WO2022134659A1 - 嵌入式自动驾驶车辆智慧顶盖系统和具有其的车辆 - Google Patents
嵌入式自动驾驶车辆智慧顶盖系统和具有其的车辆 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- the present application relates to the technical field of vehicle manufacturing, and in particular, to an embedded autonomous vehicle intelligent roof system and a vehicle having the same.
- driverless technology will provide a good solution for people's future travel.
- the driverless system perceives the surrounding traffic information through sensors, so as to accurately calculate through the driverless car following model, lane changing model, etc.
- Sensitive vehicle control system and high-precision mechanical operation to form a smooth, efficient and safe mixed traffic flow.
- the high-level driverless system can complete the driving operation by itself without human intervention, which solves the travel problems of the elderly and those who cannot drive, making people travel more freely and comfortably.
- the present application aims to solve one of the technical problems in the related art at least to a certain extent.
- one purpose of the present application is to propose an embedded intelligent roof system for autonomous driving vehicles, so as to solve the problems of difficult development and long time span of existing autonomous driving vehicles.
- Another object of the present application is to propose a vehicle.
- an embodiment of the present application proposes a smart roof system for an embedded autonomous vehicle, including:
- Roof frame and control interface that can be adapted and spliced with the body of a variety of traditional vehicles
- a data acquisition module embedded in the top cover is used to support data acquisition of automatic driving functions
- control platform embedded in the top cover, wherein the control platform includes an automatic driving decision and a vehicle feature model, the control platform is used to fuse the data collected by the data acquisition module, and combine the environmental judgment and the described
- the automatic driving decision and the vehicle feature model generate a corresponding action decision, and the corresponding action decision is sent to the control module of the conventional vehicle, so that the control module executes the action based on the action decision.
- the roof cover is adapted to the shape and size of the frame according to the model of the conventional vehicle.
- the interface of the embedded autonomous vehicle smart roof system is adapted to various traditional vehicle control systems according to vehicle characteristics, so that the embedded autonomous vehicle smart roof system can realize acceleration and deceleration of the vehicle and Lane change control.
- the roof cover further includes an embedded multimedia terminal and an interactive interface module, wherein the embedded multimedia terminal and the interactive interface module provide interaction with passengers in the form of voice and/or buttons.
- the automatic driving decision and vehicle feature models include a lane changing model and a vehicle following model; wherein the automatic driving decision and vehicle feature models have been verified by a traffic simulation platform.
- control platform collects the data collected by the data collection module, fuses different data types, judges the surrounding traffic state, and makes acceleration and deceleration decisions, or lane change decisions, or route changes according to passenger needs Decisions are made, and the decision-making instructions are transmitted to the control module of the traditional vehicle through the interface to perform corresponding actions.
- control platform is further configured to receive a feedback signal sent by a control module of the traditional vehicle, determine an error in the execution of the action according to the feedback signal, and perform a next decision-making instruction according to the error. Corrections and adjustments.
- control platform communicates with a control module of the conventional vehicle through the control interface.
- the embedded autonomous vehicle smart roof system further includes:
- a standard interface for receiving networking information to support networking functions A standard interface for receiving networking information to support networking functions.
- another embodiment of the present application provides a vehicle, which includes: the smart roof system for an embedded autonomous vehicle described in any of the foregoing embodiments.
- a unified interface for transforming traditional vehicles into automatic driving vehicles is provided, and the design and production of automatic driving vehicles are provided.
- the unified standard makes up for the shortcomings of the existing self-driving vehicles that are difficult to develop and have a long time span, accelerates the mass production of self-driving vehicles and reduces costs.
- FIG. 1 is a structural block diagram of a smart roof system for an embedded autonomous vehicle provided by an embodiment of the present application.
- FIG. 2 is a schematic flowchart of a control platform in an embedded autonomous vehicle smart roof system according to an embodiment of the present application.
- FIG. 3 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
- FIG. 1 is a structural block diagram of a smart roof system for an embedded autonomous vehicle provided by an embodiment of the present application.
- the smart roof system 100 of the embedded autonomous vehicle may include: a roof frame 110 and a control interface 120 , a data acquisition module 130 and a control platform 140 .
- the roof cover frame 110 and the control interface 120 can be adapted and spliced with the bodies of various conventional vehicles.
- the data collection module 130 may include various types of sensors.
- the data collection module 130 may include but not limited to radar sensors, vehicle cameras, etc.
- the data collection module 130 may also include infrared sensors; wherein, the radar sensors may include millimeters Wave radar sensor, and/or, ultrasonic radar sensor, and/or lidar sensor, etc.
