Driving assistance system based on domain controller

Abstract

The invention discloses a driving assistance system based on a domain controller, which comprises a domain controller main body integrated with a system-on-chip (SoC) and a micro control unit (MCU), and the SoC is connected with the MCU through a hardware enable signal line; the power supply management module supports a dual-mode wake-up mechanism of KL15 hard wire wake-up and CAN FD network wake-up; the multi-sensor fusion module comprises at least 12 paths of GMSL camera interfaces, 12 paths of ultrasonic radar interfaces and 6 paths of millimeter wave radar interfaces; the time synchronization module is integrated with a GNSS / IMU (Global Navigation Satellite System / Inertial Measurement Unit) integrated navigation unit and supports a GPTP / PTP / Chrony multi-mode time service protocol; the dynamic power supply management system is used for realizing hierarchical power-on control of the SoC and the MCU and time sequence management of a peripheral power supply; wherein the SoC adopts a horizon line investigation 6-series chip, an A78AE processor core and an R52 + security core are integrated, and the AI computing power reaches 80-560 TOPS. GNSS / IMU time service and GPTP / PTP / Chrony multi-protocol synchronization are integrated in the domain controller, and the problem of clock skew of multiple sensors is solved.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent driving technology and relates to a driving assistance system based on a domain controller, which realizes vehicle environment perception, decision-making and control functions through multi-sensor fusion, dynamic power management and high-precision time synchronization technology. Background Art

[0002] Existing driver assistance systems mostly use a distributed architecture, and their technical limitations significantly restrict performance improvements. Data from multimodal sensors (such as cameras, ultrasonic radars, and millimeter-wave radars) are difficult to efficiently fuse due to differences in temporal and spatial references, resulting in insufficient accuracy in environmental perception, especially in complex scenarios where target recognition and tracking errors are high. In terms of power management, the timing control of peripheral power supply is rough, and surge currents are prone to impact circuits during the startup phase. Residual power consumption after power-off accelerates device aging and reduces system reliability. The lack of a time synchronization mechanism leads to millisecond-level clock deviations between sensors and controllers, and data fusion delays directly affect real-time decision-making efficiency, such as delayed braking response under emergency conditions. In terms of functional safety, the traditional single-chip architecture lacks redundant monitoring of independent safety cores and main control cores, and cannot build a dual-core collaborative fault-tolerant mechanism that meets ASIL-D levels, making it difficult to meet the high safety requirements of autonomous driving. Summary of the invention

[0003] The purpose of the present invention is to provide a highly integrated and highly reliable driver assistance system, which optimizes sensor fusion, power management, time synchronization and functional safety monitoring through a domain controller architecture to solve the defects of the prior art.

[0004] The objective of the present invention is achieved through the following technical solutions: A driver assistance system based on a domain controller, comprising: A domain controller body integrated with a system-on-chip (SoC) and a microcontroller unit (MCU), wherein the SoC and the MCU are connected via a hardware enable signal line; Power management module, supports KL15 hard line wake-up and CAN FD network wake-up dual-mode wake-up mechanism; Multi-sensor fusion module, including at least 12 GMSL camera interfaces, 12 ultrasonic radar interfaces and 6 millimeter wave radar interfaces; Time synchronization module, integrating GNSS / IMU combined navigation unit and supporting GPTP / PTP / Chrony multi-mode timing protocols; Dynamic power management system to achieve hierarchical power-on control of SoC and MCU and peripheral power timing management; The SoC uses the Horizon Journey 6 series chips, integrating the A78AE processor core and R52+ security core, with an AI computing power of 80-560TOPS.

[0005] As a further improvement of an embodiment of the present invention, the multi-sensor fusion module specifically includes: 1 front-view narrow-angle 30° 8M pixel camera, 1 front-view wide-angle 120° 8M pixel camera; 4-way panoramic 2.5M pixel cameras and 4-way surround 3M pixel cameras; Ultrasonic radar interface module that supports DSI3 protocol conversion, including the first 6 channels and the last 6 channels independent SPI conversion circuits.

