CN218594282U - Automatic driving control system and motor vehicle - Google Patents
Automatic driving control system and motor vehicle Download PDFInfo
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- CN218594282U CN218594282U CN202223036722.1U CN202223036722U CN218594282U CN 218594282 U CN218594282 U CN 218594282U CN 202223036722 U CN202223036722 U CN 202223036722U CN 218594282 U CN218594282 U CN 218594282U
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Abstract
The utility model provides an automatic drive control system and motor vehicle, the system includes multiunit sensor, a plurality of sensor controller, main domain controller and at least one and is equipped with the domain controller, wherein: each group of sensors is respectively connected with one sensor controller, and each sensor in the group of sensors acquires the automatic driving sensing information and sends the automatic driving sensing information to the corresponding sensor controller; any sensor controller is also connected with the main domain controller and the standby domain controller respectively, and sends the automatic driving sensing information received by the sensors to the main domain controller and the standby domain controller respectively; the main domain controller is also connected with the standby domain controller, generates a driving control instruction by using the received automatic driving sensing information and sends the driving control instruction to the whole vehicle controller and first indication information for indicating the working state of the main domain controller to the standby domain controller; and when the standby domain controller determines that the main domain controller has a fault according to the first indication information, generating a driving control instruction by using the received automatic driving sensing information and sending the driving control instruction to the vehicle control unit.
Description
Technical Field
The utility model relates to an autopilot technical field indicates an autopilot control system and motor vehicle especially.
Background
With the popularization and development of artificial intelligence technology, automatic driving has become a hot spot of research at home and abroad. The automatic driving technology can effectively reduce the safety risk of a driver, relieve the current situation of traffic jam, greatly reduce the transportation cost and promote the high-quality development of the industry. An autonomous automobile senses the surroundings of a vehicle by using an on-vehicle sensor and controls the steering and speed of the vehicle according to the sensed road, vehicle position and obstacle information, thereby enabling the vehicle to safely and reliably travel on the road.
At present, with the development of the automatic driving technology, a large number of sensors are required to be arranged on a vehicle body to sense the external environment in order to realize the automatic driving of the motor vehicle. However, the number of input/output (I/O) interfaces of a domain controller for controlling an autopilot logic in an existing autopilot vehicle is small, and the access requirements of sensors cannot be met.
SUMMERY OF THE UTILITY MODEL
An embodiment of the utility model provides an automatic drive control system and motor vehicle for there is input/output (IO) interface quantity of domain controller of control autopilot logic less among the solution prior art, can't satisfy the problem of the access demand of sensor.
The utility model provides an automatic driving control system, including multiunit sensor, a plurality of sensor controller, main domain controller and at least one reserve domain controller, every group sensor includes at least one sensor, wherein:
each group of sensors is respectively connected with one sensor controller, and each sensor in the group of sensors is used for acquiring the automatic driving sensing information and sending the automatic driving sensing information to the corresponding sensor controller;
any sensor controller is also connected with the main domain controller and the standby domain controller respectively and is used for sending the automatic driving sensing information received by the slave sensor to the main domain controller and the standby domain controller respectively;
the main domain controller is also connected with the standby domain controller and is used for generating a driving control instruction by utilizing the received automatic driving sensing information and sending the driving control instruction to the vehicle controller and first indication information for indicating the working state of the main domain controller to the standby domain controller;
and the standby domain controller is used for generating a driving control instruction by using the received automatic driving sensing information and sending the driving control instruction to the vehicle control unit when the main domain controller is determined to be in fault according to the first indication information.
Optionally, at least part of the sensor controllers are interconnected;
any pair of sensor controllers connected with each other is also used for informing the working state of the sensor controller to the other sensor controller connected with the sensor controller. Optionally, the sensors include at least one of the following types, and for any set of sensors, each type of sensor includes at least one of:
positioning sensor, vision sensor, radar, ultrasonic ranging sensor, infrared ranging sensor, speed sensor, acceleration sensor, light sensor.
Optionally, if the sensor includes at least one sensor of a designated type, overlapping regions exist in the automatic driving sensing information detection regions corresponding to the installation positions of the plurality of sensors of the same designated type on the motor vehicle;
wherein the specified type of sensor comprises a vision sensor and a radar.
Alternatively, the same specified type of sensors having overlapping areas of the automatic driving sensory information detection areas belong to different groups of sensors.
Alternatively, the automatic driving sensing information detection area corresponding to the installation position of a plurality of sensors of the same specified type on the motor vehicle covers the entire vehicle body field angle of the motor vehicle.
