CN213847395U

CN213847395U - AI control device of L2 level automatic driving vehicle

Info

Publication number: CN213847395U
Application number: CN202022882680.8U
Authority: CN
Inventors: 黄焕立; 梁国晓; 李玉琪
Original assignee: Flyaudio Corp
Current assignee: Flyaudio Corp
Priority date: 2020-12-03
Filing date: 2020-12-03
Publication date: 2021-07-30
Anticipated expiration: 2030-12-03

Abstract

The utility model discloses an AI controlling means of L2 rank autopilot vehicle, including the complete machine drain pan, demountable installation has autopilot PCB on the complete machine drain pan, fixed mounting has the camera to separate cluster integrated circuit board, autopilot treater, solid state hard drive, power management chip, wireless communication module, the interface of a plurality of different grade types and the connecting seat of a plurality of different grade types on the autopilot PCB, still demountable installation has integrative heat dissipation aluminium backshell on the complete machine drain pan. In this way, the utility model discloses can improve the automatic driving image recognition rate, reduce central control car machine system burden, improve the automatic driving effective rate indirectly; the automatic driving function is more centralized, the connection of wires is reduced, and the cost of the wires is reduced; the module board card can be freely designed according to the function requirements, and the time cost of function upgrading and design changing is greatly reduced.

Description

AI control device of L2 level automatic driving vehicle

Technical Field

The utility model relates to a vehicle autopilot technical field, concretely relates to AI controlling means of autopilot vehicle.

Background

An automatic driving vehicle is an intelligent vehicle which realizes unmanned driving through a computer system. The automatic driving vehicle depends on the cooperation of artificial intelligence, visual calculation, radar, monitoring device and global positioning system, so that the computer can automatically and safely operate the motor vehicle without any active operation of human.

The automatic driving technology is divided into a plurality of grades, and according to the standard of SAE (society of automotive Engineers), the automatic driving automobile is divided into 6 grades according to the intelligent and automatic degree: no automation (L0), driving assistance (L1), partial automation (L2), conditional automation (L3), highly automation (L4) and full automation (L5). Where SAE (society of automotive engineers) defines level L2 autopilot as: the driving support can be provided for a plurality of operations in the steering wheel and acceleration/deceleration by the driving environment, and other driving actions are operated by the human driver. The automatic driving level is an automatic driving level which can electrically control a steering wheel and an accelerator brake pedal of a vehicle and requires a driver to monitor road conditions and intervene in control at any time. The following can be realized: some automatic driving functions of adaptive cruise, lane keeping, automatic brake assist, automatic parking, etc., require that various sensors be mounted on the automobile, such as: the system comprises a camera, a millimeter wave radar, a laser radar and even a GPS and wheel speed sensor, and an automatic driving controller which is used for collecting sensor information, making a driving decision after operation fusion and controlling an automobile is required to be carried.

The NVIDIA Jetson TX2 is an embedded AI computer, which has a GPU with 256 NVIDIA Pascal cores, two ARMv8 CPUs and four ARM Cortex-A57, 1.4Gpix/s image processors, carries 8GB LPDDR4 memory, has the memory bandwidth of 59.7GB/s, is provided with various standard hardware interfaces and has a high-speed CAN interface, and CAN be suitable for automatic driving processing control of automobiles.

Most of the existing automatic driving schemes are realized in a mode that a processor for fusing camera, radar and GPS data is arranged externally or automatic driving information is processed and delivered to a central control vehicle system, and the former needs to be externally connected with a sensor processing module, so that wires on a vehicle are messy, the weight of the vehicle is increased, the vehicle is difficult to install, and the later maintenance cost is high; in the latter, because the central control car machine processor is not exclusively used for the automatic driving vision processing, most of the processed data of the central control car machine processor is affected by load aggravation and response real-time performance, the driving safety of the car on a road can be affected in serious conditions, the integration level of the current central control car machine system is high, all the devices are simply stacked on one PCB or system, the structure is single and inflexible, and the upgrading and the reconstruction of subsequent sub-functions are inconvenient.

SUMMERY OF THE UTILITY MODEL

In order to overcome the above technical defects, the present invention provides an AI control apparatus for an L2-class autonomous vehicle, so as to solve the above technical problems mentioned in the background art.

