CN115583253A - Automatic driving system, method, device and storage medium - Google Patents
Automatic driving system, method, device and storage medium Download PDFInfo
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- CN115583253A CN115583253A CN202211176829.8A CN202211176829A CN115583253A CN 115583253 A CN115583253 A CN 115583253A CN 202211176829 A CN202211176829 A CN 202211176829A CN 115583253 A CN115583253 A CN 115583253A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/023—Avoiding failures by using redundant parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
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Abstract
The present invention relates to the field of automatic driving technologies, and in particular, to an automatic driving system, method, device, and storage medium. The automatic driving system comprises a visual sensing module, a visual sensing data processing module, a first driving processing module and a second driving processing module; the first driving processing module and the second driving processing module perform mutual detection; the visual sensing module is used for acquiring environmental data in the driving process of the vehicle; the visual sensing data processing module is used for carrying out shunting and deserializing processing on the environmental data to obtain a first visual signal and a second visual signal, and respectively outputting the first visual signal and the second visual signal to the first driving processing module and the second driving processing module; when the abnormality of one driving processing module is detected, the other driving processing module takes over automatic driving and carries out automatic driving decision processing; thereby improving the reliability of a portion of the autopilot system in the event of a problem.
Description
Technical Field
The present invention relates to the field of automatic driving technologies, and in particular, to an automatic driving system, method, device, and storage medium.
Background
With the development of the automatic driving technology of the automobile, how to improve the reliability of the automatic driving system becomes a problem to be solved.
In the prior art, the reliability of the whole automatic driving system is improved by improving the reliability of each component, and a scheme for improving the reliability when the automatic driving is in a problem is lacked.
Therefore, it is urgently required to provide a scheme capable of realizing improvement of the reliability of the automatic driving system when a problem occurs in a part of the automatic driving system.
Disclosure of Invention
The present application is directed to an automatic driving system, method, device and storage medium, so as to solve the problem of low reliability when a part of the automatic driving system has a problem in the prior art.
A first aspect of the present invention provides an automatic driving system, including: the system comprises a visual sensing module, a visual sensing data processing module, a first driving processing module and a second driving processing module; the first driving processing module and the second driving processing module carry out mutual detection; the visual sensing module is used for acquiring environmental data in the driving process of the vehicle; the visual sensing data processing module is used for carrying out shunting and deserializing on the environment data to obtain a first visual signal and a second visual signal, and respectively outputting the first visual signal and the second visual signal to the first driving processing module and the second driving processing module; when the first driving processing module detects that the second driving processing module is abnormal, the first driving processing module takes over automatic driving and carries out automatic driving decision processing according to the first visual signal; when the second driving processing module detects that the first driving processing module is abnormal, the second driving processing module takes over automatic driving and carries out automatic driving decision processing according to the second visual signal.
Optionally, in a first implementation manner of the first aspect of the present invention, the visual sensing data processing module includes a first deserializer and a preprocessor; the first deserializer is used for deserializing the environmental data to obtain parallel data, and the parallel data are respectively transmitted to the preprocessor and the second driving processing module; the preprocessor is used for receiving the parallel data sent by the first deserializer and performing format conversion and denoising processing on the parallel data to obtain preprocessed data; the preprocessor is further configured to transmit the preprocessed data to the first driving processing module.
Optionally, in a second implementation manner of the first aspect of the present invention, the visual sensing data processing module further includes a serializer and a second deserializer; the serializer is used for serializing the environment data to obtain serial data, and transmitting the serial data to the second deserializer; the second deserializer is used for deserializing the serial data to obtain second parallel data and transmitting the second parallel data to the second driving processing module.
Optionally, in a third implementation manner of the first aspect of the present invention, the first driving processing module is configured to receive the preprocessed data, and perform automatic driving decision processing according to the preprocessed data; and the second driving processing module is used for receiving the second parallel data and carrying out automatic driving decision processing according to the second parallel data.
Optionally, in a fourth implementation manner of the first aspect of the present invention, the first driving processing module is further configured to receive a second heartbeat signal sent from the second driving processing module, and determine whether the second heartbeat signal meets a preset second heartbeat condition; if the second heartbeat signal does not meet a preset second heartbeat condition, automatic driving take-over is carried out, and automatic driving decision processing is carried out according to the preprocessed data; the second driving processing module is further used for receiving a first heartbeat signal sent from the first driving processing module and judging whether the first heartbeat signal meets a preset first heartbeat condition; and if the first heartbeat signal does not meet a preset first heartbeat condition, taking over automatic driving, and performing automatic driving decision processing according to the second parallel data.