[0006] As a further improvement of an embodiment of the present invention, the time synchronization module implements: Establish a master clock node in the domain through an Ethernet switch; Use GNSS second pulse to trigger MCU hardware clock reference; Establish NTP / PPS dual redundant time synchronization channel between SOC and MCU; The overall time synchronization error of the system is less than 150μs.

[0007] As a further improvement of an embodiment of the present invention, the power management module includes: Overvoltage / undervoltage protection circuit at the KL30 constant voltage input (operating voltage range 9-16VDC); MCU domain independent power supply circuit and SoC domain programmable enable power supply circuit; The camera module power supply time-sharing control module supports rapid power cut-off in hot-swap state.

[0008] As a further improvement of an embodiment of the present invention, the dynamic power management system implements: After the MCU completes the self-test, it enables the SoC power supply through the MAIN_PWR_EN signal line; After the SoC is initialized, turn on the power of the front view, perimeter view, and surround view cameras in sequence; During the power-off process, the SoC prioritizes turning off the power of peripherals, and the MCU delays 300ms before cutting off the main power.

[0009] As a further improvement of an embodiment of the present invention, it further includes: Video processing module, supporting 4-channel DSI video output interface; Support H.264 / H.265 4K@90fps real-time encoding and decoding; Integrated GMSL deserializer to achieve bypass output of raw image data.

[0010] As a further improvement of an embodiment of the present invention, it further includes a communication interface module, and the communication interface module includes: 3 Gigabit Ethernet interfaces, supporting VLAN virtual local area network networking; 6 CAN FD bus interfaces, including independent safety bus channels; LIN bus interface and 2 high-side drive output interfaces.

[0011] As a further improvement of an embodiment of the present invention, it further includes a safety monitoring module, which includes: MCU integrated with ASIL-D functional safety monitoring unit; Real-time detection of abnormal states of SoC temperature, voltage, and clock; Supports dual-channel redundant watchdog circuit design, with a fault recovery time of less than 500 ms.

[0012] As a further improvement of an embodiment of the present invention, it further includes an OTA upgrade module, which includes: Differential upgrade package verification module, supporting RSA-2048 encryption verification; Dual-Bank flash partition design, supporting rollback mechanism; Maintain uninterrupted acquisition of key sensor data during the upgrade process.

[0013] As a further improvement of an embodiment of the present invention, it further includes a thermal management module, and the thermal management module includes: Integrated PCB temperature sensor and chip junction temperature detection unit; Supports dynamic adjustment of the PWM duty cycle of the cooling fan; The thermal failure protection threshold is set at 105°C ± 2°C.

[0014] Adopting the above technical solutions, the following beneficial effects are achieved: 1. Enhanced perception ability: The spatio-temporal alignment accuracy of multi-modal sensor data is improved by 30%, supporting real-time environmental modeling in complex scenarios.

[0015] 2. Optimized reliability: Hierarchical power management reduces the peak startup current by 40% and the residual power consumption during shutdown by 60%.

[0016] 3. Meeting functional safety standards: Dual-core monitoring and redundant design meet the requirements of ISO 26262 ASIL-D level.

[0017] 4. Convenient maintenance: The OTA upgrade module supports remote firmware update, reducing the system downtime by 90%. Description of the Drawings

[0018] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are merely exemplary, and for those of ordinary skill in the art, without creative efforts, other implementation drawings can be obtained by extending the provided drawings.

[0019] The structures, ratios, sizes, etc. shown in this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they do not have substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the efficacy that the present invention can produce and the purpose that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention.

[0020] Figure 1 It is the system architecture diagram provided by the present invention.

[0021] Figure 2 It is the schematic diagram of the power management timing process provided by the present invention.

[0022] Figure 3 It is the schematic diagram of the fault recovery process provided by the present invention. Specific Embodiments

[0023] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The following will refer to the drawings and combine with the embodiments to detail the present invention.

[0024] It should be pointed out that unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs.

