CN117022303A - Automatic driving expansion interface control system, control method thereof and related equipment - Google Patents
Automatic driving expansion interface control system, control method thereof and related equipment Download PDFInfo
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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
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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
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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
- B60W2050/0001—Details of the control system
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Abstract
The application relates to the field of automatic driving control, and discloses an automatic driving expansion interface control system, a control method thereof and related equipment. The method comprises the following steps: acquiring corresponding data received by a coaxial expansion module and an Ethernet expansion module and received by a low-speed integrated expansion module; the main control circuit module is used for respectively carrying out analog-digital conversion and signal filtering on the received related data, carrying out sensing data calibration and data compression on the filtered data, and carrying out data integration corresponding to the sensor type on the compressed data to obtain integrated related type sensing data; the method comprises the steps of respectively extracting perception characteristics of perception data of related types through a perception processing module, carrying out vehicle scene perception on the extracted characteristic data, generating automatic driving control data of a target vehicle through a driving module, and controlling a corresponding chassis module of the target vehicle to adjust driving parameters. The application improves the expansion flexibility of the interface requirements of the vehicle-related automatic driving function equipment.
Description
Technical Field
The invention relates to the field of automatic driving control, in particular to an automatic driving expansion interface control system, a control method thereof and related equipment.
Background
With the rise of automatic driving technology, more and more vehicles support automatic driving functions of corresponding grades, and in addition, in order to meet different requirements of people on the automatic driving functions, corresponding devices are required to be assembled for the vehicles of different automatic driving grades. So that in-vehicle electronic devices are growing at a remarkable speed, such as a vehicle recorder, a GPS terminal, a navigation system, a radar system, a communication device, an in-vehicle multimedia system, and the like, and the difficulty factor of adding subsequent devices is greatly increased due to discrete functions, poor function expansibility and weak integration capability between devices.
Nowadays, in order to meet the increasing demands of the related devices for automatic driving, the related devices or systems to be added are considered as much as possible at the beginning of the design of the vehicle, and corresponding device interfaces are reserved, so that the vehicle can expand related driving functions. However, the need for improvement of the functions of the vehicle at the later stage cannot be considered at the beginning of the design, so that a part of redundant input/output interfaces, vehicle function interfaces and the like may be absent, which results in poor flexibility in improvement of the related driving system of the vehicle at the later stage, namely, poor flexibility in expansion of the interfaces of the related automatic driving function equipment or subsystem of the existing vehicle.
Disclosure of Invention
The invention mainly aims to solve the problem that the existing vehicle has poor flexibility in expanding related automatic driving function equipment or subsystems.
The first aspect of the present invention provides an autopilot expansion interface control system, the autopilot expansion interface control system comprising: the coaxial expansion module is used for receiving camera image data, and performing data stream conversion on the camera image data to obtain converted camera image data; the Ethernet expansion module is used for receiving at least one group of point cloud data, and broadcasting and forwarding data packets of the point cloud data to obtain forwarded point cloud data; the low-speed integrated expansion module is used for receiving the peripheral chassis data and carrying out transmission conversion of the corresponding transmission type on the peripheral chassis data based on the peripheral chassis data corresponding to the peripheral environment type; the main control circuit module is used for respectively carrying out analog-digital conversion and signal filtering on the received camera image data, the point cloud data and the peripheral chassis data, carrying out sensing data calibration and data integration compression on the filtered data, and obtaining integrated image sensing data, point cloud sensing data and chassis sensing data; the sensing processing module is used for extracting image characteristics from the image sensing data, extracting point cloud characteristics from the point cloud sensing data, extracting characteristics of a driving state from the chassis sensing data, and sensing a vehicle scene from the extracted characteristic data to obtain environment sensing data; and the driving module is used for generating automatic driving control data of the target vehicle based on the environment sensing data and controlling a corresponding chassis module of the target vehicle to adjust driving parameters based on the automatic driving control data.
Optionally, in a first implementation manner of the first aspect of the present invention, the converted camera image data includes serial format camera image data and binary camera image data, and the coaxial extension module includes a coaxial connection unit, a coaxial serial unit and a coaxial deserializing unit; the coaxial connection unit is used for receiving and transmitting corresponding camera image data; the coaxial serial unit is used for carrying out serial data conversion on the received binary camera image data according to a preset data format to obtain the camera image data in a serial format; the coaxial deserializing unit is used for carrying out parallel conversion on the camera image data in the serial format according to the preset data format to obtain binary camera image data.
Optionally, in a second implementation manner of the first aspect of the present invention, the ethernet extension module includes an ethernet connection unit and a data merging unit; the Ethernet connection unit is used for receiving point cloud data transmitted by at least one three-dimensional sensing device corresponding to the vehicle-gauge type Ethernet; the data merging unit is used for carrying out integrated forwarding on the data packets of the point cloud data to obtain forwarded point cloud data, and carrying out system equipment time service on the three-dimensional sensing equipment connected with the Ethernet based on the time service control instruction of the main control circuit module.
