Vehicle system and vehicle having the same

Abstract

The present invention provides a vehicle system and a vehicle having the same. It includes an information collection system for collecting vehicle body information and vehicle environmental information; a specific function control system controls the subsystem of the information collection system based on the vehicle body information and environmental information; an internal function control system obtains vehicle body information and environmental information through the specific function control system; and a vehicle control system is used to obtain target information from at least one of the internal function control system and the specific function control system, wherein the target information includes at least one of the following: vehicle body information, environmental information, and fusion information, and the target strategy includes controlling the vehicle to execute an autonomous driving strategy above level L3 and an autonomous driving strategy below level L2. The present invention solves the problem that when it is necessary to add or reduce functions to the vehicle, only the corresponding parts need to be changed, and there is no need to change the entire architecture of the vehicle, which can effectively reduce the manufacturing cost of the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle system and a vehicle having the same. Background Art

[0002] At present, with the improvement of automobile electrification, the functions of vehicles tend to be intelligent and scenario-based, so more consideration needs to be given to user scenarios and user experience. More new vehicle functions promote the development of new electronic and electrical architectures, which further urges vehicle manufacturers to think about software-defined car solutions. The embodiment of vehicle functions depends on the implementation of software. However, most vehicle manufacturers currently use software with a high degree of coupling and no stratification, which results in a large number of changes to the software when functions are added, resulting in greater development costs, and the implementation effect is not very ideal. Summary of the invention

[0003] The main purpose of the present invention is to provide a vehicle system and a vehicle having the same, so as to solve the problem in the prior art that there is no internal stratification of the vehicle system, resulting in a large number of changes to the entire vehicle system when functions are added, resulting in high vehicle costs.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a vehicle system and a vehicle having the same are provided, including: an information collection system, the information collection system is used to collect vehicle body information and vehicle environmental information; a specific function control system, the specific function control system controls the subsystems of the information collection system based on the vehicle body information and environmental information; an internal function control system, the internal function control system obtains vehicle body information and environmental information through the specific function control system, at least one subsystem of the internal function control system fuses the original information of the vehicle body information and environmental information to obtain fused information; a whole vehicle control system, the whole vehicle control system is used to obtain target information from at least one of the internal function control system and the specific function control system, the whole vehicle control system controls the vehicle to execute a target strategy based on the target information, wherein the target information includes at least one of the following: vehicle body information, environmental information and fused information, and the target strategy includes controlling the vehicle to execute an autonomous driving strategy above Level L3 and an autonomous driving strategy below Level L2.

[0005] Furthermore, the subsystem of the information collection system includes a target device component arranged on the vehicle, and the target device component includes a front-view camera, a rear-view camera, a side-view camera, a surround-view camera, a driver monitoring camera, a front millimeter-wave radar, a corner millimeter-wave radar, a GPS, a high-precision IMU and a lidar, wherein the target device component is used to obtain vehicle body information and environmental information, and the target device component stores the vehicle body information and environmental information to a target location for call by a specific function control system.

[0006] Furthermore, the specific function control system includes multiple subsystems, wherein the subsystems of the specific function control system include at least a high-precision map system, a camera control system, a millimeter-wave radar control system, an ultrasonic radar control system, a lidar control system, and a target object monitoring system, wherein the target device components provide vehicle body information and environmental information to the subsystems of the specific function control system.

[0007] Furthermore, the internal function control system includes multiple subsystems, and the multiple subsystems of the internal function control system include a positioning fusion system, wherein the positioning fusion system generates vehicle positioning information based on at least one of vehicle body information and environmental information, and the whole vehicle control system can call the positioning information through the internal function control system.

[0008] Furthermore, the internal function control system includes multiple subsystems, and the multiple subsystems of the internal function control system include an environmental information system, which generates the vehicle's internal environment information and the vehicle's external information based on at least one of the vehicle body information and the environmental information. The vehicle control system can call the vehicle's internal environment information and the vehicle's external information through the internal function control system.