The invention provides an automatic driving method, which is applied to an automatic driving system, wherein the automatic driving system comprises a first driving processing module and a second driving processing module; carrying out shunting and deserializing processing on the environment data to obtain a first visual signal and a second visual signal, and respectively outputting the first visual signal and the second visual signal to the first driving processing module and the second driving processing module; detecting whether the first driving processing module and the second driving processing module have abnormity or not; if the first driving processing module is detected to be abnormal, controlling the second driving processing module to take over automatic driving, and carrying out automatic driving decision processing according to the second visual signal; and if the second driving processing module is detected to be abnormal, controlling the first driving processing module to take over automatic driving, and carrying out automatic driving decision processing according to the first visual signal.
Optionally, in a first implementation manner of the second aspect of the present invention, the performing a splitting and deserializing process on the environment data to obtain a first visual signal and a second visual signal includes: carrying out double-rate sampling on the environmental data to obtain sampling data; outputting the sampling data through a preset clock period to obtain parallel data; and carrying out shunt transmission on the parallel data through two preset data transmission lines to obtain the first visual signal and the second visual signal.
Optionally, in a second implementation manner of the second aspect of the present invention, the detecting whether there is an abnormality in the first driving processing module and the second driving processing module includes: receiving a second heartbeat signal sent from the second driving processing module through the first driving processing module, and judging whether the second heartbeat signal meets a preset second heartbeat condition or not through the first driving processing module; if the second heartbeat signal does not meet a preset second heartbeat condition, the second driving processing module is abnormal; if the second heartbeat signal meets a preset second heartbeat condition, the second driving processing module is not abnormal; receiving a first heartbeat signal sent from the first driving processing module through the second driving processing module, and judging whether the first heartbeat signal meets a preset first heartbeat condition or not through the second driving processing module; if the first heartbeat signal does not meet a preset first heartbeat condition, the first driving processing module is abnormal; if the first heartbeat signal meets a preset first heartbeat condition, the first driving processing module is not abnormal.
A third aspect of the present invention provides a computer apparatus comprising: a memory and at least one processor, the memory having instructions stored therein; the at least one processor invokes the instructions in the memory to cause the computer device to perform the various steps of the automated driving method described above.
A fourth aspect of the present invention provides a computer-readable storage medium having stored therein instructions, which, when run on a computer, cause the computer to perform the steps of the above-described autopilot method.
The application provides an automatic driving system, a method, equipment and a storage medium, wherein the automatic driving system comprises a visual sensing module, a visual sensing data processing module, a first driving processing module and a second driving processing module; the first driving processing module and the second driving processing module perform mutual detection; the visual sensing module is used for acquiring environmental data in the driving process of the vehicle; the visual sensing data processing module is used for carrying out shunting and deserializing processing on the environmental data to obtain a first visual signal and a second visual signal, and respectively outputting the first visual signal and the second visual signal to the first driving processing module and the second driving processing module; when the abnormality of one driving processing module is detected, the other driving processing module takes over automatic driving and carries out automatic driving decision processing; thereby improving the reliability of a part of the automatic driving system when a problem occurs; the method comprises the steps of collecting environmental data in the vehicle driving process; carrying out shunting and deserializing processing on the environment data to obtain a first visual signal and a second visual signal, and respectively outputting the first visual signal and the second visual signal to the first driving processing module and the second driving processing module; detecting whether the first driving processing module and the second driving processing module have abnormity or not; if the first driving processing module is detected to be abnormal, controlling the second driving processing module to take over automatic driving, and carrying out automatic driving decision processing according to the second visual signal; if the second driving processing module is detected to be abnormal, the first driving processing module is controlled to carry out automatic driving taking over, and automatic driving decision processing is carried out according to the first visual signal, so that the problem of low reliability when part of an automatic driving system in the prior art is in a problem is solved.
Drawings
Fig. 1 is a first schematic configuration diagram of an automated driving system of a first embodiment of the automated driving system according to an embodiment of the present invention;
FIG. 2 is a second schematic diagram of an autopilot system in accordance with a second embodiment of an autopilot system in accordance with an embodiment of the invention;
FIG. 3 is a third schematic view of an autonomous driving system according to a third embodiment of the autonomous driving system according to the present invention;
FIG. 4 is a schematic diagram of an embodiment of an automatic driving method according to an embodiment of the invention;
FIG. 5 is a schematic diagram of another embodiment of an automatic driving method according to an embodiment of the present invention;
FIG. 6 is a diagram of an embodiment of a computer device in an embodiment of the invention.
