diagram illustrating a domain controller in accordance with an example embodiment. Referring to fig. 4, domain controller 400 may be either statically identified domain controller 120 as shown in fig. 1 or full vehicle central computing domain controller 110, the domain controller 400 comprising a processing component 422, which further comprises one or more processors, and memory resources, represented by a second memory 432, for storing instructions, e.g. applications, executable by the processing component 422. The application programs stored in the second memory 432 may include one or more modules each corresponding to a set of instructions. Further, the processing component 422 is configured to execute instructions to perform the transmission method for static object recognition 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. Domain controlThe processor 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 described above may be configured to execute executable instructions (or code) to implement the transmission method for static object recognition described above. 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 static object recognition described above; alternatively, the integrated circuit or chip may receive executable instructions through the interface and transmit them to the processor for execution, so as to implement the transmission method for static object recognition described above.

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 within 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

1. A system architecture for static object recognition, applied to a vehicle, the system architecture comprising:

the second SOA service provides an uploading interface, the static recognition domain controller uploads a static object recognition result to the whole vehicle central computing domain controller through the uploading interface, so that a first underlying domain controller subscribed to the second SOA service on the whole vehicle central computing domain controller can obtain the static object recognition result and call the first SOA service to send a control instruction to an environment sensing device in a control domain of the static recognition domain controller, and the static object recognition result is obtained by recognizing static objects in different directions.

2. The system architecture of claim 1, wherein the static identification domain controller is in communication connection with the environment sensing device through a CAN bus, the first SOA service in the entire vehicle central computing domain controller is configured corresponding to the environment sensing device, and the entire vehicle central computing domain controller provides a function call interface of the first SOA service to the first underlying domain controller, so that the first underlying domain controller CAN control the environment sensing device according to the function call interface provided by the first SOA service.

3. The system architecture of claim 2, wherein the first SOA service comprises a parsing package service;

4. The system architecture according to claim 3, wherein the parsing encapsulation service is specifically configured to:

5. The system architecture according to any of claims 1-4, characterized in that the static object recognition result is obtained by recognizing the coordinates of the center point and the relative movement speed of the static object with different orientations.

6. A transmission method for static object recognition, wherein the method is applied to a static recognition domain controller of the system architecture according to any one of claims 1 to 5, and the transmission method comprises:

uploading a static object identification result to the whole vehicle central computing domain controller through an uploading interface provided by a second SOA service corresponding to the static identification domain controller in the whole vehicle central computing domain controller, wherein the whole vehicle central computing domain controller publishes the static object identification result on the Ethernet in a broadcasting manner so that a first bottom domain controller subscribing and calling the second SOA service acquires the static object identification result, and the static object identification result is obtained by identifying static objects in different directions;

7. A transmission method for static object recognition, wherein the method is applied to a vehicle central computing domain controller of the system architecture of any one of claims 1 to 5, and the transmission method comprises the following steps:

publishing the static object identification result on an Ethernet in a broadcasting way so that a first bottom layer domain controller which subscribes and calls the second SOA service acquires the static object identification result; and are

8. A vehicle is characterized by comprising a whole vehicle central computing domain controller and a plurality of bottom layer domain controllers connected with the whole vehicle central computing domain controller through an Ethernet, wherein each bottom layer domain controller comprises a static identification domain controller and a first bottom layer domain controller;

the static identification domain controller is configured to execute the method of claim 6, the finished vehicle central computing domain controller is configured to execute the method of claim 7, the first underlying domain controller is configured to subscribe and call a static object identification result uploaded by the static identification domain controller and upload an instruction for an environment sensing device in a control domain of the static identification domain controller through an ethernet and an upload interface provided by a first SOA service configured by the finished vehicle central computing domain controller, the first SOA service includes an atomic service and a combined service, the atomic service is a minimum sensing unit obtained by decoupling a sensing action for the environment sensing device in the control domain of the static identification domain controller, and a function call interface corresponding to each combined service is generated by packaging a plurality of function call interfaces of the atomic service after being combined in order.

9. 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 6 or 7.

10. A chip comprising a processor and an interface; the processor is configured to read instructions to perform the method of claim 6 or 7.