[0009] Furthermore, the internal function control system includes multiple subsystems, and the multiple subsystems of the internal function control system include a user information system. The user information system is used to obtain the identity information of the target object, the number information of the target objects of the vehicle, and the driving status information of the driver. The whole vehicle control system can call the identity information, number information and driving status information through the internal function control system.

[0010] Furthermore, the internal function control system includes multiple subsystems, and the multiple subsystems of the internal function control system also include a sensor fusion system, which is used to fuse original information to obtain fused information, wherein the original information includes at least one of the following: original information of different types of sensors, camera video streams, millimeter wave point cloud information, and lidar point cloud information.

[0011] Furthermore, the vehicle control system includes multiple subsystems, and the multiple subsystems of the vehicle control system include a high-level autonomous driving control system and an assisted driving control system, wherein the high-level autonomous driving control system controls the vehicle's L3 or above autonomous driving target strategy based on target information, and the assisted driving control system controls the vehicle's L2 or below autonomous driving target strategy based on target information, and at least one of the L3 or above autonomous driving target strategy and the L2 or below autonomous driving target strategy includes: controlling the vehicle to provide preset functional status information of the vehicle, controlling the vehicle to interact with the driver when a first preset condition is met, planning the route and making decisions based on the destination information of the target object, controlling the vehicle to move longitudinally and laterally, and controlling the vehicle to maintain a safe distance from surrounding objects.

[0012] Furthermore, the multiple subsystems of the vehicle control system also include an automatic parking control system. In the automatic parking mode, the automatic parking control system is used to provide the vehicle status information to the vehicle control system, and control the vehicle to interact with the driver when a second preset condition is met, plan the route and make decisions based on the destination information of the target object, control the vehicle along the longitudinal and lateral movement of the vehicle, and control the vehicle to maintain a safe distance from surrounding objects.

[0013] According to another aspect of the present invention, a vehicle is provided, comprising a vehicle system, where the vehicle system is the above-mentioned vehicle system.

[0014] The technical solution of the present invention is applied, by dividing the vehicle system into an information collection system, a specific function control system, a whole vehicle control system and an internal function control system, and the information collection system, the specific function control system, the whole vehicle control system and the internal function control system have different functions respectively. The whole vehicle control system can call the data information of the internal function control system and the data information of the specific function control system, the internal function control system can call the data information of the specific function control system, and the specific function control system can call the data information of the equipment information collection system, but the whole vehicle control system and the internal function control system cannot directly call the data information of the information collection system, and the information collection system cannot call the data information of the specific function control system, the data information of the internal function control system and the data information of the whole vehicle control system, the specific function control system cannot call the data information of the internal function control system and the data information of the whole vehicle control system, and the internal function control system cannot call the data information of the whole vehicle control system, thereby achieving high cohesion and low coupling between the internal systems of the vehicle to a certain extent, when it is necessary to change a certain function information inside the vehicle system, only the system containing the function information needs to be changed, thereby reducing the consumption of resources at the whole vehicle level, and solving the problem that there is no stratification inside the vehicle system in the prior art, resulting in a large number of changes to the entire vehicle system when the function is increased, resulting in high vehicle cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0016] Figure 1 A schematic diagram showing the structure of a vehicle system control system, an internal function control system, a specific function control system and an information collection system according to an embodiment of a vehicle system of the present invention is shown;

[0017] Figure 2A structural block diagram of an embodiment of a vehicle system according to the present invention is shown. DETAILED DESCRIPTION

[0018] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0019] 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, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0020] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0021] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. In the accompanying drawings, for the sake of clarity, the thickness of the layers and regions may be enlarged, and the same reference numerals are used to represent the same devices, and thus their descriptions will be omitted.

[0022] Combination Figure 1 and Figure 2 As shown, according to a specific embodiment of the present application, a vehicle system is provided.