In order to solve the above problem, the utility model discloses realize according to following technical scheme:

an AI controlling means of L2 rank autopilot vehicle, including the complete machine drain pan, demountable installation has autopilot PCB on the complete machine drain pan, fixed mounting has the camera to separate cluster integrated circuit board, autopilot treater, solid state hard drive, power management chip, wireless communication module, the interface of a plurality of different grade type and the connecting seat of a plurality of different grade types on the autopilot PCB, still demountable installation has integrative heat dissipation aluminium backshell on the complete machine drain pan.

As a further improvement of the scheme, the interface comprises a display output interface, an Ethernet interface, a power interface, a communication interface, a USB interface, a fan interface and a debugging interface.

As a further improvement of the scheme, the connecting seat comprises a camera deserializing board connecting seat, a solid state disk connecting seat, a camera coaxial connecting seat and a bus interface connecting seat.

As a further improvement of the scheme, the camera deserializing board card shielding box used for covering the camera deserializing board card is installed on the automatic driving PCB.

As a further improvement of the scheme, a heat radiation fan is arranged on the integrated heat radiation aluminum rear shell.

As a further improvement of the scheme, the heat-conducting silica gel is installed on the automatic driving processor.

As a further improvement of the scheme, a heat dissipation aluminum block is installed on the automatic driving processor.

As a further improvement of the scheme, a plurality of screw posts for fixing the automatic driving PCB are convexly arranged in the bottom shell of the whole machine, and a first through hole penetrates through the automatic driving PCB corresponding to each screw post.

As a further improvement of the scheme, two camera deserializer boards are mounted on the autopilot PCB.

As a further improvement of the scheme, a plurality of second through holes penetrate through the peripheral side surfaces of the complete machine bottom shell, and screw holes are formed in the peripheral side surfaces of the integrated heat dissipation aluminum rear shell corresponding to each second through hole.

Compared with the prior art, the beneficial effects of the utility model are that:

1. different from a central control vehicle system, the automatic driving system uses an AI automatic driving processor to collect automatic driving sensing information and calculate, process and output a vehicle control command, so that the automatic driving image recognition rate can be improved, the burden of the central control vehicle system is reduced, and the automatic driving efficiency is indirectly improved;

2. the automatic driving function is more centralized, the connection of wires is reduced, and the cost of the wires is reduced;

3. the module is in a plate type with an interface card, so that upgrading and debugging in the future are facilitated, the module plate card can be freely designed according to functional requirements, and the time cost of function upgrading and design changing is greatly reduced.

Drawings

The following detailed description of embodiments of the invention is provided with reference to the accompanying drawings, in which:

FIG. 1 is a diagram of the mounting structure of the components on the autopilot PCB of the present invention;

fig. 2 is a schematic structural diagram of the present invention;

fig. 3 is an exploded view of the present invention;

in the figure: 1. the camera deserializes the board card; 2. the camera deserializes the board card connecting seat; 3. a solid state disk connecting seat; 4. a solid state disk; 5. the automatic driving PCB; 6. a display output interface; 7. the camera is coaxially connected with the base; 8. an Ethernet interface; 9. a power interface; 10. a communication interface; 11. a USB interface; 12. a power management chip; 13. a wireless communication module; 14. a bus interface connecting seat; 15. a fan interface; 16. debugging an interface; 17. an automatic driving processor; 18. a bottom shell of the whole machine; 19. an integral heat dissipating aluminum back shell; 20. the camera deserializes the board card shielding box; 21. a heat radiation fan; 22. a heat dissipation aluminum block; 23. fixing columns of the whole machine bracket; 24. a screw post; 25. a first through hole; 26. heat conducting silica gel; 27. a second through hole; 28. and (4) screw holes.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

As shown in fig. 1 to 3, the AI control device for an L2-grade autonomous vehicle according to the present invention includes a rectangular bottom shell 18, which is formed by bending a thin plate, and has a uniform wall thickness. The complete machine bottom shell 18 is detachably provided with a rectangular automatic driving PCB5, four screw posts 24 used for fixing an automatic driving PCB5 are arranged at four corners in the complete machine bottom shell 18 in a protruding mode, screw holes with certain depth are formed in the screw posts 24, and a first through hole 25 penetrates through the position, corresponding to each screw post 24, of the automatic driving PCB 5. When fixing the autopilot PCB5, a screw is passed through the first through hole 25 and screwed to the screw post 24, pressing the autopilot PCB5 when screwing down.