Optionally, in a third implementation manner of the first aspect of the present invention, the low-speed integrated extension module includes a peripheral connection unit and an output transmission unit; the peripheral connection unit is used for receiving peripheral chassis data generated by the peripheral equipment of the vehicle; the external transmission unit is used for judging whether the vehicle peripheral equipment is the vehicle internal and external equipment, and if the vehicle peripheral equipment is the vehicle internal and external equipment, bus transmission conversion is carried out on the peripheral chassis data; and if the vehicle peripheral equipment is not the equipment arranged inside and outside the vehicle, carrying out asynchronous serial conversion on the peripheral chassis data.
Optionally, in a fourth implementation manner of the first aspect of the present invention, after the controlling the corresponding chassis module of the target vehicle to adjust driving parameters, the method further includes: at least one driving control instruction with the driving parameters adjusted is received through the peripheral connection unit, and the driving control instruction of the corresponding type is transmitted and distributed; and receiving at least one vehicle positioning instruction with the driving parameters adjusted through the peripheral connection unit, and adjusting the position state of the target vehicle based on the vehicle positioning instruction.
Optionally, in a fifth implementation manner of the first aspect of the present invention, the main control circuit module includes a first processing unit and a second processing unit: the first processing unit is used for respectively carrying out analog-to-digital conversion and signal filtering on the received camera image data, the point cloud data and the peripheral chassis data, and carrying out corresponding type of sensing data calibration and data compression on the filtered data based on different sensor types to obtain camera image data, point cloud data and peripheral chassis data after compression of different sensor types; the second processing unit is used for carrying out data integration on the compressed camera image data, the point cloud data and the peripheral chassis data to obtain integrated image sensing data, point cloud sensing data and chassis sensing data.
The second aspect of the present invention provides an autopilot expansion interface control method, the autopilot expansion interface control method comprising: acquiring camera image data received by the coaxial expansion module, point cloud data received by the Ethernet expansion module and peripheral chassis data received by the low-speed integrated expansion module; respectively carrying out analog-to-digital conversion and signal filtering on the received camera image data, the point cloud data and the peripheral chassis data through the main control circuit module, carrying out sensing data calibration and data compression on the filtered data, and carrying out data integration corresponding to the sensor type on the compressed data to obtain integrated image sensing data, point cloud sensing data and chassis sensing data; the perception processing module is used for respectively extracting perception characteristics of the image perception data, the point cloud perception data and the chassis perception data, and carrying out vehicle scene perception on the extracted characteristic data to obtain environment perception data; and generating automatic driving control data of the target vehicle through the driving module based on the environment sensing data, and controlling a corresponding chassis module of the target vehicle to adjust driving parameters based on the automatic driving control data.
Optionally, in a first implementation manner of the second aspect of the present invention, after the acquiring the camera image data received by the coaxial extension module, the point cloud data received by the ethernet extension module, and the peripheral chassis data received by the low-speed integrated extension module, the method further includes: and performing data format conversion on various received peripheral chassis data based on the peripheral interface type corresponding to the peripheral chassis data to obtain the peripheral chassis data with uniform peripheral data format.
A third aspect of the present invention provides an automatic driving expansion interface control 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 autopilot expansion interface control apparatus to perform the steps of the autopilot expansion interface control method described above.
A fourth aspect of the present invention provides a computer-readable storage medium having instructions stored therein that, when executed on a computer, cause the computer to perform the steps of the above-described autopilot expansion interface control method.
In the technical scheme provided by the application, camera image data received by a coaxial expansion module, point cloud data received by an Ethernet expansion module and peripheral chassis data received by a low-speed integrated expansion module are obtained; respectively carrying out analog-digital conversion and signal filtering on the received camera image data, the point cloud data and the peripheral chassis data through a main control circuit module, carrying out sensing data calibration and data compression on the filtered data, and carrying out data integration of corresponding sensor types on the compressed data to obtain integrated image sensing data, point cloud sensing data and chassis sensing data; the method comprises the steps that a perception processing module is used for respectively extracting perception characteristics of image perception data, point cloud perception data and chassis perception data, and carrying out vehicle scene perception on the extracted characteristic data to obtain environment perception data; and generating automatic driving control data of the target vehicle through the driving module based on the environment sensing data, and controlling a corresponding chassis module of the target vehicle to adjust driving parameters based on the automatic driving control data. Compared with the prior art, the application inputs the data transmitted by different sensor interfaces by utilizing a plurality of expansion modules, processes the data by the main control circuit module, the perception processing module and the driving module, transmits the processed driving control instruction to the corresponding automobile chassis module through different automobile interfaces for controlling and adjusting the automatic driving, and improves the expansion flexibility of the relevant automatic driving function equipment or the subsystem of the automobile on the requirements of the relevant interfaces.