Detailed Description
The problem of lower reliability when solving the partial problem that appears of autopilot system that exists among the prior art in order to solve prior art. An autopilot system, method, apparatus, and storage medium are provided. The method comprises the steps of collecting environmental data in the driving process of a vehicle; carrying out shunting and deserializing processing on the environment data to obtain a first visual signal and a second visual signal, and respectively outputting the first visual signal and the second visual signal to the first driving processing module and the second driving processing module; detecting whether the first driving processing module and the second driving processing module have abnormity or not; if the first driving processing module is detected to be abnormal, controlling the second driving processing module to take over automatic driving, and carrying out automatic driving decision processing according to the second visual signal; if the second driving processing module is detected to be abnormal, controlling the first driving processing module to take over automatic driving, and carrying out automatic driving decision processing according to the first visual signal; the captured optical signals are converted into digital signals, the digital signals are transmitted to the serializer, information is serialized, data are arranged in a packet form, the packets are sent out in a serial form through the coaxial cable, the information transmission rate is improved, the serial signals are deserialized through the deserializer in the preset automatic driving system, parallel signals are obtained and are respectively output to the first driving processing module and the second driving processing module to be subjected to automatic driving decision processing, and therefore the problem that the reliability is low when one part of the automatic driving system in the prior art is in a problem is solved.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be implemented in other sequences than those illustrated or described herein. Moreover, the terms "comprises," "comprising," or "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For convenience of understanding, a detailed flow of an embodiment of the present invention is described below, and referring to fig. 1, a first structural schematic diagram of an automatic driving system according to a first embodiment of an automatic driving system according to an embodiment of the present invention includes:
the vision sensing module 10, the vision sensing data processing module 20, the first driving processing module 30 and the second driving processing module 40; wherein the first driving processing module 30 and the second driving processing module 40 perform mutual detection;
the vision sensing module 10 is used for collecting environmental data in the vehicle driving process;
the visual sensing data processing module 20 is configured to perform shunt deserializing processing on the environment data to obtain a first visual signal and a second visual signal, and output the first visual signal and the second visual signal to the first driving processing module 30 and the second driving processing module 40, respectively;
when the first driving processing module 30 detects that the second driving processing module 40 is abnormal, the first driving processing module 30 takes over automatic driving and performs automatic driving decision processing according to the first visual signal;
when the second driving processing module 40 detects that the first driving processing module 30 is abnormal, the second driving processing module 40 takes over automatic driving, and performs automatic driving decision processing according to the second visual signal.
In practical applications, the visual sensing module 10 may be a camera;
the environment data includes data in GMSL format, that is, data satisfying GMSL (Gigabit Multimedia Serial Link) Serial transmission interface standard;
the first visual signal and the second visual signal may be modulated into a MIPI format signal, i.e., a signal satisfying (Mobile Industry Processor Interface) alliance protocol.
Referring to fig. 2, a second structural diagram of an automatic driving system according to a second embodiment of the automatic driving system according to the present invention is shown, in which the visual sensing data processing module 20 includes a first deserializer 201 and a preprocessor 202;
the first deserializer 201 is configured to deserialize the environmental data to obtain parallel data, and transmit the parallel data to the preprocessor 202 and the second driving processing module 40 respectively;
the preprocessor 202 is configured to receive parallel data sent from the first deserializer 201, and perform format conversion and denoising processing on the parallel data to obtain preprocessed data;
the preprocessor 202 is also configured to transmit the preprocessed data to the first driving processing module 30.
In practical applications, the parallel data includes data in MIPI format, that is, data satisfying (Mobile Industry Processor Interface) alliance protocol.