The bottom of the autopilot PCB5 is paved with a pre-designed copper foil loop, each external module can be electrically connected and started to work by being directly installed on the copper foil loop, and the autopilot PCB5 is fixedly provided with a camera deserializing board card 1, an autopilot processor 17, a solid state disk 4, a power management chip 12, a wireless communication module 13, a plurality of different types of interfaces and a plurality of different types of connecting seats.

The autopilot processor 17 is mounted at an upper middle position of the autopilot PCB 5. in this embodiment, the autopilot processor 17 is embodied as an AI single module computer of NVIDIA Jetson TX2, can intelligently process data, and has a deep neural network. The solid state disk 4 is installed on the right side of the autopilot PCB5 and connected with the autopilot processor 17 in a board card mode, and data can be read and stored quickly.

The power management chip 12 is mounted in the center of the autopilot PCB5, is rectangular and has a relatively small volume. After the power interface 9 is connected with an external power supply, the device can firstly ensure the power supply to be normal through some power detection circuits, the power management chip 12 on the autopilot PCB5 is then activated first and the power management chip 12 monitors the power of the various modules on the entire autopilot PCB5, the peripheral power required to enable the autopilot processor 17, and monitors the operational status of the autopilot processor 17, when the external power supply is detected to be abnormal, the power supply for the automatic driving processor 17 and each module is closed in time according to a certain sequence to ensure the safety of the automatic driving processor 17, in addition, the power management chip 12 is also responsible for transferring communication signals from the central control car machine and feeding back signals to the central control car machine from the automatic driving processor 17, and the software updating of the power management chip 12 is realized by connecting the debugging interface 16 with an external USB (universal serial bus) transfer serial port board to a computer.

The wireless communication module 13 is installed at the left position of the autopilot PCB5, and mainly plays a role of a bridge for wirelessly connecting the inside of the device with an external terminal, so that the inside of the device and the external terminal can timely perform information interaction.

The interfaces include a display output interface 6, an ethernet interface 8, a power interface 9, a communication interface 10, a USB interface 11, a fan interface 15, and a debug interface 16. Each of the remaining interfaces is mounted below the autopilot PCB5, except that the fan interface 15 and the debug interface 16 are mounted above the autopilot PCB 5. The fan interface 15 is arranged at the upper left of the automatic driving processor 17 and is used for being connected with the cooling fan 21 so as to provide electric energy for the cooling fan 21 to work; the USB interfaces 11 are installed below the wireless communication module 13, and the automatic driving processor 17 is upgraded through the USB interfaces 11, in the embodiment, two USB interfaces 11 are installed; the debugging interface 16 is arranged on the right side of the fan interface 15 and is used for installing and debugging the device; the communication interface 10 is installed below the USB interface 11, and is used for receiving and transmitting various information; the power interface 9 is arranged at the right side of the communication interface 10 and is used for being connected with an external power supply so as to provide electric energy required by the whole device; the Ethernet interface 8 is arranged on the right side of the power interface 9 and is used for outputting video images to the central control vehicle machine for display; and the display output interface 6 is arranged below the solid state disk 4 and is used for outputting the video image to a peripheral display screen for display.

The autopilot PCB5 is provided with a camera deserializer board shielding box 20 for covering the camera deserializer board 1. Camera deserializing board card shielding box 20 covers camera board card department, and camera deserializing board card shielding box 20 bottom protrusion is provided with the spliced pole of seting up threaded, and it is porose to link up correspondingly on autopilot PCB5, makes a screw fixation camera deserializing board card shielding box 20 from autopilot PCB5 bottom promptly.

The connecting seat includes camera deserializing integrated circuit board connecting seat 2, solid state hard drives connecting seat 3, camera coaxial connecting seat 7 and bus interface connecting seat 14. The camera deserializing board card 1 and the camera deserializing board card connecting seat 2 are respectively provided with two, the camera deserializing board card 1 is embedded and arranged on the camera deserializing board card connecting seat 2 and is arranged at the upper right position of the automatic driving PCB 5; the solid state disk connecting seat 3 is arranged above and connected with the solid state disk 4, and can support higher transmission rate; the camera coaxial connecting seats 7 are arranged on the right side of the Ethernet interface 8, and are used for receiving external input coaxial serial image signals; the bus interface connecting seat 14 is arranged above the wireless communication module 13 and is used for connecting the wireless communication module 13 with the automatic driving processor 17 in a communication way; in this embodiment, the solid state disk connector 3 is specifically an m.2ngff KEY M connector, and the bus interface connector 14 is specifically a MINI PCIE connector.