Drawings
FIG. 1 is a schematic diagram of one embodiment of an autopilot expansion interface control system in accordance with an embodiment of the present application;
FIG. 2 is a schematic diagram of another embodiment of an autopilot expansion interface control system in accordance with an embodiment of the present application;
FIG. 3 is a schematic diagram of a first embodiment of an automatic driving expansion interface control method according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a second embodiment of an automatic driving expansion interface control method according to an embodiment of the present application;
fig. 5 is a schematic view of an embodiment of an autopilot expansion interface control apparatus in an embodiment of the present application.
Detailed Description
The embodiment of the application provides an automatic driving expansion interface control system, a control method and related equipment thereof, wherein the method comprises the following steps: acquiring corresponding data received by a coaxial expansion module and an Ethernet expansion module and received by a low-speed integrated expansion module; the main control circuit module is used for respectively carrying out analog-digital conversion and signal filtering on the received related data, carrying out sensing data calibration and data compression on the filtered data, and carrying out data integration corresponding to the sensor type on the compressed data to obtain integrated related type sensing data; the method comprises the steps of respectively extracting perception characteristics of perception data of related types through a perception processing module, carrying out vehicle scene perception on the extracted characteristic data, generating automatic driving control data of a target vehicle through a driving module, and controlling a corresponding chassis module of the target vehicle to adjust driving parameters. The application improves the expansion flexibility of the interface requirements of the vehicle-related automatic driving function equipment.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," or any other variation 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 or inherent to such process, method, article, or apparatus.
For ease of understanding, a specific flow of an embodiment of the present invention is described below with reference to fig. 1, and with reference to fig. 1, an embodiment of an autopilot expansion interface control system in an embodiment of the present invention includes:
the coaxial expansion module 101 is configured to receive camera image data, and perform data stream conversion on the camera image data to obtain converted camera image data;
The ethernet expansion module 102 is configured to receive at least one set of point cloud data, and broadcast and forward a data packet for each set of point cloud data to obtain forwarded point cloud data;
the low-speed integrated expansion module 103 is configured to receive peripheral chassis data, and perform transmission conversion of a corresponding transmission type on the peripheral chassis data based on a peripheral environment type corresponding to the peripheral chassis data;
the main control circuit module 104 is configured to perform analog-to-digital conversion and signal filtering on the received camera image data, the point cloud data, and the peripheral chassis data, and perform sensor data calibration and data integration compression on the filtered data to obtain integrated image sensing data, point cloud sensing data, and chassis sensing data;
the sensing processing module 105 is configured to perform image feature extraction on the image sensing data, perform point cloud feature extraction on the point cloud sensing data, perform feature extraction on the chassis sensing data in a driving state, and perform vehicle scene sensing on the extracted feature data to obtain environment sensing data;
the driving module 106 is configured to generate automatic driving control data of a target vehicle based on the environmental awareness data, and control a corresponding chassis module of the target vehicle to adjust driving parameters based on the automatic driving control data.
The automatic driving expansion interface control system 10 is composed of a coaxial expansion module 101, an ethernet expansion module 102, a low-speed integrated expansion module 103, a main control circuit module 104, a perception processing module 105 and a driving module 106, wherein the main control circuit module 104 transmits the integrated image perception data, point cloud perception data and chassis perception data to the vehicle-mounted x86 processing system 20 for further processing, the perception module 105 and the vehicle-mounted x86 processing system 20 perform mutual transmission and processing of the perception data, and the driving module 106 receives the environment perception data transmitted by the vehicle-mounted x86 processing system 20. The automatic driving vehicle inputs external perception data into the system through the automatic driving expansion interface control system 10 and the vehicle-mounted x86 processing system 20, and processes corresponding perception data, so that control of various external devices and seamless integration of an embedded system and a vehicle network are realized. And a standard and flexible interface system is provided through the various interface modules in the autopilot expansion interface control system 10, which can expand the input/output functions of the embedded system, a standard and flexible method is provided, which can connect various IO devices to the embedded system, realize the expansion of the x86 interface to the vehicle interface, offload the edge AI processing capability (i.e. the processing of a part of the onboard x86 processing system 20 can be distributed to the modules of the autopilot expansion interface control system for direct processing), provide sensor input/output redundancy and functional safety monitoring, and further provide a robust enclosure suitable for automotive applications, and provide a related interface for DC power supply.
In the embodiment of the application, camera image data received by a coaxial expansion module, point cloud data received by an Ethernet expansion module and peripheral chassis data received by a low-speed integrated expansion module are obtained; respectively carrying out analog-digital conversion and signal filtering on the received camera image data, the point cloud data and the peripheral chassis data through a main control circuit module, carrying out sensing data calibration and data compression on the filtered data, and carrying out data integration of corresponding sensor types on the compressed data to obtain integrated image sensing data, point cloud sensing data and chassis sensing data; the method comprises the steps that a perception processing module is used for respectively extracting perception characteristics of image perception data, point cloud perception data and chassis perception data, and carrying out vehicle scene perception on the extracted characteristic data to obtain environment perception data; and generating automatic driving control data of the target vehicle through the driving module based on the environment sensing data, and controlling a corresponding chassis module of the target vehicle to adjust driving parameters based on the automatic driving control data. Compared with the prior art, the application inputs the data transmitted by different sensor interfaces by utilizing a plurality of expansion modules, processes the data by the main control circuit module, the perception processing module and the driving module, transmits the processed driving control instruction to the corresponding automobile chassis module through different automobile interfaces for controlling and adjusting the automatic driving, and improves the expansion flexibility of the relevant automatic driving function equipment or the subsystem of the automobile on the requirements of the relevant interfaces.