- control platform 140 may be connected in communication with the control module 10 of the conventional vehicle through the control interface 120 .
- control platform 140 may be embedded in the roof frame 110 .
- the control platform 140 includes an automatic driving decision and a vehicle feature model, and the control platform 140 is used to fuse the data collected by the data collection module 130, and combine the environmental judgment, the automatic driving decision and the vehicle feature model to generate corresponding action decisions, and the corresponding action decisions are generated.
- the action decision is sent to the control module 10 of the conventional vehicle, so that the control module 10 executes the action based on the action decision.
- the smart roof system 100 of the embedded autonomous vehicle in the embodiment of the present application integrates functions such as data collection, data fusion, and decision-making required for unmanned driving into the vehicle roof. It includes the roof frame and control interface spliced with various traditional vehicles; various embedded sensors that support data collection of automatic driving functions; a control platform integrating data transmission, fusion, processing, and decision-making functions; Autonomous Driving Decision and Behavior Models.
- the shape and size of the frame are modified according to the type of the vehicle roof that is adapted to the conventional vehicle. Therefore, by integrating the hardware and software required for the autonomous driving function into the roof cover, it provides a unified interface for the transformation of various traditional vehicles to autonomous driving vehicles, making up for the difficulty and long time span of existing autonomous driving vehicle development. Defects.
- the interface of the embedded autonomous vehicle smart roof system 100 is adapted to various traditional vehicle control systems according to the characteristics of the vehicle, so that the embedded autonomous vehicle smart roof system 100 can realize functions such as acceleration, deceleration and lane change of the vehicle. control.
- the roof cover further includes an embedded multimedia terminal and an interactive interface module, wherein the embedded multimedia terminal and the interactive interface module provide interaction with passengers in the form of voice and/or buttons. That is to say, the roof cover can be embedded with various sensors and chips in addition to traditional support, providing external vision and other functions, and providing passengers with the function of interacting with the vehicle.
- the automatic driving decision and vehicle feature models may include, but are not limited to, a lane-changing model, a car-following model, and the like.
- the automatic driving decision and vehicle feature model have been verified by the traffic simulation platform. That is to say, all kinds of vehicle behavior models used by the control platform, such as lane-changing model, car-following model, etc., have been verified by the traffic simulation platform in advance to confirm the safety and efficiency.
- the control platform 140 may collect the data collected by the data collection module 130, fuse different data types, judge the surrounding traffic status, and add the data according to the needs of passengers. Deceleration decision, lane change decision, or route change decision, etc., and the decision instruction is transmitted to the control module 10 of the traditional vehicle through the interface to execute the corresponding action.
- control platform 140 is further configured to receive a feedback signal sent by the control module 10 of the conventional vehicle, and determine the error of the action execution according to the feedback signal, and revise the next decision-making instruction according to the error. Adjustment. That is to say, the control platform can be a closed-loop control system, which can receive the feedback signal sent by the control module 10 of the traditional vehicle, and determine the error of the action execution according to the feedback signal, and make corrections and adjustments based on the error in the next decision-making instruction.
- the embedded autonomous vehicle smart roof system may further include: a standard interface for receiving networking information to support networking functions, so that the embedded autonomous vehicle smart roof system supports networking Function.
- the present application also proposes a vehicle.
- FIG. 3 is a structural block diagram of a vehicle according to an embodiment of the present application.
- the vehicle 30 may include an embedded autonomous vehicle smart roof system 100 .
- the structure and function description of the embedded autonomous vehicle smart roof system 100 may refer to the structure and function description of the embedded autonomous vehicle smart roof system shown in FIG. 1 and FIG. 2 , which will not be repeated here.
- the embedded self-driving car smart roof system adopted in the embodiment of the present application has significant advantages: first, the embedded self-driving car smart roof system can completely change the design and production method of the self-driving car, and The top cover is attached to the existing body and can directly complete the transformation of traditional vehicles to self-driving vehicles. Second, the autonomous driving decision-making and vehicle feature models adopted by the system are in line with professional traffic theory, and have been verified by simulation to ensure efficiency while ensuring safety. Third, embedded autonomous vehicle smart roof systems help save time and economic costs.
- the embedded self-driving car smart roof system provides a unified interface and standard, which saves time compared to the separate research and development for each type of vehicle; on the other hand, the embedded self-driving car smart roof system can be directly connected to the traditional body to make it With self-driving capabilities, it accelerates mass production and saves costs.