Optionally, the master domain controller and the standby domain controller are domain controllers of different models.
Optionally, each of the sensor controllers is a same model controller, or at least some of the sensor controllers are different models of controllers.
Optionally, the automatic driving system further includes a communication module, where the communication module is connected to the main domain controller and the standby domain controller, and is configured to receive first communication information sent by the outside, forward the first communication information to the main domain controller and the standby domain controller, and send second communication information sent by the main domain controller or the standby domain controller to the outside.
Based on the same conception, the embodiment of the utility model also provides a motor vehicle, the motor vehicle includes the autopilot control system who has just been said.
The utility model discloses beneficial effect as follows:
the embodiment of the utility model provides an autopilot control system and motor vehicle, through additionally set up the sensor controller and connect both between the sensor of the domain controller of being responsible for control autopilot logic and being responsible for gathering sensory information to can connect different sensors with the input/output (I/O) ability of expanding the domain controller through setting up a plurality of sensor controllers, support the realization of motor vehicle braking driving function better.
Drawings
Fig. 1 is a schematic structural diagram of a conventional automatic driving control system;
fig. 2 is a schematic structural diagram of an automatic driving control system according to an embodiment of the present invention;
fig. 3 is a second schematic structural diagram of an automatic driving control system according to an embodiment of the present invention;
fig. 4 is a schematic diagram of the installation position of a sensor of a specific type of an automatic driving control system on a motor vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention will be further described in conjunction with the accompanying drawings and examples. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted. The words for expressing the position and direction described in the present invention are all the explanations given by taking the drawings as examples, but can be changed according to the needs, and the changes are all included in the protection scope of the present invention. The drawings of the present invention are only for illustrating the relative positional relationship and do not represent true proportions.
It should be noted that in the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of other ways than those described herein, and those skilled in the art will be able to make similar generalizations without departing from the spirit of the invention. The invention is therefore not limited to the specific embodiments disclosed below. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
Currently, an existing automatic driving control system is generally shown in fig. 1, and includes a sensor (100) and a domain controller (300), the sensor is directly connected to an I/O interface of the domain controller (300), the sensor (100) collects automatic driving sensing information and directly transmits the automatic driving sensing information to the domain controller (300) through the I/O interface, and the domain controller generates driving control instructions including but not limited to acceleration, deceleration, braking, turning and the like according to the received automatic driving sensing information and transmits the driving control instructions to a vehicle controller to realize automatic driving of a vehicle. However, the number of I/O interfaces of the domain controller currently in use is small compared to the number of sensors required to implement the autopilot function. For example, the domain controller (300) is a domain controller of IPU04 model of Texas West Germany, which is an Orin platform of great, and the I/O interface of the domain controller comprises: 6 Giga Multimedia Serial Links (GMSL) interfaces, 6 hundred mega vehicle-mounted Ethernet interfaces, 1 giga vehicle-mounted Ethernet interface, 8 Controller Area Network (CAN) interfaces, if the automatic driving control system adopts more than 8 laser radars, more than 11 vision sensors and more than 5 millimeter wave radars, at least 24I/O interfaces are needed. The following problem exists between the I/O resources of the domain controller (300) and the requirements of the sensors (100): and (1) the number of I/O interfaces of the main domain controller (310) is insufficient. (2) specific I/O resources are wasted. For example, the lidar transmission rate is generally greater than 100Mbps and less than 200Mbps, so the lidar data transmission interface must be accessed to the gigabit ethernet interface, but if the lidar is directly accessed to the gigabit ethernet interface of the domain controller (300), the load rate of the gigabit ethernet interface is only 10% -20%, and resources of the gigabit ethernet interface are greatly wasted.
To the above problem, the utility model provides an automatic driving control system for the input/output (I/O) interface quantity of the domain controller of solving current control automatic driving logic is less, can't satisfy the problem of the access demand of sensor.
The following describes an automatic driving control system and a motor vehicle provided by an embodiment of the present invention with reference to the accompanying drawings.
The utility model provides an automatic driving control system, as shown in fig. 2, 3, including multiunit sensor (100), a plurality of sensor controller (200), main domain controller (310) and at least one reserve domain controller (320), every group sensor (100) includes at least one sensor (100). Wherein:
each group of sensors (100) is respectively connected with one sensor controller (200), and each sensor (100) in the group of sensors (100) is used for acquiring automatic driving sensing information and sending the automatic driving sensing information to the corresponding sensor controller (200).