Referring to fig. 2, another embodiment of the autopilot expansion interface control system of the present invention includes:
the coaxial expansion module 101 is configured to receive camera image data, and perform data stream conversion on the camera image data to obtain converted camera image data;
the ethernet expansion module 102 is configured to receive at least one set of point cloud data, and broadcast and forward a data packet for each set of point cloud data to obtain forwarded point cloud data;
the low-speed integrated expansion module 103 is configured to receive peripheral chassis data, and perform transmission conversion of a corresponding transmission type on the peripheral chassis data based on a peripheral environment type corresponding to the peripheral chassis data;
the main control circuit module 104 is configured to perform analog-to-digital conversion and signal filtering on the received camera image data, the point cloud data, and the peripheral chassis data, and perform sensor data calibration and data integration compression on the filtered data to obtain integrated image sensing data, point cloud sensing data, and chassis sensing data;
the sensing processing module 105 is configured to perform image feature extraction on the image sensing data, perform point cloud feature extraction on the point cloud sensing data, perform feature extraction on the chassis sensing data in a driving state, and perform vehicle scene sensing on the extracted feature data to obtain environment sensing data;
The driving module 106 is configured to generate automatic driving control data of a target vehicle based on the environmental awareness data, and control a corresponding chassis module of the target vehicle to adjust driving parameters based on the automatic driving control data.
Further, the coaxial extension module 101 includes a coaxial connection unit 1011, a coaxial serial unit 1012, and a coaxial deserializing unit 1013 including:
the coaxial connection unit 1011 is configured to receive and transmit corresponding camera image data, i.e. to receive and transmit camera data information via at least one Fakra (camera interface connector).
The coaxial serial unit 1012 is configured to perform serial data conversion on the received binary camera image data according to a preset data format, so as to obtain camera image data in a serial format. The output integrated data is converted into GMSL1/2 format by a deserializer in the coaxial deserializer unit and is forwarded to downstream equipment (such as chassis equipment and the like) through a Fakra connector so as to achieve the function of forwarding the data of the bottom-layer camera.
The coaxial deserializing unit 1013 is configured to perform parallel conversion on camera image data in a serial format according to a preset data format, so as to obtain binary camera image data. That is, the camera data is converted from GMSL (Gigabit Multimedia Serial Link, high-speed serial interface) 1, 2 format to MIPI CSI (Mobile Industry Processor Interface Camera Serial Interface, camera serial interface) form by the serializer in the coaxial serial unit and the parallel data of different cameras can be compressed and converted into serial format, so that the camera sense data is transmitted to the first processing unit for processing, and further provided to the in-vehicle x86 processing system 20 for processing of the camera sense data.
Further, the ethernet expanding module 102 includes an ethernet connection unit 1021 and a data merging unit 1022 including:
the ethernet connection unit 1021 is configured to receive point cloud data transmitted by at least one three-dimensional sensing device corresponding to a vehicle-gauge type ethernet. Namely, through multiple interfaces (such as RJ45 (network cable interface), M12 (circular connector) and T1 (T1 line interface)) in the Ethernet connection unit, at least one three-dimensional sensing device connected by the interfaces receives point cloud data transmitted by the Ethernet corresponding to the vehicle rule type, and the point cloud data is transmitted to the first processing unit for processing.
The data merging unit 1022 is configured to perform integrated forwarding of data packets on each point cloud data, obtain forwarded point cloud data, and perform system device time service on the three-dimensional sensing device connected to the ethernet based on a time service control instruction of the main control circuit module. The method and the device have the advantages that input and output data are integrated and forwarded through the Ethernet switch in the data merging unit, congestion of various Ethernet interfaces in data transmission is avoided, and the fact that a plurality of vehicle-mounted peripheral devices are clocked by the vehicle-mounted x86 processing system is met.
Further, the low-speed integrated expansion module 103 includes a peripheral connection unit 1031 and an output transmission unit 1032;
The peripheral connection unit 1031 is configured to receive peripheral chassis data generated by a peripheral device of the vehicle. Namely, peripheral chassis data transmitted by related peripheral devices (such as chassis devices) are directly transmitted through a plurality of low-speed integrated connectors of the peripheral connection unit (such as interfaces of CAN (serial bus interface)/LSD (low-speed vehicle-mounted connection interface)/HSD (high-speed vehicle-mounted connection interface)/ADC (digital-to-analog conversion interface), UART (universal asynchronous receiver/transmitter interface) and the like), and the peripheral chassis data are transmitted to the first processing unit for processing.