Abstract
一种嵌入式自动驾驶车辆智慧顶盖系统（100）和具有其的车辆。其中，该系统（100）包括：可与多种传统车辆的车身适配拼接的车顶盖框架（110）与控制接口（120）；嵌入顶盖中的数据采集模块（130），用以支持自动驾驶功能数据采集；嵌入顶盖中的控制平台（140），其中，控制平台（140）包括自动驾驶决策与车辆特征模型，控制平台（140）用于对数据采集模块（130）采集的数据进行融合，并结合环境判断和自动驾驶决策与车辆特征模型生成对应的动作决策，将对应的动作决策发送给传统车辆的控制模块（10），以使控制模块（10）基于动作决策进行动作执行。该系统（100）将自动驾驶功能所需硬件和软件集成在车顶盖中，为传统车辆提供了向自动驾驶车辆改造的统一接口，弥补了现有自动驾驶车辆开发难度大、时间跨度长的缺陷。
Description
相关申请的交叉引用
本申请要求清华大学于2020年12月22日提交的、发明名称为“嵌入式自动驾驶车辆智慧顶盖系统和具有其的车辆”的、中国专利申请号“202011528033.5”的优先权。
本申请涉及车辆制造技术领域，尤其涉及一种嵌入式自动驾驶车辆智慧顶盖系统和具有其的车辆。
无人驾驶技术的出现将为人们未来的出行提供良好的解决方案，一方面，无人驾驶系统通过传感器感知周边交通信息，从而通过无人驾驶汽车跟车模型、换道模型等精确计算，通过灵敏的车辆控制系统和高精度的机械操作以形成平稳、高效、安全的混行交通流。同时，高水平的无人驾驶系统可自行完成驾驶操作，无需人为干预，这解决了老年人和不会开车群体的出行难题，使得人们的出行更自由舒适。尽管无人驾驶技术具有诸多优点，且国内外各大科技公司及车厂已开始对无人驾驶车辆的设计和制造，但由于技术背景参差不齐，存在开发难度大、耗时长的问题。
发明内容
本申请旨在至少在一定程度上解决相关技术中的技术问题之一。
为此，本申请的一个目的在于提出一种嵌入式自动驾驶车辆智慧顶盖系统，以解决现有自动驾驶车辆开发难度大、时间跨度长的问题。
本申请的另一个目的在于提出一种车辆。
为达上述目的，本申请一方面实施例提出了一种嵌入式自动驾驶车辆智慧顶盖系统，包括：
可与多种传统车辆的车身适配拼接的车顶盖框架与控制接口；
嵌入所述顶盖中的数据采集模块，用以支持自动驾驶功能数据采集；
嵌入所述顶盖中的控制平台，其中，所述控制平台包括自动驾驶决策与车辆特征模型，所述控制平台用于对所述数据采集模块采集的数据进行融合，并结合环境判断和所述自动 驾驶决策与车辆特征模型生成对应的动作决策，将所述对应的动作决策发送给所述传统车辆的控制模块，以使所述控制模块基于所述动作决策进行动作执行。
在一些实施例中，所述车顶盖根据适配传统车辆的车型，更改所述框架形状与尺寸。
在一些实施例中，所述嵌入式自动驾驶车辆智慧顶盖系统的接口针对车辆特性适配各类传统车辆控制系统，以使所述嵌入式自动驾驶车辆智慧顶盖系统实现对车辆加减速和变道的控制。
在一些实施例中，所述车顶盖还包括嵌入式多媒体终端以及互动界面模块，其中，所述嵌入式多媒体终端以及互动界面模块提供以语音和/或按钮的方式与乘客互动。
在一些实施例中，所述自动驾驶决策与车辆特征模型包括换道模型和跟车模型；其中，所述自动驾驶决策与车辆特征模型已经过交通仿真平台验证。
在一些实施例中，所述控制平台收集所述数据采集模块采集的数据，并对不同数据类型进行融合，判断周围交通状态，根据乘客需求，进行加减速决策、或换道决策、或更换路线决策，并将决策指令通过接口传输给所述传统车辆的控制模块执行相应动作。
在一些实施例中，所述控制平台还用于接收所述传统车辆的控制模块发送的反馈信号，并根据所述反馈信号确定所述动作执行的误差，根据所述误差对下一步决策指令进行修正与调整。
在一些实施例中，所述控制平台通过所述控制接口与所述传统车辆的控制模块进行通信连接。
在一些实施例中，所述嵌入式自动驾驶车辆智慧顶盖系统还包括：
用以支持联网功能的联网信息接收标准接口。
为达上述目的，本申请另一方面实施例提出了一种车辆，该车辆包括：前述任一实施例所述的嵌入式自动驾驶车辆智慧顶盖系统。