An integrated heat dissipation aluminum rear shell 19 can be detachably mounted on the whole machine bottom shell 18, the heat dissipation performance of the aluminum material is good, and heat can be dissipated to the outside in time. Install heat dissipation aluminium piece 22 on integrative heat dissipation aluminium backshell 19 corresponds the autopilot treater 17, the radiating rate of autopilot treater 17 position department can be accelerated to heat dissipation aluminium piece 22, further install radiator fan 21 on the integrative heat dissipation aluminium backshell 19, radiator fan 21 accelerates the velocity of flow that heat dissipation aluminium piece 22 department was aired, install lamellar heat conduction silica gel 26 between autopilot treater 17 and heat dissipation aluminium piece 22, the heat conduction silica gel 26 heat conductivity is good, can in time derive the heat of inside production. Through the mutual cooperation of each heat dissipation part, the heat dissipation capacity in the device is greatly improved, so that the work is more stable and reliable.

A plurality of second through holes 27 penetrate through the peripheral side surface of the complete machine bottom shell 18, and a screw hole 28 is formed on the peripheral side surface of the integrated heat dissipation aluminum rear shell 19 corresponding to each second through hole 27. Therefore, after all the parts are fixedly installed, the whole machine bottom shell 18 and the integrated heat dissipation aluminum rear shell 19 can be fixedly connected by using screws. The upper middle part of the integrated heat-dissipation aluminum rear shell 19 is also convexly provided with three whole machine support fixing columns 23, and the device can be fixedly arranged on a part of a vehicle through the whole machine support fixing columns 23.

Illustratively, the wireless vehicle control function part, when parking normally, the automatic driving system will enter into a dormant state until the wireless communication module 13 receives the wake-up and command information from the mobile phone terminal, the wireless communication module 13 wakes up the power management chip 12, the power management chip 12 enables control to switch on the power again and start the automatic driving processor 17, after the automatic driving processor 17 is ready, the wireless communication module 13 delivers the command information to the automatic driving processor 17, the automatic driving processor 17 decodes the command information and decides whether to execute, if executing, the command information is informed to the VCU of the vehicle through the communication circuit high-speed CAN, if executing, the automatic driving processor 17 feeds back information to the wireless communication module 13 through USB communication, and the wireless communication module 13 transfers the information to the mobile phone terminal through air radio information. In this example, the utility model discloses a wireless communication module 13 adopts MINI PCIE and autopilot treater 17 communication connection with the mode of integrated circuit board, and communication interface 10 has USB, MINI PCIE, satisfies current 4G communication module and 5G communication module bandwidth requirement, so wireless communication module 13 can freely design the integrated circuit board scheme, the debugging of conveniently upgrading.

For example, the automatic driving needs to acquire GPS positioning information from the outside, and in order to achieve a high-precision GPS positioning effect, the GPS module needs to acquire RTK information, which CAN be acquired by the wireless communication module 13 through a serial port, because the GPS module is externally hung on a high-speed CAN line of a vehicle, therefore, in this embodiment, the serial port carrying the RTK information is defined for transmission at the communication interface 10, and after the GPS module obtains the RTK information and calculates the precise three-dimensional position coordinate, the positioning message is delivered to the autopilot processor 17 in the form of CAN, then, the automatic driving processor 17 draws points and moving tracks on the high-precision map, which needs hard disk storage due to huge data volume, the utility model discloses in, the design has M.2NGFF KEY M connecting seat, and solid state hard 4 also uses the integrated circuit board form to be connected with autopilot treater 17, and the transmission interface also uses PCIE to give first place to.

The automatic driving functions of self-adaptive cruise, lane keeping, automatic brake assisting, automatic parking and the like all need the support of a high-definition camera, a microwave radar and an ultrasonic radar, in the embodiment, the microwave radar and the ultrasonic radar are both in communication connection with an automatic driving processor 17 through a high-speed CAN, the interface is defined in a communication interface 10, the automatic driving processor 17 CAN support at most 6 high-definition cameras and at most 1.4Gpix/s of image processing broadband, a camera panel deserializing board card is connected with an automatic driving PCB5 through two vertical camera deserializing board card connecting seats 2, the camera deserializing board card 1 has the function similar to a USB concentrator, a coaxial serial image signal input by a camera coaxial connecting seat 7 is transmitted to the camera deserializing board card 1 through an automatic driving PCB5, a deserializing chip on the camera deserializing board card 1 decodes the coaxial serial signal into a CSI parallel image signal, and finally, the data is output to an automatic driving processor 17 for processing, and as the most supported 6 cameras are mutually independent, the two cameras do not have difference in the board card 1 and have no primary and secondary points in installation.