Referring to fig. 3, a third structural diagram of the automatic driving system according to the third embodiment of the automatic driving system according to the embodiment of the present invention, the visual sensing data processing module 20 includes a first deserializer 201, a preprocessor 202, a serializer 203, and a second deserializer 204;
the serializer 203 is configured to serialize the environment data to obtain serial data, and transmit the serial data to the second deserializer 204;
the second deserializer 204 is configured to deserialize the serial data to obtain second parallel data, and transmit the second parallel data to the second driving processing module 40;
the second driving processing module 40 is configured to receive the second parallel data, and perform automatic driving decision processing according to the second parallel data;
the first driving processing module 30 is further configured to receive a second heartbeat signal sent from the second driving processing module 40, and determine whether the second heartbeat signal meets a preset second heartbeat condition;
if the second heartbeat signal does not meet a preset second heartbeat condition, automatic driving take-over is carried out, and automatic driving decision processing is carried out according to the preprocessed data;
the second driving processing module 40 is further configured to receive a first heartbeat signal sent from the first driving processing module 30, and determine whether the first heartbeat signal meets a preset first heartbeat condition;
and if the first heartbeat signal does not meet a preset first heartbeat condition, taking over automatic driving, and performing automatic driving decision processing according to the second parallel data.
In practical applications, the Serial data includes data in GMSL format, that is, data meeting GMSL (Gigabit Multimedia Serial Link) Serial transmission interface standard;
the second parallel data includes data in MIPI format, that is, data satisfying (Mobile Industry Processor Interface) alliance protocol.
In practical applications, a backup module may be further configured between the serializer 203 and the second deserializer 204, wherein the backup module has a memory;
the backup module is configured to receive the serial data sent by the serializer 203, copy the serial data, and store the copied data in the memory.
In summary, the automatic driving system includes a visual sensing module, a visual sensing data processing module, a first driving processing module and a second driving processing module; the first driving processing module and the second driving processing module perform mutual detection; the visual sensing module is used for acquiring environmental data in the driving process of the vehicle; the visual sensing data processing module is used for carrying out shunt deserializing processing on the environmental data to obtain a first visual signal and a second visual signal, and respectively outputting the first visual signal and the second visual signal to the first driving processing module and the second driving processing module; when the abnormality of one driving processing module is detected, the other driving processing module takes over automatic driving and carries out automatic driving decision processing; compared with the prior art, this application is through configuration deserializer and serializer in visual sense data processing module, and deserialize the data that visual sense module sent and come through deserializer, and divide two routes to transmit respectively to preprocessing module and serializer module, preprocessing module carries out the back to data preprocessing, send to first driving processing module and handle, the serializer adds the cluster with data, rethread second serializer carries out the deserialization, be convenient for the transmission of data, thereby visual sense data's redundancy backup has been realized, thereby reliability when partly the problem appears of autopilot system has been improved.
Referring to fig. 4, in an embodiment of the automatic driving method according to the embodiment of the present invention, the method includes the following steps:
401. collecting environmental data in the driving process of a vehicle;
in the step, the process of collecting environmental data in the vehicle driving process is based on a preset automatic driving system, wherein the automatic driving system is provided with at least one camera;
for this step, it can be specifically realized by the following means:
and acquiring environmental data in the vehicle driving process through the camera.
In practical application, the camera is provided with an Image Sensor (Image Sensor);
the process of collecting environmental data during vehicle driving further includes:
converting the captured light signal into a digital signal by an Image Sensor (Image Sensor), wherein the digital signal includes environmental data information, a pixel clock, a line synchronization signal and a frame synchronization signal;
transmitting the digital signal to a serializer, for example, may be based on a CSI2 protocol;
the serializer serializes the data after receiving the data information, arranges the data into a packet form, and then sends the packet in a serial form through a coaxial cable to obtain environment data, wherein when the data passes through the coaxial cable, data stream transmission in two directions is provided, one of the data stream transmission is a forward channel and is used for sending the environment data captured by the camera, the bandwidth of the data stream transmission is 6Gbps, the other data stream transmission is a feedback channel and is used for receiving response information, and the bandwidth of the feedback channel is 187Mbps.
402. Carrying out shunting and deserializing processing on the environmental data to obtain a first visual signal and a second visual signal, and respectively outputting the first visual signal and the second visual signal to a first driving processing module and a second driving processing module;
in the step, the process of performing shunt deserialization processing on the environmental data is based on a preset automatic driving system, wherein the automatic driving system is provided with a deserializer;
for this step, it can be specifically realized by the following means:
deserializing the environmental data by the deserializer;
the deserialized data is shunted to obtain a first visual signal and a second visual signal, and the first visual signal and the second visual signal are respectively transmitted to the first driving processing module and the second driving processing module, for example, signal transmission can be performed through a coaxial cable.