根据本申请实施例的技术方案，通过将自动驾驶功能所需硬件和软件集成在车顶盖中，为传统车辆提供了向自动驾驶车辆改造的统一接口，为自动驾驶车辆的设计和生产提供了统一标准，弥补了现有自动驾驶车辆开发难度大、时间跨度长的缺陷，加速自动驾驶批量生产并降低成本。
本申请附加的方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
本申请上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显 和容易理解，其中：
图1为本申请实施例所提供的一种嵌入式自动驾驶车辆智慧顶盖系统的结构框图。
图2为根据本申请实施例的嵌入式自动驾驶车辆智慧顶盖系统中控制平台的流程示意图。
图3是根据本申请实施例的车辆的结构示意图。
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。
下面参考附图描述本申请实施例的嵌入式自动驾驶车辆智慧顶盖系统。
图1为本申请实施例所提供的一种嵌入式自动驾驶车辆智慧顶盖系统的结构框图。如图1所示，该嵌入式自动驾驶车辆智慧顶盖系统100可以包括：车顶盖框架110与控制接口120、数据采集模块130和控制平台140。其中，车顶盖框架110与控制接口120可与多种传统车辆的车身适配拼接。数据采集模块130可包括各类传感器，作为一种示例，该数据采集模块130可包括但不限于雷达传感器、车载摄像头等，该数据采集模块130还可包括红外传感器；其中，雷达传感器可包括毫米波雷达传感器，和/或，超声波雷达传感器，和/或激光雷达传感器等。
在本申请实施例中，控制平台140可通过控制接口120与传统车辆的控制模块10进行通信连接。在本实施例中，控制平台140可嵌入车顶盖框架110中。其中，控制平台140包括自动驾驶决策与车辆特征模型，控制平台140用于对数据采集模块130采集的数据进行融合，并结合环境判断和自动驾驶决策与车辆特征模型生成对应的动作决策，将对应的动作决策发送给传统车辆的控制模块10，以使控制模块10基于动作决策进行动作执行。
也就是说，本申请实施例的嵌入式自动驾驶车辆智慧顶盖系统100将无人驾驶所需的数据采集、数据融合、决策等功能集成在车辆顶盖中。包含与各类传统车辆拼接的车顶盖框架与控制接口；支持自动驾驶功能数据采集的各类嵌入式传感器；集数据传输、融合、处理、决策功能为一体的控制平台；经过仿真平台验证的自动驾驶决策与行为模型。
在本申请一些实施例中，所述车顶盖根据适配传统车辆的车型，更改所述框架形状与尺寸。由此，通过将自动驾驶功能所需硬件和软件集成在车顶盖中，为各种传统车辆提供了向自动驾驶车辆改造的统一接口，弥补了现有自动驾驶车辆开发难度大、时间跨度长的缺陷。
可选地，嵌入式自动驾驶车辆智慧顶盖系统100的接口针对车辆特性适配各类传统车 辆控制系统，以使嵌入式自动驾驶车辆智慧顶盖系统100实现对车辆加减速和变道等功能的控制。
可选地，车顶盖还包括嵌入式多媒体终端以及互动界面模块，其中，嵌入式多媒体终端以及互动界面模块提供以语音和/或按钮的方式与乘客互动。也就是说，车顶盖在承担传统支撑、提供外界视野等功能外，还能嵌入各类传感器及芯片，并提供乘客与车辆互动功能。
在一些实施例中，自动驾驶决策与车辆特征模型可包括但不限于换道模型和跟车模型等。其中，自动驾驶决策与车辆特征模型已经过交通仿真平台验证。也就是说，控制平台所使用的各类车辆行为模型，如换道模型、跟车模型等，已预先经过交通仿真平台的验证，确认安全性和效率。
可选地，在本申请一个实施例中，如图2所示，控制平台140可收集数据采集模块130采集的数据，并对不同数据类型进行融合，判断周围交通状态，根据乘客需求，进行加减速决策、或换道决策、或更换路线决策等，并将决策指令通过接口传输给传统车辆的控制模块10执行相应动作。
可选地，在本申请一个实施例中，控制平台140还用于接收传统车辆的控制模块10发送的反馈信号，并根据反馈信号确定动作执行的误差，根据误差对下一步决策指令进行修正与调整。也就是说，控制平台可以是一个闭环控制系统，可接收传统车辆的控制模块10发送的反馈信号，并根据反馈信号确定动作执行的误差，在下一步决策指令中基于该误差进行修正与调整。