[0023] Specifically, Figure 1As shown, the vehicle system includes an information collection system, a specific function control system, an internal function control system and a whole vehicle control system. The information collection system is used to collect the body information of the vehicle and the environmental information of the vehicle. The specific function control system controls the subsystems of the information collection system based on the body information and the environmental information. The internal function control system obtains the body information and the environmental information through the specific function control system, and at least one subsystem of the internal function control system fuses the original information of the body information and the environmental information to obtain fused information. The whole vehicle control system is used to obtain target information from at least one of the internal function control system and the specific function control system, and the whole vehicle control system controls the vehicle to execute the target strategy based on the target information, wherein the target information includes at least one of the following: body information, environmental information and fused information, and the target strategy includes controlling the vehicle to execute an autonomous driving strategy above level L3 and an autonomous driving strategy below level L2.

[0024] The technical solution of this embodiment is applied, by dividing the vehicle system into an information collection system, a specific function control system, a whole vehicle control system and an internal function control system, and the information collection system, the specific function control system, the whole vehicle control system and the internal function control system have different functions. The whole vehicle control system can call the data information of the internal function control system and the data information of the specific function control system, the internal function control system can call the data information of the specific function control system, and the specific function control system can call the data information of the equipment information collection system, but the whole vehicle control system and the internal function control system cannot directly call the data information of the information collection system, and the information collection system cannot call the data information of the specific function control system, the data information of the internal function control system and the data information of the whole vehicle control system, the specific function control system cannot call the data information of the internal function control system and the data information of the whole vehicle control system, and the internal function control system cannot call the data information of the whole vehicle control system, thereby reducing the consumption of resources at the whole vehicle level and realizing the divided management between the system architectures. When it is necessary to add or reduce functions to the vehicle, only the corresponding parts need to be changed, and there is no need to change the entire architecture of the vehicle, which can effectively reduce the manufacturing cost of the vehicle.

[0025] Further, the subsystem of the information collection system includes a target device component arranged on the vehicle, and the target device component includes a front view camera, a rear view camera, a side view camera, a surround view camera, a driver monitoring camera, a front millimeter wave radar, a corner millimeter wave radar, a GPS, a high-precision IMU and a laser radar, wherein the target device component is used to obtain vehicle body information and environmental information, and the target device component stores the vehicle body information and environmental information to a target location for a specific function control system to call. In this embodiment, by abstracting the service of the device, the atomic control capability and status information of the corresponding device are provided for use by the upper-layer application software module.

[0026] like Figure 2 As shown, the specific function control system includes multiple subsystems, wherein the subsystems of the specific function control system include at least a high-precision map system, a camera control system, a millimeter-wave radar control system, an ultrasonic radar control system, a laser radar control system, and a target object monitoring system, wherein the target device component provides vehicle body information and environmental information to the subsystems of the specific function control system. In this embodiment, the high-precision map module can provide high-precision map data, and through the positioning information of the map, the service capability of the crowdsourcing map. The camera control module can provide camera-based image information, video stream information, camera status information, color correction capability, etc. The millimeter-wave radar control module can be responsible for controlling the working condition of the millimeter-wave radar of the whole vehicle. The ultrasonic radar control module is responsible for controlling the working condition of the ultrasonic radar of the whole vehicle. The laser radar control module is responsible for controlling the working condition of the laser radar of the whole vehicle. The target object monitoring system is responsible for providing driver status information, identity information, line of sight information, etc. through the driver monitoring camera.

[0027] Furthermore, the internal function control system includes multiple subsystems, and the multiple subsystems of the internal function control system include a positioning fusion system, wherein the positioning fusion system generates vehicle positioning information based on at least one of vehicle body information and environmental information, and the whole vehicle control system can call the positioning information through the internal function control system. Such a setting can provide high-precision vehicle positioning information, including the lane where the vehicle is located, relative coordinate information from the key position, global coordinate position, etc.