The external transmission unit 1032 is configured to determine whether the vehicle peripheral device is an in-vehicle device, and if the vehicle peripheral device is an in-vehicle device, perform bus transmission conversion on the peripheral chassis data; and if the vehicle peripheral equipment is not the equipment arranged inside and outside the vehicle, carrying out asynchronous serial conversion on the peripheral chassis data. The peripheral transmission unit firstly determines the type of the current vehicle peripheral equipment, if the vehicle peripheral equipment is the vehicle internal and external equipment, the peripheral chassis data is converted in a bus transmission mode, and the peripheral chassis data is transmitted to the corresponding vehicle internal and external equipment (such as an in-vehicle air conditioner, a display screen and the like) to carry out corresponding driving control; if the vehicle peripheral equipment is not the equipment arranged inside and outside the vehicle, the peripheral chassis data are subjected to asynchronous serial conversion, and the data after the asynchronous serial conversion are transmitted to the corresponding external equipment (such as an external camera, a laser radar and the like) outside the vehicle.
Further, after the output transmission unit 1032 controls the corresponding chassis module of the target vehicle to adjust the driving parameters, the method further includes:
the method comprises the steps of receiving at least one driving control instruction with the driving parameters adjusted through a peripheral connection unit, and transmitting and distributing the driving control instruction of the corresponding type so as to control at least one peripheral device to realize automatic driving vehicle control; and receiving at least one vehicle positioning instruction with the driving parameters adjusted through the peripheral connection unit, and adjusting the position state of the target vehicle in the automatic driving process based on the vehicle positioning instruction so as to realize that the vehicle train runs on a correct lane.
Further, the main control circuit module 104 includes a first processing unit 1041 and a second processing unit 1042, which includes:
the first processing unit 1041 is configured to perform analog-to-digital conversion and signal filtering processing on the received camera image data, the point cloud data, and the peripheral chassis data, and perform corresponding type of sensor data calibration and data compression on the filtered data based on different sensor types, so as to obtain camera image data, point cloud data, and peripheral chassis data compressed by different sensor types;
The second processing unit 1042 is configured to integrate the compressed camera image data, the point cloud data, and the peripheral chassis data to obtain integrated image sensing data, point cloud sensing data, and chassis sensing data, and transmit the integrated image sensing data, point cloud sensing data, and chassis sensing data to the vehicle-mounted x86 processing system for performing vehicle-mounted information automatic control and planning processing.
In the embodiment of the application, camera image data received by a coaxial expansion module, point cloud data received by an Ethernet expansion module and peripheral chassis data received by a low-speed integrated expansion module are obtained; respectively carrying out analog-digital conversion and signal filtering on the received camera image data, the point cloud data and the peripheral chassis data through a main control circuit module, carrying out sensing data calibration and data compression on the filtered data, and carrying out data integration of corresponding sensor types on the compressed data to obtain integrated image sensing data, point cloud sensing data and chassis sensing data; the method comprises the steps that a perception processing module is used for respectively extracting perception characteristics of image perception data, point cloud perception data and chassis perception data, and carrying out vehicle scene perception on the extracted characteristic data to obtain environment perception data; and generating automatic driving control data of the target vehicle through the driving module based on the environment sensing data, and controlling a corresponding chassis module of the target vehicle to adjust driving parameters based on the automatic driving control data. Compared with the prior art, the application inputs the data transmitted by different sensor interfaces by utilizing a plurality of expansion modules, processes the data by the main control circuit module, the perception processing module and the driving module, transmits the processed driving control instruction to the corresponding automobile chassis module through different automobile interfaces for controlling and adjusting the automatic driving, and improves the expansion flexibility of the relevant automatic driving function equipment or the subsystem of the automobile on the requirements of the relevant interfaces.
The automatic driving expansion interface control system in the embodiment of the present application is described above, and the automatic driving expansion interface control method in the embodiment of the present application is described below, referring to fig. 3, where a first embodiment of the automatic driving digital signal control method in the embodiment of the present application includes:
301. acquiring camera image data received by a coaxial expansion module, point cloud data received by an Ethernet expansion module and peripheral chassis data received by a low-speed integrated expansion module;
the embodiment of the application can acquire and process the related data based on the artificial intelligence technology. Among these, artificial intelligence (Artificial Intelligence, AI) is the theory, method, technique and application system that uses a digital computer or a digital computer-controlled machine to simulate, extend and extend human intelligence, sense the environment, acquire knowledge and use knowledge to obtain optimal results.
Artificial intelligence infrastructure technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a robot technology, a biological recognition technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and other directions.