Any sensor controller (200) is respectively connected with a corresponding group of sensors (100), the main domain controller (310) and the standby domain controller (320) and is used for respectively sending the automatic driving sensing information received from the sensors (100) to the main domain controller (310) and the standby domain controller (320).
In particular implementations, the sensor controller (200) may employ a processor with a large number of I/O interfaces, and preferably a high transfer rate type of I/O interfaces. The sensor controller (200) can directly forward the automatic driving sensing information collected by the sensor (100) to the main domain controller (310) and the standby domain controller (320); or further, the sensor controller (200) may perform data Processing on the automatic driving sensing information collected by the sensor (100) and then transmit the processed information to the main domain controller (310) and the standby domain controller (320), where the data Processing may include analog Signal-digital Signal interchange, format conversion, image Signal Processing (ISP) function on the data collected by the vision sensor, and the like. The sensor controller (200) may be connected to the I/O interfaces of the main domain controller (310) and the standby domain controller (320) by using one or more communication lines, and specifically may be connected by using a GMSL bus, a CAN bus, a vehicle-mounted ethernet bus, or the like. Correspondingly, when the sensor controller (200) sends the automatic driving sensing information to the main domain controller (310) and the standby domain controller (320), the automatic driving sensing information collected by the sensors (200) can be respectively sent to an I/O interface of the main domain controller (310) and the standby domain controller (320) through a communication line (for example, a gigabit Ethernet interface of the main domain controller (310) can receive 5 laser radars collected automatic driving sensing information sent by the sensor controller (200)), so as to improve the load rate of a specific I/O interface of the domain controller.
The main domain controller (310) is connected with the standby domain controller (320) and each sensor controller (200), and is configured to generate a driving control instruction by using the received automatic driving sensing information, send the driving control instruction to a vehicle control unit (not shown in the figure), and indicate first indication information of a working state of the main domain controller to the standby domain controller (320).
The standby domain controller (320) is connected with the main domain controller (310) and the sensor controllers (200) and is used for generating a driving control instruction by using the received automatic driving sensing information and sending the driving control instruction to the whole vehicle controller when the main domain controller (310) is determined to have a fault according to the first indication information.
In a specific implementation process, the main domain controller (310) generates driving control instructions including but not limited to acceleration, deceleration, braking, turning and the like according to the automatic driving sensing information sent by each sensor controller (200) and sends the driving control instructions to the vehicle controller, meanwhile, the main domain controller (310) sends first indication information indicating normal work of the main domain controller (320) according to a certain frequency, after the first indication information sent by the main domain controller (310) cannot be received by the auxiliary domain controller (320) within a first preset time period, it is determined that the main domain controller (310) has a fault, the auxiliary domain controller (320) takes over the automatic driving function of the motor vehicle, and generates driving control instructions including but not limited to acceleration, deceleration, braking, turning and the like according to the automatic driving sensing information sent by each sensor controller (200) and sends the driving control instructions to the vehicle controller. Therefore, the safety of the automatic driving function of the motor vehicle can be ensured, the automatic driving function can still be carried out when the main domain controller (310) fails, the redundant backup of the domain controller is realized, and the robustness of the automatic driving function is ensured.
Thus, the utility model discloses an increase the structure of sensor controller between domain controller and sensor, utilize the sensor controller to increase the sensor quantity that domain controller can connect to extend the IO resource of domain controller, realize the autopilot function better. In addition, the sensor is not directly connected with the domain controller, so that the decoupling of the software architecture of the sensor and the domain controller can be realized, the modularization and the platform development of the control software of the domain controller are facilitated, and the increase and decrease of the sensor at low cost in the design stage are realized.
Further, as shown in fig. 3, at least a part of the sensor controllers (200) are connected to each other.
Any pair of sensor controllers connected with each other is also used for informing the working state of the sensor controller to the other sensor controller connected with the sensor controller.
In a specific implementation process, the interconnected sensor controllers (200) may send second indication information indicating that their operating states are normal to other sensor controllers (200) at a certain frequency, and when the sensor controller (200) (referred to as a first sensor controller for convenience of description herein) fails to receive the second indication information of a certain sensor controller (200) (referred to as a second sensor controller for convenience of description herein) within a second preset time period, it is determined that the sensor controller (200) has a fault. Then, the first sensor controller can send sensing information indicating that the second sensor controller fails to the main domain controller (310) and the standby domain controller (320), so that the main domain controller (310) or the standby domain controller (320) can adjust an automatic driving control strategy in time, and the main domain controller (310) or the standby domain controller (320) can still generate a corresponding automatic driving instruction to the whole vehicle controller under the condition that the automatic driving sensing information sent by the second sensor controller is lacked; and/or, when the sensor controller (200) has a data processing function, the first sensor controller may adjust an operation mode of the data processing function (for example, increase a frequency of transmitting the automatic driving sensing information to the main domain controller (310) and the standby domain controller (320), etc.) to compensate for an adverse effect of the missing automatic driving sensing information of the second sensor controller on the automatic driving control of the main domain controller (310) or the standby domain controller (320).