In practical application, the steps further comprise:
deserializing the serial data packet to obtain a second digital signal;
and respectively transmitting the second digital signal to the first driving processing module and the second driving processing module.
403. Detecting whether the first driving processing module and the second driving processing module are abnormal or not;
for this step, it can be specifically realized by the following means:
detecting whether the second driving processing module has abnormality through the first driving processing module;
and detecting whether the first driving processing module has abnormality or not through the second driving processing module.
404. If the first driving processing module is detected to be abnormal, controlling a second driving processing module to take over automatic driving, and carrying out automatic driving decision processing according to a second visual signal;
this step is based on an autonomous driving system, wherein the autonomous driving system comprises a driving control module;
for this step, it can be specifically realized by the following means:
if the first driving processing module is detected to be abnormal, automatic driving decision processing is carried out through the second driving processing module according to the second visual signal, and a second processing result is obtained;
and performing automatic driving decision processing according to the second processing result, for example, generating a second control signal according to the second processing result, sending the second control signal to the driving control module, and controlling the driving control module according to the second control signal.
405. And if the second driving processing module is detected to be abnormal, controlling the first driving processing module to take over automatic driving, and carrying out automatic driving decision processing according to the first visual signal.
This step is based on an autonomous driving system, wherein the autonomous driving system comprises a driving control module;
for this step, it can be specifically realized by the following manner:
if the second driving processing module is detected to be abnormal, performing automatic driving decision processing according to the first visual signal through the first driving processing module to obtain a first processing result;
and performing automatic driving decision processing according to the first processing result, for example, generating a first control signal according to the first processing result, sending the second control signal to the driving control module, and controlling the driving control module according to the first control signal.
By implementing the method, environmental data in the driving process of the vehicle is collected; carrying out shunt deserializing processing on the environment data to obtain a first visual signal and a second visual signal, and respectively outputting the first visual signal and the second visual signal to the first driving processing module and the second driving processing module; detecting whether the first driving processing module and the second driving processing module have abnormity or not; if the first driving processing module is detected to be abnormal, controlling the second driving processing module to take over automatic driving, and carrying out automatic driving decision processing according to the second visual signal; if the second driving processing module is detected to be abnormal, controlling the first driving processing module to take over automatic driving, and carrying out automatic driving decision processing according to the first visual signal; more than, through inciting somebody to action the captured light signal truns into digital signal to with digital signal transmits serializer, carries out serialization processing to information, arranges the form of data into a packet, then through coaxial cable, sends away the packet with serial form, has improved information transmission's speed to deserialize serial signal through the deserializer among the automatic driving system of predetermineeing, obtain parallel signal, and export respectively to processing module is driven to first and second and is driven the decision-making processing, thereby has solved the lower problem of reliability when partly the problem appears in the automatic driving system who exists among the prior art.
Referring to fig. 5, another embodiment of the automatic driving method according to the embodiment of the present invention includes the following steps:
501. collecting environmental data in the driving process of a vehicle;
the method comprises the following steps of (1) based on a preset automatic driving system, wherein the automatic driving system comprises a visual sensing module;
in the step, the visual sensing module comprises a visible light sensor, an infrared sensor, an ultraviolet sensor and a laser ranging sensor;
for this step, it can be specifically realized by the following means:
receiving visual sensing data acquired by the visual sensing module, wherein the sensing data comprises data acquired by a visible light sensor, data acquired by an infrared sensor, data acquired by an ultraviolet sensor and data acquired by a laser ranging sensor;
converting the visual sensory data into the environmental data, wherein the environmental data.
502. Carrying out shunting and deserializing processing on the environmental data to obtain a first visual signal and a second visual signal, and respectively outputting the first visual signal and the second visual signal to a first driving processing module and a second driving processing module;
for this step, it can be specifically realized by the following manner:
sampling the environment data to obtain sampled data, for example, sampling may be performed by using double-rate sampling or multiple-rate sampling;
outputting the sampling data through a preset clock cycle to obtain parallel data, for example, setting a signal cycle as the clock cycle;
and carrying out shunt transmission on the parallel data through two preset data transmission lines to obtain the first visual signal and the second visual signal, wherein the data transmission lines comprise a first data transmission line and a second data transmission line, the first data transmission line is used for connecting the deserializer and the first driving processing module through a coaxial cable, and the second data transmission line is used for connecting the deserializer and the second driving processing module through a coaxial cable.