In this embodiment, the camera image data received by the coaxial expansion module, the point cloud data received by the ethernet expansion module, and the peripheral chassis data received by the low-speed integrated expansion module. The coaxial expansion module supports 16 paths of 8M camera input, and can compress and forward 12 paths of data at a serializer and deserializer layer; the Ethernet expansion module supports 2-path teraM 12/RJ45 Ethernet communication, 2-path kilomega M12/RJ45 Ethernet communication and 12-path kilomega vehicle-mounted Ethernet communication, and meanwhile 2-path tera M12/RJ45 Ethernet communication and 16-path vehicle-mounted Ethernet communication can be achieved through a BOM (material) modification mode (namely different chip combinations are selected to achieve different functions when a system is designed), and in addition, the host machine mechanical panel design is not required to be modified in the conversion process; the low-speed integrated expansion module supports a large number of low-speed signals including 1-way A2B (Digital audio bus technology), 8-way ADC (analog-to-Digital conversion), 8-way CAN (bus transmission), 18-way Digital Input (Digital signal Input), 5-way Digital Output (Digital signal Output), 2-way encoder (encoder), 2-way index interface, 1-way flexray (real-time bus protocol interface), 3-way HSD (high-speed data interface), 5-way LSD (low-speed data interface), 1-way IGN (ignition interface), 1-way power off okay (power off interface), 2-way asynchronous (packet interface) and 4-way UART (universal transceiver interface) for adapting to different platform vehicle access requirements.
302. Respectively carrying out analog-digital conversion and signal filtering on the received camera image data, the point cloud data and the peripheral chassis data through a main control circuit module, carrying out sensing data calibration and data compression on the filtered data, and carrying out data integration of corresponding sensor types on the compressed data to obtain integrated image sensing data, point cloud sensing data and chassis sensing data;
in the embodiment, the main control circuit module respectively performs analog-digital conversion and signal filtering on the received camera image data, the point cloud data and the peripheral chassis data, uniformly formats the data with different data types into digital signals, and performs filtering processing on the digital signals to filter part of noise signals; and further, carrying out sensing data calibration and data compression on the filtered data, namely, continuously comparing and adjusting the filtered data through signal accurate values of different sensing types or verified standard data (namely, corresponding correction formulas, calibration curves or other calibration methods), compressing various data when the adjusted data reach a preset evaluation error range, and further carrying out data integration (namely, identification, data mapping, matching and the like of various sensor data sources) on the compressed data to obtain integrated image sensing data, point cloud sensing data and chassis sensing data.
303. The method comprises the steps that a perception processing module is used for respectively extracting perception characteristics of image perception data, point cloud perception data and chassis perception data, and carrying out vehicle scene perception on the extracted characteristic data to obtain environment perception data;
in this embodiment, the vehicle-mounted x86 processing system forwards the integrated data to the perception processing module, and then the perception processing module extracts relevant sensing and sensing characteristics of the image sensing data, the point cloud sensing data and the chassis sensing data respectively, extracts image characteristic data corresponding to different sensors, senses a vehicle scene of the extracted characteristic data, constructs environment sensing data of a current target vehicle running environment, and outputs the environment sensing data to the vehicle-mounted x86 processing system. In addition, the integrated data is subjected to vehicle positioning analysis through a vehicle-mounted x86 processing system, and control decision and driving planning of automatic driving are performed by combining vehicle positioning information and environment sensing data, so that vehicle-mounted control and planning signals are obtained.
304. And generating automatic driving control data of the target vehicle through the driving module based on the environment sensing data, and controlling a corresponding chassis module of the target vehicle to adjust driving parameters based on the automatic driving control data.
In this embodiment, based on the environmental awareness data, the driving module generates driving allocation control instructions for the vehicle-mounted control and planning signals obtained by the vehicle-mounted x86 processing system, obtains automatic driving control data of the target vehicle, and controls the corresponding chassis module of the target vehicle to adjust driving parameters based on the automatic driving control data.
The communication mode between the high-performance computing unit in the automatic driving field and the vehicle chassis is solved by integrating the vehicle domain control chip and the bottom control chip in the automatic driving expansion interface control system, and meanwhile, related algorithms processed by different domain controllers and front-end sensors of the different domain controllers are added, so that the delay of the original input of the sensors with different interfaces to the main computing system is greatly reduced. In addition, the vehicle-mounted x86 processing system is communicated with the domain controller through the Ethernet in the automatic driving expansion interface control system, the domain controller converts DBW (driving brake control) decision into signals of a vehicle chassis CAN and the like to achieve the purpose of controlling the vehicle, so that the preprocessing of various interface original sensor data through a domain processing SoC software and hardware scheme is realized, the use requirement of a main system core computing unit is reduced, and the calculation force is released to other modules.
In the embodiment of the application, the data transmitted by different sensor interfaces are input by utilizing a plurality of expansion modules, and then the processed driving control instructions are processed by the main control circuit module, the perception processing module and the driving module, and are transmitted to the corresponding automobile chassis module through different automobile interfaces to control and adjust the automatic driving, so that the expansion flexibility of the relevant automatic driving function equipment or the subsystem of the automobile on the requirements of the relevant interfaces is improved.