可选地，在本申请一个实施例中，嵌入式自动驾驶车辆智慧顶盖系统还可包括：用以支持联网功能的联网信息接收标准接口，以使嵌入式自动驾驶车辆智慧顶盖系统支持联网功能。
为了实现上述实施例，本申请还提出了一种车辆。
图3是根据本申请实施例的车辆的结构框图。如图3所示，该车辆30可包括嵌入式自动驾驶车辆智慧顶盖系统100。其中，嵌入式自动驾驶车辆智慧顶盖系统100的结构以及功能描述可参见上述图1和图2所示的嵌入式自动驾驶车辆智慧顶盖系统的结构以及功能描述，在此不再赘述。
综上所述，本申请实施例采用的嵌入式自动驾驶汽车智慧顶盖系统具有显著的优势：第一，嵌入式自动驾驶汽车智慧顶盖系统可以彻底改变自动驾驶汽车的设计与生产方式，将顶盖与现有车身相连，可直接完成传统车辆到自动驾驶车辆的改造。第二，系统所采用的自动驾驶决策和车辆特征模型，均符合专业交通理论，且经过仿真验证，在确保效率性的同时保障安全性。第三，嵌入式自动驾驶汽车智慧顶盖系统有助于节省时间和经济成本。 一方面，嵌入式自动驾驶汽车智慧顶盖系统提供统一的接口和标准，比针对每类车型单独研发节省时间；另一方面，嵌入式自动驾驶汽车智慧顶盖系统可直接与传统车身相连使其具有自动驾驶功能，加速大规模生产并节约成本。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。
Claims (10)
- 一种嵌入式自动驾驶车辆智慧顶盖系统，其特征在于，包括：可与多种传统车辆的车身适配拼接的车顶盖框架与控制接口；嵌入所述顶盖中的数据采集模块，用以支持自动驾驶功能数据采集；嵌入所述车顶盖中的控制平台，其中，所述控制平台包括自动驾驶决策与车辆特征模型，所述控制平台用于对所述数据采集模块采集的数据进行融合，并结合环境判断和所述自动驾驶决策与车辆特征模型生成对应的动作决策，将所述对应的动作决策发送给所述传统车辆的控制模块，以使所述控制模块基于所述动作决策进行动作执行。
- 根据权利要求1所述的嵌入式自动驾驶车辆智慧顶盖系统，其特征在于，所述车顶盖根据适配传统车辆的车型，更改所述框架形状与尺寸。
- 根据权利要求1所述的嵌入式自动驾驶车辆智慧顶盖系统，其特征在于，所述嵌入式自动驾驶车辆智慧顶盖系统的接口针对车辆特性适配各类传统车辆控制系统，以使所述嵌入式自动驾驶车辆智慧顶盖系统实现对车辆加减速和变道的控制。
- 根据权利要求1所述的嵌入式自动驾驶车辆智慧顶盖系统，其特征在于，所述车顶盖还包括嵌入式多媒体终端以及互动界面模块，其中，所述嵌入式多媒体终端以及互动界面模块提供以语音和/或按钮的方式与乘客互动。
- 根据权利要求1所述的嵌入式自动驾驶车辆智慧顶盖系统，其特征在于，所述自动驾驶决策与车辆特征模型包括换道模型和跟车模型；其中，所述自动驾驶决策与车辆特征模型已经过交通仿真平台验证。
- 根据权利要求1所述的嵌入式自动驾驶车辆智慧顶盖系统，其特征在于，所述控制平台收集所述数据采集模块采集的数据，并对不同数据类型进行融合，判断周围交通状态，根据乘客需求，进行加减速决策、或换道决策、或更换路线决策，并将决策指令通过接口传输给所述传统车辆的控制模块执行相应动作。
- 根据权利要求1所述的嵌入式自动驾驶车辆智慧顶盖系统，其特征在于，所述控制平台还用于接收所述传统车辆的控制模块发送的反馈信号，并根据所述反馈信号确定所述动作执行的误差，根据所述误差对下一步决策指令进行修正与调整。
- 根据权利要求1所述的嵌入式自动驾驶车辆智慧顶盖系统，其特征在于，所述控制平台通过所述控制接口与所述传统车辆的控制模块进行通信连接。
- 根据权利要求1至8中任一项所述的嵌入式自动驾驶车辆智慧顶盖系统，其特征在于，还包括：用以支持联网功能的联网信息接收标准接口。
- 一种车辆，其特征在于，包括如权利要求1至9中任一项所述的嵌入式自动驾驶车辆智慧顶盖系统。
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