[0028] Furthermore, the internal function control system includes multiple subsystems, and the multiple subsystems of the internal function control system include an environmental information system, which generates the internal environmental information of the vehicle and the external information of the vehicle based on at least one of the vehicle body information and the environmental information, and the vehicle control system can call the internal environmental information of the vehicle and the external information of the vehicle through the internal function control system. This arrangement provides information about the interior and surrounding environment of the vehicle, such as drivable roads, object locations and classifications, lane markings, and temperatures inside and outside the vehicle.

[0029] Furthermore, the internal function control system includes multiple subsystems, and the multiple subsystems of the internal function control system include a user information system, and the user information system is used to obtain the identity information of the target object, the number information of the target objects of the vehicle, and the driving state information of the driver. The whole vehicle control system can call the identity information, number information and driving state information through the internal function control system. In this embodiment, the user information system can provide information about the user, the driver's identity ID, the number of passengers in the car, the driver's state information (drowsy, distracted...), whether the driver is in the loop, etc.

[0030] Furthermore, the internal function control system includes multiple subsystems, and the multiple subsystems of the internal function control system also include a sensor fusion system, and the sensor fusion system is used to fuse the original information to obtain fused information, wherein the original information includes at least one of the following: original information of different types of sensors, camera video streams, millimeter wave point cloud information, and laser radar point cloud information. In the embodiment, the sensor fusion system can fuse the original information of various types of sensors, including camera video streams, millimeter wave radar point cloud information, laser radar point cloud information, etc., and finally output the fused environmental perception information.

[0031] like Figure 2 As shown, the vehicle control system includes multiple subsystems, and the multiple subsystems of the vehicle control system include a high-level automatic driving control system and an assisted driving control system, wherein the high-level automatic driving control system controls the vehicle's L3 or higher automatic driving target strategy based on target information, and the assisted driving control system controls the vehicle's L2 or lower automatic driving target strategy based on target information, and at least one of the L3 or higher automatic driving target strategy and the L2 or lower automatic driving target strategy includes: controlling the vehicle to provide the vehicle's preset functional status information, controlling the vehicle to interact with the driver under the condition of satisfying the first preset condition, planning the route and making decisions based on the destination information of the target object, controlling the vehicle to move longitudinally and transversely, and controlling the vehicle to maintain a safe distance from surrounding objects. This arrangement ensures the reliability and safety of the vehicle during automatic driving.

[0032] Furthermore, the multiple subsystems of the vehicle control system also include an automatic parking control system. In the case of the automatic parking mode, the automatic parking control system is used to provide the vehicle status information to the vehicle control system, and control the vehicle to interact with the driver when the second preset condition is met, plan the route and make decisions based on the destination information of the target object, control the vehicle to move longitudinally and transversely, and control the vehicle to maintain a safe distance from surrounding objects. This setting ensures the reliability and safety of the vehicle during automatic parking.

[0033] In another embodiment of the present application, the vehicle system control system: a functional service for scheduling the system within a single vehicle, such as the control of the switching between the fuel system and the electric system of a hybrid vehicle. The vehicle system control management layer can call the system internal function control management layer and the specific function control management layer, but cannot perform the sensor and actuator control management layer, and to a certain extent, realize the decoupling of high-level software and low-level sensors and actuators, which is independent of hardware resource changes and forms an applicable standard interface.

[0034] Internal function control system: Functional services that coordinate the internal functions of the system, such as the coordinated control of the intake, exhaust and cooling of the engine system. The internal function control management layer can call specific function control management layers, but cannot directly call the sensor and actuator control management layers, let alone call higher-level layers.

[0035] Specific function control system: Functional services that control specific functions, such as the control of the engine cooling system. The specific function control management layer can call the sensor and actuator control management layer, which involves direct sensor data reading and actuator control.

[0036] Information collection system: The control and drive of all sensors and actuators of the vehicle are extracted into services, and a layered software architecture of the power energy domain is formed. The purpose is to realize the responsibilities of software modules and high cohesion and low coupling between systems through software layering and the definition of software modules. The dependency relationship between software layers is realized to realize the portability and reusability of software, better meet the new needs of users for vehicle functions, and at the same time reduce development costs and reduce resource investment.