Optionally, the sensors (100) comprise at least one of the following types, and for any set of sensors (100), each type of sensor (100) comprises at least one of:
positioning sensor, vision sensor, radar, ultrasonic ranging sensor, infrared ranging sensor, speedtransmitter, acceleration sensor, light sensor.
The positioning sensor may specifically include, but is not limited to, the following types of sensors: a Global Positioning System (GPS) Positioning module, a beidou Positioning module, a galileo Positioning module, a Glonass Positioning module, an inertial Navigation module, and the like. The radar may particularly comprise, but is not limited to, a sensor of the laser radar, millimeter wave radar, etc. type. In the implementation process, the sensors of the types can be selected according to the actual needs of the motor vehicles, for example, more types and more numbers of sensors are arranged for the motor vehicles with larger vehicle types (such as heavy trucks and the like), and a relatively smaller number of sensors are arranged for the motor vehicles with smaller vehicle types (such as compact cars) so as to balance the automatic driving performance and the cost of the motor vehicles.
Further, if the sensor (100) comprises at least one sensor (110) of a specified type, and the automatic driving sensing information detection areas corresponding to the installation positions of the plurality of sensors (110) of the same specified type on the motor vehicle have overlapping areas;
wherein the specified type of sensor (110) comprises a vision sensor, a radar.
For example, as shown in fig. 4, in a motor vehicle (1000) equipped with the automatic driving system provided by the present invention, taking the sensor (110) of the specified type as an example of radar, radars are respectively installed on the vehicle body positions shown in the figure, and for any radar, the detection area of the automatic driving sensing information of the radar certainly coincides with the detection area of at least one other radar. Therefore, if one of the radars fails, other radars in the coincident detection area with the failed radar can acquire the automatic driving sensing information corresponding to the failed radars so as to make up for the adverse effect of the automatic driving sensing information loss of the failed radar on the automatic driving function.
Further, the automatic driving sensing information detection area corresponding to the installation position of a plurality of sensors (110) of the same specified type on the motor vehicle covers the entire body Field of view (FOV) of the motor vehicle. Therefore, when one sensor (110) of a specified type fails, other sensors (110) of the specified type with an overlapped area in the detection area can acquire all automatic driving sensing information which should be acquired by the failed sensor (110), and complete replacement redundancy backup of data is realized.
Therefore, the blind zone generated when the motor vehicle is automatically driven in an Operation Design Domain (ODD) can be avoided, and potential safety hazards are caused.
Further, the same specified type of sensors (110) having overlapping areas in the automatic driving sensory information detection areas belong to different groups of sensors.
Therefore, the phenomenon that the automatic driving sensing information of the whole type of sensor is lost due to the fault of one sensor controller (200) can be avoided, and the main domain controller (310) and the standby domain controller (320) cannot realize the automatic driving function.
Optionally, the primary domain controller (310) and the standby domain controller (320) are domain controllers of the same model or different models.
In a specific implementation process, if the main domain controller (310) and the standby domain controller (320) are domain controllers of different models for cost saving, the standby domain controller is only used as a backup structure when the main domain controller fails, and the use frequency is not high, so that the domain controller model with higher performance can be used as the main domain controller (310), and the domain controller model with relatively lower performance can be used as the standby domain controller (320). In addition, the main domain controller (310) and the automatic driving control logic in the standby domain controller (320) may be set to the same automatic driving control logic, or may be set to different automatic driving control logic (for example, the automatic driving control logic in the main domain controller (310) may implement a complete automatic driving function for the vehicle, and the automatic driving control logic in the standby domain controller (320) may implement that the vehicle is automatically parked at a safe position).
Optionally, each of the sensor controllers (200) is a same model of controller, or at least some of the sensor controllers (200) are different models of controllers.
Optionally, the automatic driving system further includes a communication module (not shown in the figure), and the communication module is connected to the main domain controller (310) and the standby domain controller (320) and is configured to receive first communication information sent by the outside, forward the first communication information to the main domain controller and the standby domain controller, and send second communication information sent by the main domain controller or the standby domain controller to the outside. For example, the communication module is used for communicating with the internet, a vehicle management platform, other vehicles, and the like.