The GPS module, the ultrasonic radar and the microwave radar are all connected to the automatic driving processor 17 through the high-speed CAN, the wireless communication module 13 is connected to the USB and the high-definition camera passes through CSI, the automatic driving processor 17 receives the sensing information, data fusion and operation decision are made, and finally vehicle control commands are transmitted on the CAN of the VCU, and the automatic driving function requires development of design software, so that the program upgrading of the automatic driving processor 17 is connected with a computer through the USB interface 11.

Exemplarily, a GPS module, an ultrasonic radar and a high-speed CAN of a microwave radar on a vehicle CAN be connected to a communication interface 10 through vehicle body wires, a look-around camera on the vehicle is connected to a camera coaxial connecting seat 7 through a plurality of coaxial cables, and the radar information and the camera video image data CAN be output and displayed after being fused, CAN be output by an Ethernet interface 8 and connected to a central control vehicle for display, and CAN also be independently connected to a peripheral display screen for output through a display output interface 6; the human-machine interface of the automatic driving function is designed in the central control car, the automatic driving system of the embodiment CAN obtain the human-machine interface command from the car body CAN connected with the central control car, the high-speed CAN is defined in the communication interface 10, the power management chip 12 of the automatic driving system of the embodiment picks up the human-machine interface command, and then the automatic driving processor 17 is informed by the SPI or I2C communication interface 10.

Other structures of the AI single-module computer, the m.2ngff KEY M connection socket, and the MINI PCIE connection socket of NVIDIA Jetson TX2 described in this embodiment are referred to in the prior art.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, so that any modification, equivalent change and modification made by the technical spirit of the present invention to the above embodiments do not depart from the technical solution of the present invention, and still fall within the scope of the technical solution of the present invention.

Claims

1. An AI controlling means of L2 level autopilot vehicle, includes complete machine drain pan, its characterized in that: the automatic driving PCB is detachably mounted on the complete machine bottom shell, a camera deserializing board card, an automatic driving processor, a solid state disk, a power management chip, a wireless communication module, a plurality of different types of interfaces and a plurality of different types of connecting seats are fixedly mounted on the automatic driving PCB, and an integrated heat dissipation aluminum back shell can be detachably mounted on the complete machine bottom shell.

2. The AI control apparatus of an L2-level autonomous vehicle according to claim 1, wherein: the interface comprises a display output interface, an Ethernet interface, a power supply interface, a communication interface, a USB interface, a fan interface and a debugging interface.

3. The AI control apparatus of an L2-level autonomous vehicle according to claim 1, wherein: the connecting seat comprises a camera deserializing board card connecting seat, a solid state disk connecting seat, a camera coaxial connecting seat and a bus interface connecting seat.

4. The AI control apparatus of an L2-level autonomous vehicle according to claim 1, wherein: and a camera deserializing board card shielding box for covering the camera deserializing board card is arranged on the automatic driving PCB.

5. The AI control apparatus of an L2-level autonomous vehicle according to claim 1, wherein: and a heat radiation fan is arranged on the integrated heat radiation aluminum rear shell.

6. The AI control apparatus of an L2-level autonomous vehicle according to claim 1, wherein: and the automatic driving processor is provided with heat-conducting silica gel.

7. The AI control apparatus of an L2-level autonomous vehicle according to claim 1, wherein: and a heat dissipation aluminum block is arranged on the automatic driving processor.

8. The AI control apparatus of an L2-level autonomous vehicle according to claim 1, wherein: a plurality of screw posts for fixing the automatic driving PCB are convexly arranged in the whole machine bottom shell, and first through holes penetrate through the positions, corresponding to the screw posts, of the automatic driving PCB.

9. The AI control apparatus of an L2-level autonomous vehicle according to claim 1, wherein: two camera deserializer boards are mounted on the autopilot PCB.

10. The AI control apparatus of an L2-level autonomous vehicle according to claim 1, wherein: a plurality of second through holes penetrate through the peripheral side face of the complete machine bottom shell, and screw holes are formed in the peripheral side face of the integrated heat dissipation aluminum rear shell corresponding to each second through hole.