In practical applications, this step can be implemented by a deserializer, for example, a DS90UB948/MAX96762 deserializer can be used.
503. Detecting whether the first driving processing module and the second driving processing module have abnormity or not;
for this step, it can be specifically realized by the following manner:
receiving, by the first driving processing module, a second heartbeat signal sent from the second driving processing module, and determining, by the first driving processing module, whether the second heartbeat signal meets a preset second heartbeat condition, for example, the second heartbeat condition may be set that a sending cycle of the second heartbeat signal is not greater than a preset time threshold, and the time threshold may be set to 0.01 second;
if the second heartbeat signal does not meet a preset second heartbeat condition, the second driving processing module is abnormal;
if the second heartbeat signal meets a preset second heartbeat condition, the second driving processing module is not abnormal;
receiving, by the second driving processing module, a first heartbeat signal sent from the first driving processing module, and determining, by the second driving processing module, whether the first heartbeat signal meets a preset first heartbeat condition, for example, the first heartbeat condition may be that a sending cycle of the first heartbeat signal is not greater than a preset time threshold, and the time threshold may be set to 0.01 second;
if the first heartbeat signal does not meet a preset first heartbeat condition, the first driving processing module is abnormal;
and if the first heartbeat signal meets a preset first heartbeat condition, the first driving processing module is not abnormal.
In practical application, the first heartbeat signal and the second heartbeat signal may be set as a heartbeat data packet corresponding to the first driving processing module and a heartbeat data packet corresponding to the second driving processing module, respectively.
In practical application, the process of detecting whether the first driving processing module and the second driving processing module have abnormality further comprises the step of performing heartbeat detection on the connection between the first driving processing module and the second driving processing module respectively;
specifically, the process of performing heartbeat detection on the connection between the first driving processing module and the second driving processing module respectively includes:
in a heartbeat detection process initiated by a first driving processing module, identifying the sent heartbeat detection process messages by the first driving processing module and the second driving processing module according to the sending sequence, and judging whether the heartbeat detection response is a response aiming at the heartbeat detection request sent by the first driving processing module at the last time by the first driving processing module according to the identification in the received heartbeat detection response by the first driving processing module;
if yes, judging that the response sequence number in the response is larger than the maintained request sequence number;
if so, judging that the second driving processing module is not abnormal;
if not, judging that the second driving processing module is abnormal;
for a heartbeat detection process initiated by a first driving processing module, the first driving processing module maintains a request serial number and identifies the request serial number in an issued heartbeat detection request, and the second driving processing module maintains a response serial number and identifies the response serial number in an issued heartbeat detection response; the request sequence number is less than or equal to the response sequence number during initialization;
after receiving the heartbeat detection request, the second driving processing module increases a preset interval value for the response serial number when judging that the request serial number in the request is less than or equal to the maintenance response serial number, and marks the updated response serial number in the heartbeat detection response returned to the first driving processing module;
after receiving a heartbeat detection response within a preset heartbeat detection timing time, the first driving processing module updates the request serial number to the value of the response serial number when judging that the response serial number in the response is greater than the maintained request serial number, and identifies the updated request serial number in a heartbeat detection request sent in the next heartbeat detection period.
In practical application, the process of detecting whether the first driving processing module and the second driving processing module are abnormal further comprises the step of judging whether the connection between the first driving processing module and the second driving processing module is abnormal;
specifically, the determining whether the connection between the first driving processing module and the second driving processing module is abnormal includes:
when a heartbeat packet sent by a second driving processing module is received, inquiring whether a heartbeat detection record of the second driving processing module is stored in a first driving processing module connected with the second driving processing module;
if the memory of the first driving processing module stores the heartbeat detection record of the second driving processing module, updating the information recorded in the heartbeat detection record according to the received heartbeat packet;
polling the heartbeat detection records stored in the first driving processing module at a preset frequency, and determining whether an abnormal heartbeat detection record exists in the heartbeat detection records, for example, the preset frequency may be set to once per second;
if the abnormal heartbeat detection record exists, judging that the connection between the first driving processing module and the second driving processing module is abnormal;
and if the abnormal heartbeat detection record does not exist, judging that the connection between the first driving processing module and the second driving processing module is abnormal.