Referring to fig. 4, a second embodiment of the method for controlling an autopilot expansion interface according to an embodiment of the present application includes:
401. acquiring camera image data received by a coaxial expansion module, point cloud data received by an Ethernet expansion module and peripheral chassis data received by a low-speed integrated expansion module;
402. based on the peripheral interface type corresponding to the peripheral chassis data, converting the data format of various received peripheral chassis data to obtain peripheral chassis data with uniform peripheral data format;
in this embodiment, based on the peripheral interface type corresponding to the peripheral chassis data, unified data format conversion is performed on various peripheral chassis data received by the low-speed integrated expansion module, so as to obtain peripheral chassis data in a unified peripheral data format, so that the peripheral chassis data can be processed by the active circuit module. The application can expand the input/output function of the vehicle-mounted embedded system through various expansion interface modules, provides a standard and flexible method, can connect various IO devices to the embedded system, realizes the expansion of the interface of the vehicle-mounted x86 processing system to the vehicle interface, transfers the processing capacity of part of the vehicle-mounted x86 processing system to the corresponding module of the automatic driving expansion interface control system for processing, and provides the safety monitoring of the sensor input/output redundancy and related functions.
403. Respectively carrying out analog-digital conversion and signal filtering on the received camera image data, the point cloud data and the peripheral chassis data through a main control circuit module, carrying out sensing data calibration and data compression on the filtered data, and carrying out data integration of corresponding sensor types on the compressed data to obtain integrated image sensing data, point cloud sensing data and chassis sensing data;
404. the method comprises the steps that a perception processing module is used for respectively extracting perception characteristics of image perception data, point cloud perception data and chassis perception data, and carrying out vehicle scene perception on the extracted characteristic data to obtain environment perception data;
405. and generating automatic driving control data of the target vehicle through the driving module based on the environment sensing data, and controlling a corresponding chassis module of the target vehicle to adjust driving parameters based on the automatic driving control data.
In the embodiment of the application, the data transmitted by different sensor interfaces are input by utilizing a plurality of expansion modules, and then the processed driving control instructions are processed by the main control circuit module, the perception processing module and the driving module, and are transmitted to the corresponding automobile chassis module through different automobile interfaces to control and adjust the automatic driving, so that the expansion flexibility of the relevant automatic driving function equipment or the subsystem of the automobile on the requirements of the relevant interfaces is improved.
The automatic driving expansion interface control system in the embodiment of the present invention is described in detail above in fig. 1 and 2 from the point of view of modularized functional entities, and the automatic driving expansion interface control device in the embodiment of the present invention is described in detail below from the point of view of hardware processing.
Fig. 5 is a schematic structural diagram of an autopilot expansion interface control device according to an embodiment of the present invention, where the autopilot expansion interface control device 500 may vary considerably according to configuration or performance, and may include one or more processors (central processing units, CPU) 510 (e.g., one or more processors) and memory 520, one or more storage media 530 (e.g., one or more mass storage devices) storing applications 533 or data 532. Wherein memory 520 and storage medium 530 may be transitory or persistent storage. The program stored in the storage medium 530 may include one or more modules (not shown), each of which may include a series of instruction operations to the autopilot expansion interface control apparatus 500. Still further, the processor 510 may be configured to communicate with the storage medium 530 and execute a series of instruction operations in the storage medium 530 on the autopilot expansion interface control device 500.
The autopilot expansion interface control device 500 may also include one or more power supplies 540, one or more wired or wireless network interfaces 550, one or more input/output interfaces 560, and/or one or more operating systems 531, such as Windows Serve, mac OS X, unix, linux, freeBSD, and the like. It will be appreciated by those skilled in the art that the configuration of the autopilot expansion interface control device shown in fig. 5 is not limiting of the autopilot expansion interface control device and may include more or fewer components than shown, or may be combined with certain components, or may be arranged in a different arrangement of components.
The present invention also provides an autopilot expansion interface control apparatus, the computer apparatus including a memory and a processor, the memory storing computer readable instructions that, when executed by the processor, cause the processor to perform the steps of the autopilot expansion interface control method in the above embodiments.
The present invention also provides a computer readable storage medium, which may be a non-volatile computer readable storage medium, and may also be a volatile computer readable storage medium, in which instructions are stored which, when executed on a computer, cause the computer to perform the steps of the autopilot expansion interface control method.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform 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 removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The application is operational with numerous general purpose or special purpose computer system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like. The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. An autopilot expansion interface control system, the autopilot expansion interface control system comprising:
the coaxial expansion module is used for receiving camera image data, and performing data stream conversion on the camera image data to obtain converted camera image data;
the Ethernet expansion module is used for receiving at least one group of point cloud data, and broadcasting and forwarding data packets of the point cloud data to obtain forwarded point cloud data;
the low-speed integrated expansion module is used for receiving the peripheral chassis data and carrying out transmission conversion of the corresponding transmission type on the peripheral chassis data based on the peripheral chassis data corresponding to the peripheral environment type;
the main control circuit module is used for respectively carrying out analog-digital conversion and signal filtering on the received camera image data, the point cloud data and the peripheral chassis data, carrying out sensing data calibration and data integration compression on the filtered data, and obtaining integrated image sensing data, point cloud sensing data and chassis sensing data;
the sensing processing module is used for extracting image characteristics from the image sensing data, extracting point cloud characteristics from the point cloud sensing data, extracting characteristics of a driving state from the chassis sensing data, and sensing a vehicle scene from the extracted characteristic data to obtain environment sensing data;
And the driving module is used for generating automatic driving control data of the target vehicle based on the environment sensing data and controlling a corresponding chassis module of the target vehicle to adjust driving parameters based on the automatic driving control data.