[0025] In the present invention, unless otherwise stated, the orientation terms such as "upper, lower, top, bottom" are usually in the direction shown in the drawings, or in the vertical, perpendicular or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner, outer" refer to the inner and outer relative to the contour of each component itself, but the above orientation terms do not limit the present invention. Embodiment

[0026] See Figure 1 As shown, a driving assistance system based on a domain controller, aiming to improve the safety and intelligence level of driving, includes: The domain controller main body, as the core of the system, integrates a high-performance system-on-chip (SoC) and a microcontroller unit (MCU). Among them, the SoC selects Horizon Journey 6 series chips, which not only integrate A78AE processor cores and R52+ security cores, but also have an AI computing power of 80-560 TOPS, capable of efficiently processing complex driving scenario data. The SoC and the MCU are closely connected through hardware enabling signal lines to ensure stable and efficient communication between the two.

[0027] The power management module adopts a dual-mode wake-up mechanism of KL15 hard-wire wake-up and CAN FD network wake-up. This design enables the system to respond quickly under different working conditions, ensuring the real-time performance of the driving assistance system.

[0028] The multi-sensor fusion module is an important window for the system to perceive the external environment. It is equipped with at least 12 GMSL camera interfaces, 12 ultrasonic radar interfaces, and 6 millimeter-wave radar interfaces, capable of capturing the environmental information around the vehicle in all directions and from multiple angles, providing rich data support for driving decisions.

[0029] The time synchronization module integrates a GNSS / IMU combined navigation unit and supports multi-mode time synchronization protocols such as GPTP / PTP / Chrony to ensure time synchronization between various modules inside the system and improve the accuracy of data processing.

[0030] The dynamic power management system is responsible for implementing hierarchical power-on control of the SoC and the MCU and peripheral power supply timing management, optimizing the energy consumption of the system, and extending the service life of the vehicle battery.

[0031] Through the collaborative work of the above-mentioned various modules, this driving assistance system provides a safer and more intelligent driving experience for drivers.

[0032] Specifically, the multi-sensor fusion module is specifically composed of the following: The module includes 1 front narrow-angle 30° 8M-pixel camera, which can accurately capture the details of objects at a relatively long distance directly in front of the vehicle; 1 front wide-angle 120° 8M-pixel camera, which can widely monitor a large area in front of the vehicle, expanding the field of view. There are also 4 surround-view 2.5M-pixel cameras distributed around the vehicle, capable of perceiving the surrounding environment of the vehicle in all directions; 4 surround-view 3M-pixel cameras, mainly used to provide panoramic images around the vehicle to assist the driver in understanding the surrounding conditions of the vehicle.

[0033] The multi-sensor fusion module is equipped with an ultrasonic radar interface module that supports DSI3 protocol conversion. This module includes 6 independent SPI conversion circuits in the front and 6 in the rear, which can efficiently process the signals transmitted by the ultrasonic radar.

[0034] The types of sensors are rich, covering environmental perception sensors and vehicle status sensors. Among them, environmental perception sensors mainly include cameras and radars. Cameras are used to obtain visual image information, and radars are used to detect the distance, speed, etc. of objects. Vehicle status sensors can measure the driving speed and direction of the vehicle, providing key operating parameters of the vehicle itself for the driving assistance system so that the system can make more accurate decisions.

[0035] The sensor data fusion method is as follows: The forward-looking narrow-angle camera is responsible for collecting distant targets (greater than 150m). It has high resolution and a long detection distance, and can clearly capture the detailed information of objects in the distance ahead, providing data support for the vehicle to plan the driving route in advance. The wide-angle camera is mainly used to cover the near-field blind area. It can broaden the field of view and make up for the lack of the forward-looking narrow-angle camera in the near-field area, ensuring that there is no perception dead angle in the close-range area around the vehicle.

[0036] The panoramic and surround-view cameras transmit the collected data to the SoC (system-on-chip) through the GMSL (Gigabit Multimedia Serial Link) interface. The GMSL interface has high-speed and stable data transmission capabilities, which can ensure that the camera data is delivered to the SoC for processing in a timely and accurate manner. The data of the millimeter-wave radar and the ultrasonic radar are input through the CAN FD (Controller Area Network Flexible Data Rate) bus. The CAN FD bus has the characteristics of high bandwidth and high reliability, which can meet the high-efficiency transmission requirements of radar data.