504. If the first driving processing module is detected to be abnormal, controlling a second driving processing module to take over automatic driving, and carrying out automatic driving decision processing according to a second visual signal;
in practical applications, before performing the automatic driving decision processing according to the second visual signal, the method further includes:
serializing the second visual signal through a preset serializer;
transmitting the serialized data to a preset second deserializer;
deserializing the data after the serialization processing through a preset second deserializer;
and performing automatic driving decision processing based on the deserialized data through the second driving processing module.
505. And if the second driving processing module is detected to be abnormal, controlling the first driving processing module to take over automatic driving, and carrying out automatic driving decision processing according to the first visual signal.
In practical application, before the automatic driving decision processing according to the first visual signal, the method further comprises:
converting the first visual signal into a preset format to obtain converted environment data, for example, converting the first visual signal into an RGB image;
and denoising the converted environmental data through a preset denoising algorithm, for example, denoising through a mean filtering algorithm, a median filtering algorithm and a Wiener filtering algorithm.
By implementing the method, environmental data in the driving process of the vehicle is collected; carrying out shunting and deserializing processing on the environment data to obtain a first visual signal and a second visual signal, and respectively outputting the first visual signal and the second visual signal to the first driving processing module and the second driving processing module; detecting whether the first driving processing module and the second driving processing module have abnormity or not; if the first driving processing module is detected to be abnormal, controlling the second driving processing module to take over automatic driving, and carrying out automatic driving decision processing according to the second visual signal; if the second driving processing module is detected to be abnormal, controlling the first driving processing module to take over automatic driving, and carrying out automatic driving decision processing according to the first visual signal; more than, through inciting somebody to action the captured light signal truns into digital signal to with digital signal transmits serializer, carries out serialization processing to information, arranges the form of data into a packet, then through coaxial cable, sends away the packet with serial form, has improved information transmission's speed to deserialize serial signal through the deserializer among the automatic driving system of predetermineeing, obtain parallel signal, and export respectively to processing module is driven to first and second and is driven the decision-making processing, thereby has solved the lower problem of reliability when partly the problem appears in the automatic driving system who exists among the prior art.
Referring to fig. 6, an embodiment of a computer device according to an embodiment of the present invention will be described in detail from the perspective of hardware processing.
Fig. 6 is a schematic structural diagram of a computer device 600 according to an embodiment of the present invention, which may have a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 610 (e.g., one or more processors) and a memory 620, and one or more storage media 630 (e.g., one or more mass storage devices) for storing applications 633 or data 632. Memory 620 and storage medium 630 may be, among other things, transient or persistent storage. The program stored in the storage medium 630 may include one or more modules (not shown), each of which may include a sequence of instructions for operating on the computer device 600. Further, the processor 610 may be configured to communicate with the storage medium 630 to execute a series of instruction operations in the storage medium 630 on the computer device 600.
The computer device 600 may also include one or more power supplies 640, one or more wired or wireless network interfaces 650, one or more input-output interfaces 660, and/or one or more operating systems 631, such as Windows Server, mac OS X, unix, linux, freeBSD, and so forth. Those skilled in the art will appreciate that the computer device configuration illustrated in FIG. 6 is not intended to be limiting of the computer devices provided herein and may include more or fewer components than those illustrated, or some components may be combined, or a different arrangement of components.
The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium, and which may also be a volatile computer-readable storage medium, having stored thereon instructions, which, when executed on a computer, cause the computer to perform the steps of the above-described autopilot method.
In practical applications, the above-provided method can be implemented based on Artificial Intelligence (AI) which is a theory, method, technique and application system that simulates, extends and expands human Intelligence, senses environment, acquires knowledge and uses knowledge to obtain the best result by using a digital computer or a machine controlled by a digital computer. The cloud server may be implemented based on a server, and the server may be an independent server, or may be a cloud server that provides basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a web service, cloud communication, middleware service, a domain name service, a security service, a Content Delivery Network (CDN), a big data and artificial intelligence platform, and the like.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a portable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An automatic driving system is characterized by comprising a visual sensing module, a visual sensing data processing module, a first driving processing module and a second driving processing module; the first driving processing module and the second driving processing module carry out mutual detection;
the visual sensing module is used for acquiring environmental data in the driving process of the vehicle;
the visual sensing data processing module is used for carrying out shunt deserializing processing on the environment data to obtain a first visual signal and a second visual signal, and the first visual signal and the second visual signal are respectively output to the first driving processing module and the second driving processing module;
when the first driving processing module detects that the second driving processing module is abnormal, the first driving processing module takes over automatic driving and carries out automatic driving decision processing according to the first visual signal;
when the second driving processing module detects that the first driving processing module is abnormal, the second driving processing module takes over automatic driving and carries out automatic driving decision processing according to the second visual signal.