In a specific implementation process, the communication module may be a cellular mobile Network module (e.g., a 2G/3G/4G/5G Network module), a Wireless Local Area Network (WLAN) module, a bluetooth module, an NB-IoT module, a Zigbee module, a LoRa module, an EnOcean module, a Z-Wave module, a vehicular Wireless communication technology (V2X) module, a Dedicated Short Range Communications (DSRC) module, a satellite communication module, and the like, which are not limited herein.
Based on the same idea, the utility model also provides a motor vehicle, motor vehicle includes the autopilot control system as described in the foregoing.
In a specific implementation process, the motor vehicle further comprises a power system (for example, for a fuel motor vehicle, hardware structures such as an engine, a fuel tank, a gearbox, a transmission shaft and the like are included, for an electric motor vehicle, hardware structures such as an electric motor, a battery and a transmission shaft are included, for a hybrid motor vehicle, hardware structures such as an engine, an electric motor, a fuel tank, a battery and a transmission shaft are included), the structures of the whole vehicle controller, the air conditioner, the window, the vehicle door and the like are described in the foregoing, and a description is omitted here. Specifically, the Vehicle controller may select an Electronic Control Unit (ECU), a Vehicle Control Unit (VCU), and the like according to actual needs of the Vehicle, which is not limited herein.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. An autopilot control system comprising a plurality of sets of sensors, a plurality of sensor controllers, a primary domain controller and at least one backup domain controller, each set of sensors comprising at least one sensor, wherein:
each group of sensors is respectively connected with one sensor controller, and each sensor in the group of sensors is used for acquiring the automatic driving sensing information and sending the automatic driving sensing information to the corresponding sensor controller;
any sensor controller is also connected with the main domain controller and the standby domain controller respectively and is used for sending the automatic driving sensing information received by the sensors to the main domain controller and the standby domain controller respectively;
the main domain controller is also connected with the standby domain controller and used for generating a driving control instruction by utilizing the received automatic driving sensing information and sending the driving control instruction to the whole vehicle controller and first indication information for indicating the working state of the main domain controller to the standby domain controller;
and the standby domain controller is used for generating a driving control instruction by using the received automatic driving sensing information and sending the driving control instruction to the vehicle control unit when the main domain controller is determined to have a fault according to the first indication information.
2. The dynamic steering control system of claim 1, wherein at least some of the sensor controllers are interconnected;
any pair of sensor controllers connected with each other is also used for informing the working state of the sensor controller to the other sensor controller connected with the sensor controller.
3. The autopilot control system of claim 1 wherein the sensors include at least one of the following types and each type of sensor includes at least one for any set of sensors:
positioning sensor, vision sensor, radar, ultrasonic ranging sensor, infrared ranging sensor, speed sensor, acceleration sensor, light sensor.
4. The automatic driving control system according to claim 3, wherein if the sensor includes at least one sensor of a specified type, there is an overlapping area in the automatic driving sensory information detection areas corresponding to the mounting positions of a plurality of sensors of the same specified type on the vehicle;
wherein the specified type of sensor comprises a vision sensor and a radar.
5. The automatic driving control system according to claim 4, wherein the sensors of the same specified type having overlapping areas of the automatic driving sensory information detection areas belong to different groups of sensors.
6. The automatic driving control system according to claim 4, wherein the automatic driving sensory information detection area corresponding to the mounting position of the plurality of sensors of the same specified type on the motor vehicle covers an entire body field angle of the motor vehicle.
7. The autopilot control system of claim 1 wherein the primary domain controller and the backup domain controller are different models of domain controllers.
8. The autopilot control system of claim 1 wherein each of the sensor controllers are the same type of controller or at least some of the sensor controllers are different types of controllers.
9. The automatic driving control system according to claim 1, further comprising a communication module, connected to the main domain controller and the standby domain controller, for receiving first communication information sent from the outside, forwarding the first communication information to the main domain controller and the standby domain controller, and sending second communication information sent from the main domain controller or the standby domain controller to the outside.
10. A motor vehicle, characterized in that it comprises an autopilot control system according to any one of claims 1-9.
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| CN202223036722.1U CN218594282U (en) | 2022-11-14 | 2022-11-14 | Automatic driving control system and motor vehicle |
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| CN202223036722.1U CN218594282U (en) | 2022-11-14 | 2022-11-14 | Automatic driving control system and motor vehicle |
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