[0037] Finally, the SoC completes the spatio-temporal alignment and fusion of multi-source data. With its powerful computing ability, the SoC synchronizes the data from different sensors in time and matches them in space, eliminates the differences and errors between the data, and realizes the organic fusion of various sensor data, thereby providing comprehensive and accurate environmental information for the driving assistance system and improving the decision-making accuracy and reliability of the system.

[0038] In this embodiment, the time synchronization module plays an important role in the driving assistance system. In terms of the timing protocol, this module integrates a GNSS / IMU combined navigation unit, which can accurately obtain time and position information. It supports multi-mode timing of GPTP / PTP / Chrony and can flexibly select the appropriate timing method according to different application scenarios and requirements. At the same time, a master clock node is established through an Ethernet switch to ensure that the time reference of the entire system is unified and stable.

[0039] In the synchronization mechanism, the time synchronization module triggers the MCU hardware clock reference through the GNSS second pulse to provide an accurate time starting point for the system. The NTP / PPS dual-redundant synchronization channels are adopted between the SoC and the MCU. When one channel fails, the other channel can immediately take over to ensure the reliability of time synchronization. After careful design and optimization, the overall synchronization error of the system is less than 150 μs, which can meet the requirements of the driving assistance system for high-precision time synchronization and ensure the efficiency and accuracy of the collaborative work of each module.

[0040] In this embodiment, the power management module includes multiple key parts to ensure stable and reliable power supply for the system. Among them, an overvoltage / undervoltage protection circuit is provided at the KL30 constant power input terminal, and its operating voltage range is 9 - 16 VDC. This circuit can monitor the input voltage in real time. When the voltage exceeds the normal range, it will take timely measures to prevent the system from being damaged by too high or too low voltage, ensuring the safe operation of the system in various complex power environments.

[0041] An independent power supply circuit for the MCU domain and a programmable enabling power supply circuit for the SoC domain are also provided in the power management module. The independent power supply circuit for the MCU domain provides stable power support for the MCU to ensure its normal operation; the programmable enabling power supply circuit for the SoC domain can flexibly control the power supply of the SoC according to the system requirements, improving the energy utilization efficiency.

[0042] In addition, the power management module also has a time-sharing control module for power supply to the camera module, which supports quick power cut-off in the hot-plug state. When the camera module undergoes hot-plugging, it can quickly cut off the power supply to avoid safety hazards such as electric sparks, protecting the safety of the camera module and the entire system.

[0043] In this embodiment, the dynamic power management system has perfect functions to achieve efficient and safe power management.

[0044] In terms of the wake-up mechanism, the system supports dual modes of KL15 hard-wired wake-up and CAN FD network wake-up. At the same time, overvoltage / undervoltage protection is set at the KL30 constant power input terminal, and its operating voltage range is 9 - 16 VDC, which can effectively avoid damage to the system caused by abnormal voltage and ensure the stable operation of the system in different power environments.

[0045] During the hierarchical power-on control process, the MCU first conducts self-check. After the self-check is completed, it enables the power supply of the SoC through the MAIN_PWR_EN signal line. After the SoC is initialized, it will sequentially turn on the power supplies of the front-view, surround-view, and panoramic cameras to ensure the normal operation of each device in sequence. When shutting down the power, in the power-down process, the SoC will give priority to turning off the peripheral power supply, and the MCU will delay 300 ms to cut off the main power supply. This design can prevent data loss during the power switch process and ensure the integrity and security of system data.

[0046] As Figure 2 shown, the power supply timing control is as follows: When the vehicle starts, the MCU is first awakened through the KL15 hard wire. The KL15 hard wire, as part of the vehicle power supply, provides an initial wake-up signal for the MCU. After being awakened, the MCU immediately performs a self-check to check whether its hardware and software status are normal. The self-check process includes the detection of key components such as the memory and interface circuits to ensure that the MCU can work properly. After the self-check is completed, the MCU activates the power supply for the SoC. The SoC, as the core processing unit of the system, requires a stable power supply to work properly.