2. The autopilot system of claim 1 wherein the visual sensory data processing module includes a first deserializer and a preprocessor;
the first deserializer is used for deserializing the environmental data to obtain parallel data, and the parallel data are respectively transmitted to the preprocessor and the second driving processing module;
the preprocessor is used for receiving the parallel data sent by the first deserializer and performing format conversion and denoising processing on the parallel data to obtain preprocessed data;
the preprocessor is further configured to transmit the preprocessed data to the first driving processing module.
3. The autopilot system of claim 2 wherein the visual sensory data processing module further includes a serializer and a second deserializer;
the serializer is used for serializing the environment data to obtain serial data and transmitting the serial data to the second deserializer;
the second deserializer is used for deserializing the serial data to obtain second parallel data and transmitting the second parallel data to the second driving processing module.
4. The autopilot system of claim 3 wherein the first driving process module is configured to receive the pre-processed data and to perform an autopilot decision process based on the pre-processed data;
and the second driving processing module is used for receiving the second parallel data and carrying out automatic driving decision processing according to the second parallel data.
5. The automatic driving system according to claim 4, wherein the first driving processing module is further configured to receive a second heartbeat signal sent from the second driving processing module, and determine whether the second heartbeat signal meets a preset second heartbeat condition;
if the second heartbeat signal does not meet a preset second heartbeat condition, automatic driving take-over is carried out, and automatic driving decision processing is carried out according to the preprocessed data;
the second driving processing module is further used for receiving a first heartbeat signal sent from the first driving processing module and judging whether the first heartbeat signal meets a preset first heartbeat condition;
and if the first heartbeat signal does not meet a preset first heartbeat condition, taking over automatic driving, and performing automatic driving decision processing according to the second parallel data.
6. An automatic driving method is applied to an automatic driving system, and is characterized in that the automatic driving system comprises a first driving processing module and a second driving processing module, and the automatic driving method comprises the following steps:
collecting environmental data in the driving process of a vehicle;
carrying out shunt deserializing processing on the environment data to obtain a first visual signal and a second visual signal, and respectively outputting the first visual signal and the second visual signal to the first driving processing module and the second driving processing module;
detecting whether the first driving processing module and the second driving processing module have abnormity or not;
if the first driving processing module is detected to be abnormal, controlling the second driving processing module to take over automatic driving, and carrying out automatic driving decision processing according to the second visual signal;
and if the second driving processing module is detected to be abnormal, controlling the first driving processing module to take over automatic driving, and carrying out automatic driving decision processing according to the first visual signal.
7. The autopilot method of claim 6 wherein said de-serializing the environmental data to obtain a first visual signal and a second visual signal comprises:
carrying out double-rate sampling on the environmental data to obtain sampling data;
outputting the sampling data through a preset clock period to obtain parallel data;
and carrying out shunt transmission on the parallel data through two preset data transmission lines to obtain the first visual signal and the second visual signal.
8. The autonomous driving method of claim 6, wherein the detecting whether the first driving process module and the second driving process module are abnormal comprises:
receiving a second heartbeat signal sent from the second driving processing module through the first driving processing module, and judging whether the second heartbeat signal meets a preset second heartbeat condition or not through the first driving processing module;
if the second heartbeat signal does not meet a preset second heartbeat condition, the second driving processing module is abnormal;
if the second heartbeat signal meets a preset second heartbeat condition, the second driving processing module is not abnormal;
receiving a first heartbeat signal sent from the first driving processing module through the second driving processing module, and judging whether the first heartbeat signal meets a preset first heartbeat condition or not through the second driving processing module;
if the first heartbeat signal does not meet a preset first heartbeat condition, the first driving processing module is abnormal;
and if the first heartbeat signal meets a preset first heartbeat condition, the first driving processing module is not abnormal.
9. A computer device, comprising: a memory having instructions stored therein and at least one processor, the memory and the at least one processor interconnected by a line;
the at least one processor invokes the instructions in the memory to cause the computer device to perform the steps of the autopilot method of any of claims 6-8.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the autopilot method according to one of claims 6 to 8.
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| CN117632825B (en) * | 2024-01-25 | 2024-04-09 | 南京仁芯科技有限公司 | Multiplexing communication system |
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