2. The autopilot expansion interface control system of claim 1 wherein the converted camera image data includes serial format camera image data and binary camera image data, the coaxial expansion module including a coaxial connection unit, a coaxial serial unit, and a coaxial deserialization unit;
the coaxial connection unit is used for receiving and transmitting corresponding camera image data;
the coaxial serial unit is used for carrying out serial data conversion on the received binary camera image data according to a preset data format to obtain the camera image data in a serial format;
the coaxial deserializing unit is used for carrying out parallel conversion on the camera image data in the serial format according to the preset data format to obtain binary camera image data.
3. The autopilot expansion interface control system of claim 1 wherein the ethernet expansion module includes an ethernet connection unit and a data merge unit;
The Ethernet connection unit is used for receiving point cloud data transmitted by at least one three-dimensional sensing device corresponding to the vehicle-gauge type Ethernet;
the data merging unit is used for carrying out integrated forwarding on the data packets of the point cloud data to obtain forwarded point cloud data, and carrying out system equipment time service on the three-dimensional sensing equipment connected with the Ethernet based on the time service control instruction of the main control circuit module.
4. The autopilot expansion interface control system of claim 1 wherein the low speed integrated expansion module includes a peripheral connection unit and an output transmission unit;
the peripheral connection unit is used for receiving peripheral chassis data generated by the peripheral equipment of the vehicle;
the external transmission unit is used for judging whether the vehicle peripheral equipment is the vehicle internal and external equipment, and if the vehicle peripheral equipment is the vehicle internal and external equipment, bus transmission conversion is carried out on the peripheral chassis data; and if the vehicle peripheral equipment is not the equipment arranged inside and outside the vehicle, carrying out asynchronous serial conversion on the peripheral chassis data.
5. The autopilot expansion interface control system of claim 4 further comprising, after said adjusting of driving parameters by a corresponding chassis module controlling the target vehicle:
At least one driving control instruction with the driving parameters adjusted is received through the peripheral connection unit, and the driving control instruction of the corresponding type is transmitted and distributed;
and receiving at least one vehicle positioning instruction with the driving parameters adjusted through the peripheral connection unit, and adjusting the position state of the target vehicle based on the vehicle positioning instruction.
6. The autopilot expansion interface control system of claim 1 wherein the master circuit module includes a first processing unit and a second processing unit:
the first processing unit is used for respectively carrying out analog-to-digital conversion and signal filtering on the received camera image data, the point cloud data and the peripheral chassis data, and carrying out corresponding type of sensing data calibration and data compression on the filtered data based on different sensor types to obtain camera image data, point cloud data and peripheral chassis data after compression of different sensor types;
the second processing unit is used for carrying out data integration on the compressed camera image data, the point cloud data and the peripheral chassis data to obtain integrated image sensing data, point cloud sensing data and chassis sensing data.
7. An automatic driving expansion interface control method of an unmanned vehicle, applied to the automatic driving expansion interface control system according to any one of claims 1 to 6, characterized in that the automatic driving expansion interface control method comprises:
acquiring camera image data received by the coaxial expansion module, point cloud data received by the Ethernet expansion module and peripheral chassis data received by the low-speed integrated expansion module;
respectively carrying out analog-to-digital conversion and signal filtering on the received camera image data, the point cloud data and the peripheral chassis data through the main control circuit module, carrying out sensing data calibration and data compression on the filtered data, and carrying out data integration corresponding to the sensor type on the compressed data to obtain integrated image sensing data, point cloud sensing data and chassis sensing data;
the perception processing module is used for respectively extracting perception characteristics of the image perception data, the point cloud perception data and the chassis perception data, and carrying out vehicle scene perception on the extracted characteristic data to obtain environment perception data;
and generating automatic driving control data of the target vehicle through the driving module based on the environment sensing data, and controlling a corresponding chassis module of the target vehicle to adjust driving parameters based on the automatic driving control data.
8. The automated driving extension interface control method according to claim 7, further comprising, after the acquiring the camera image data received by the coaxial extension module, the point cloud data received by the ethernet extension module, and the peripheral chassis data received by the low-speed integrated extension module:
and performing data format conversion on various received peripheral chassis data based on the peripheral interface type corresponding to the peripheral chassis data to obtain the peripheral chassis data with uniform peripheral data format.
9. An automatic driving expansion interface control device, characterized in that the automatic driving expansion interface control device comprises: 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 autopilot expansion interface control apparatus to perform the steps of the autopilot expansion interface control method of any one of claims 7-8.
10. A computer readable storage medium having instructions stored thereon, which when executed by a processor, implement the steps of the autopilot expansion interface control method of any one of claims 7-8.
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