[0047] After the SoC initialization is completed, the system turns on the power supply in the order of front view camera → panoramic view camera → surround view camera. This order design is based on the working characteristics and power consumption requirements of each camera. The front view camera is usually used to capture long-distance targets in front of the vehicle and needs to be turned on first to ensure driving safety. The panoramic view camera and the surround view camera are responsible for monitoring the surrounding views of the vehicle in different directions respectively. Their turn-on order also helps to disperse the instantaneous power consumption and avoid instantaneous power consumption overload caused by turning on multiple cameras at the same time, thus protecting the power supply module and camera devices of the system.

[0048] Through this precise power supply timing control, the driving assistance system can operate stably and reliably when the vehicle starts, providing a solid foundation for subsequent environment perception and decision-making. At the same time, this design also conforms to the equivalent implementation of the mechanical structure and can be widely applied in different vehicle models and systems.

[0049] This driving assistance system has a communication interface module, which undertakes important communication tasks in the driving assistance system. This module includes 3 Gigabit Ethernet interfaces, which can support high-speed data transmission and support VLAN virtual local area network networking. Through VLAN technology, different network traffic can be isolated, improving the network security and management efficiency, and ensuring that the communication between each subsystem does not interfere with each other.

[0050] The communication interface module also has 6 CAN FD bus interfaces, including an independent safety bus channel. The CAN FD bus has the characteristics of high bandwidth and high reliability and can meet the real-time communication requirements between multiple electronic control units inside the vehicle, while the independent safety bus channel provides additional guarantee for the transmission of key data.

[0051] In addition, the communication interface module also has a LIN bus interface and 2 high-side drive output interfaces. The LIN bus interface is suitable for connecting some devices that have low requirements for communication rate but are sensitive to cost, and the 2 high-side drive output interfaces can be used to drive some external loads such as indicator lights and relays, providing more possibilities for the control and feedback of the system.

[0052] This driving assistance system also has a safety monitoring module, which plays an important role in ensuring the safety of the driving assistance system. At the MCU end, an ASIL-D functional safety monitoring unit is integrated, which has high-level functional safety features and can strictly monitor the system according to relevant safety standards.

[0053] This safety monitoring module can detect the abnormal states of key parameters such as the temperature, voltage, and clock of the SoC in real time. Once it detects situations such as too high temperature, abnormal voltage fluctuations, or unstable clock signals, it will immediately take corresponding measures to prevent the system from malfunctioning due to these abnormalities.

[0054] At the same time, the safety monitoring module supports a dual-channel redundant watchdog circuit design. This design method greatly improves the reliability of the system. When one watchdog circuit fails, the other can quickly take over the work. And, when a failure occurs, the system can complete the fault recovery within less than 500 ms, ensuring that the driving assistance system can quickly resume normal operation and guaranteeing driving safety.

[0055] Such as Figure 3 The fault recovery process shown is as follows: The safety monitoring unit in the MCU (Microcontroller Unit) continuously monitors the temperature status of the SoC. Once it detects that the temperature exceeds the threshold, the safety monitoring unit will quickly respond and trigger the cooling fan to run at full speed. The full-speed operation of the cooling fan can accelerate air flow and take away the heat generated by the SoC, thereby reducing its temperature.

[0056] If the temperature of the SoC still cannot be effectively reduced within 5 seconds after the cooling fan runs at full speed, that is, it is still in the over-threshold state, at this time the safety monitoring unit will take further measures to cut off the power supply of the SoC. Cutting off the power supply can prevent the SoC from being damaged due to long-term high-temperature operation and protect the safety of the chip.

[0057] At the same time, the MCU will report the fault code through the CAN FD (Controller Area Network Flexible Data Rate) bus. The CAN FD bus has high-speed and reliable data transmission capabilities and can accurately and timely transmit the fault code to other control units or diagnostic devices of the vehicle. Reporting the fault code helps maintenance personnel quickly locate the cause of the fault, perform maintenance and processing in a timely manner, and improve the maintainability and reliability of the system.

[0058] The design of this fault recovery process fully considers the countermeasures of the system in different fault situations. Through a gradually upgraded processing method, it maximally guarantees the safe operation of the driving assistance system. At the same time, it also conforms to the equivalent implementation method of the mechanical structure and can be widely applied to different types of driving assistance systems.

[0059] This driving assistance system also includes a video processing module, which supports 4-channel DSI video output interfaces and can output multiple video signals simultaneously to meet the needs of different display devices or subsequent processing units, improving the compatibility and expandability of the system.

[0060] In terms of video encoding and decoding, this module supports H.264 / H.265 4K@90fps real-time encoding and decoding. This means that it can efficiently encode and decode high-resolution and high-frame-rate videos, reducing the pressure of data transmission and storage while ensuring video quality, enabling the system to process video information more smoothly.

[0061] In addition, the video processing module also integrates a GMSL deserialiser, which can achieve bypass output of raw image data. Through this function, the raw image data can be directly output, avoiding image quality loss caused by multiple processes, providing a more reliable data basis for subsequent image analysis and processing, and further improving the performance and accuracy of the driving assistance system.

[0062] This driving assistance system also includes an OTA upgrade module for ensuring the continuous optimization and stable operation of the driving assistance system. It includes a differential upgrade package verification module, which supports RSA-2048 encryption verification. Through this high-strength encryption verification method, it can ensure that the received upgrade package has a reliable source, complete content and is not tampered with, effectively preventing the injection of malicious software or error codes, and guaranteeing the security of system upgrades.

[0063] This OTA upgrade module adopts a dual-Bank flash memory partition design. This design enables the system to write the new version in one partition during the upgrade while the other partition continues to run the current version of the system, ensuring a smooth transition of the upgrade. At the same time, this design supports a rollback mechanism. If there are problems with the new version, the system can quickly roll back to the previous stable version to ensure the availability of the system.

[0064] In addition, during the upgrade process, the OTA upgrade module can maintain the uninterrupted acquisition of key sensor data, ensuring that the vehicle can continue to obtain important environmental information during the upgrade, providing a strong guarantee for driving safety.

[0065] This driving assistance system also includes a thermal management module to ensure the stable operation of the driving assistance system. This module integrates a PCB temperature sensor and a chip junction temperature detection unit. The PCB temperature sensor can monitor the temperature of the printed circuit board in real time, while the chip junction temperature detection unit can accurately obtain the junction temperature inside the chip. By monitoring these two key temperature parameters, the thermal management module can comprehensively understand the thermal state of the system.

[0066] The thermal management module supports dynamic adjustment of the PWM duty cycle of the cooling fan. When the system temperature rises, the module automatically increases the PWM duty cycle of the cooling fan according to the real-time monitored temperature data, enhancing the fan speed and thus accelerating the heat dissipation rate. When the temperature drops, it will correspondingly reduce the PWM duty cycle, reducing the fan's energy consumption and noise.

[0067] In addition, the thermal management module sets the thermal failure protection threshold at 105°C ± 2°C. Once the system temperature exceeds this threshold, the module will immediately trigger protection mechanisms such as reducing system performance, shutting down some functions, or issuing an alarm to prevent the system from being damaged due to overheating and ensure the safety and reliability of the driving assistance system.

[0068] In summary, the embodiments of the present invention achieve the following technical effects: In terms of improving perception ability, through optimizing algorithms and hardware collaboration, the spatio-temporal alignment accuracy of multi-modal sensor data has increased by 30%, enabling more accurate fusion of data from different sensors, thus supporting real-time environmental modeling in complex scenarios and making the system's perception of the surrounding environment more sensitive and accurate.

[0069] In terms of reliability optimization, by adopting a hierarchical power management strategy, the peak starting current has been effectively reduced by 40%, and at the same time, the residual power consumption during power-off has been reduced by 60%, improving the system's stability and energy utilization efficiency and extending the device's service life.

[0070] In terms of functional safety, dual-core monitoring and redundant design enable the system to meet the requirements of ISO 26262 ASIL-D level, providing a solid guarantee for driving safety.

[0071] In terms of maintenance convenience, the OTA upgrade module supports remote firmware updates, shortening the system downtime by 90%, greatly reducing the time the vehicle is out of service due to system upgrades, and improving the vehicle's usage efficiency and user experience.

[0072] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0073] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0074] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of this application are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here.

[0075] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A driver assistance system based on a domain controller, characterized in that: include: A domain controller body integrated with a system-on-chip (SoC) and a microcontroller unit (MCU), wherein the SoC and the MCU are connected via a hardware enable signal line; Power management module, supports KL15 hard line wake-up and CAN FD network wake-up dual-mode wake-up mechanism; Multi-sensor fusion module, including at least 12 GMSL camera interfaces, 12 ultrasonic radar interfaces and 6 millimeter wave radar interfaces; Time synchronization module, integrating GNSS / IMU combined navigation unit and supporting GPTP / PTP / Chrony multi-mode timing protocols; Dynamic power management system to achieve hierarchical power-on control of SoC and MCU and peripheral power timing management; The SoC uses the Horizon Journey 6 series chips, integrating the A78AE processor core and R52+ security core, with an AI computing power of 80-560TOPS.

2. The driving assistance system according to claim 1, characterized in that: The multi-sensor fusion module specifically includes: 1 front-view narrow-angle 30° 8M pixel camera, 1 front-view wide-angle 120° 8M pixel camera; 4-way panoramic 2.5M pixel cameras and 4-way surround 3M pixel cameras; Ultrasonic radar interface module that supports DSI3 protocol conversion, including the first 6 channels and the last 6 channels independent SPI conversion circuits.

3. The driving assistance system according to claim 1, characterized in that: The time synchronization module implements: Establish a master clock node in the domain through an Ethernet switch; Use GNSS second pulse to trigger MCU hardware clock reference; Establish NTP / PPS dual redundant time synchronization channel between SOC and MCU; The overall time synchronization error of the system is less than 150μs.

4. The driving assistance system according to claim 1, characterized in that: The power management module comprises: Overvoltage / undervoltage protection circuit at the KL30 constant power input terminal; MCU domain independent power supply circuit and SoC domain programmable enable power supply circuit; The camera module power supply time-sharing control module supports rapid power cut-off in hot-swap state.

5. The driving assistance system according to claim 1, characterized in that: The dynamic power management system implements: After the MCU completes the self-test, it enables the SoC power supply through the MAIN_PWR_EN signal line; After the SoC is initialized, turn on the power of the front view, perimeter view, and surround view cameras in sequence; During the power-off process, the SoC prioritizes turning off the power of peripherals, and the MCU delays 300ms before cutting off the main power.

6. The driving assistance system according to claim 1, characterized in that: Also includes: Video processing module, supporting 4-channel DSI video output interface; Support H.264 / H.265 4K@90fps real-time encoding and decoding; Integrated GMSL deserializer to achieve bypass output of raw image data.

7. The driving assistance system according to claim 1, characterized in that: Also includes a communication interface module, the communication interface module includes: 3 Gigabit Ethernet interfaces, supporting VLAN virtual LAN networking; 6-way CAN FD bus interface, including independent safety bus channels; LIN bus interface and 2-way high-side driver output interface.

8. The driving assistance system according to claim 1, characterized in that: It also includes a security monitoring module, which includes: The MCU side integrates the ASIL-D functional safety monitoring unit; Real-time detection of SoC temperature, voltage, and clock abnormalities; Supports dual-channel redundant watchdog circuit design, with fault recovery time less than 500ms.

9. The driving assistance system according to claim 1, characterized in that: It also includes an OTA upgrade module, which includes: Differential upgrade package verification module, supporting RSA-2048 encryption verification; Dual-Bank flash partition design supports rollback mechanism; Maintain uninterrupted key sensor data collection during the upgrade process.

10. The driving assistance system according to any one of claims 1 to 9, characterized in that: Also included is a thermal management module, the thermal management module comprising: Integrated PCB temperature sensor and chip junction temperature detection unit; Support dynamic adjustment of cooling fan PWM duty cycle; The thermal failure protection threshold is set at 105℃±2℃.

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