[0037] like Figure 1 As shown in the figure, the overall principle is that high-level software modules can call low-level modules, but cannot directly call the sensor and actuator layers, and low-level modules cannot call high-level software modules. The same-level software modules of the vehicle system control management layer (vehicle control system) can call each other and use interfaces. The same-level software modules of the system internal function control management layer (internal function control system) and specific function control management layer (specific function control system) should try to avoid calling the same-level software modules, and the sensor and actuator control management layer (information acquisition system) is prohibited from calling the same-level software modules. This layered method divides the software modules into four layers, and to a certain extent, achieves high cohesion and low coupling between the systems, realizes resource consumption at the vehicle level, makes the software flexible and reusable, reduces the strong dependence between software modules, and further decouples the software through the concept of layering. This setting realizes the management of system architectures, so that when the vehicle needs to add or reduce functions, only the corresponding parts need to be changed, and there is no need to change the entire architecture of the vehicle, which can effectively reduce the manufacturing cost of the vehicle.

[0038] The vehicle system in the above embodiment may also be applied to the field of vehicle technology. That is, according to another specific embodiment of the present application, a vehicle is provided, including a vehicle system, and the vehicle system is the vehicle system in the above embodiment.

[0039] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0040] In addition to the above, it should be noted that "one embodiment", "another embodiment", "embodiment", etc. mentioned in this specification refer to the specific features, structures or characteristics described in conjunction with the embodiment included in at least one embodiment generally described in this application. The same expression appearing in multiple places in the specification does not necessarily refer to the same embodiment. Further, when describing a specific feature, structure or characteristic in conjunction with any embodiment, it is claimed that the realization of such feature, structure or characteristic in conjunction with other embodiments also falls within the scope of the present invention.

[0041] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vehicle system, characterized in that: include: An information collection system, the information collection system is used to collect vehicle body information and vehicle environment information; A specific function control system, wherein the specific function control system controls a subsystem of the information acquisition system based on the vehicle body information and the environmental information; an internal function control system, wherein the internal function control system obtains the vehicle body information and the environmental information through the specific function control system, and at least one subsystem of the internal function control system fuses the original information of the vehicle body information and the environmental information to obtain fused information; A vehicle control system, the vehicle control system is used to obtain target information from at least one of the internal function control system and the specific function control system, and the vehicle control system controls the vehicle to execute a target strategy based on the target information, wherein the target information includes at least one of the following: the vehicle body information, the environmental information, and the fusion information, and the target strategy includes controlling the vehicle to execute an L3 level or higher autonomous driving strategy and an L2 level or lower autonomous driving strategy, The vehicle control system and the internal function control system cannot directly call the data information of the information collection system, and the information collection system cannot call the data information of the specific function control system; The data information of the internal function control system and the data information of the whole vehicle control system, the specific function control system cannot call the data information of the internal function control system and the data information of the whole vehicle control system, and the internal function control system cannot call the data information of the whole vehicle control system.

2. The vehicle system according to claim 1, characterized in that: The subsystem of the information collection system includes a target device component arranged on the vehicle, and the target device component includes a front-view camera, a rear-view camera, a side-view camera, a surround-view camera, a driver monitoring camera, a front millimeter-wave radar, a corner millimeter-wave radar, a GPS, a high-precision IMU and a lidar, wherein the target device component is used to obtain the vehicle body information and the environmental information, and the target device component stores the vehicle body information and the environmental information to a target location for the specific function control system to call.

3. The vehicle system according to claim 2, characterized in that: The specific function control system includes multiple subsystems, wherein the subsystems of the specific function control system include at least a high-precision map system, a camera control system, a millimeter-wave radar control system, an ultrasonic radar control system, a lidar control system, and a target object monitoring system, wherein the target device component provides the vehicle body information and the environmental information to the subsystems of the specific function control system.

4. The vehicle system according to claim 1, characterized in that: The internal function control system includes multiple subsystems, and the multiple subsystems of the internal function control system include a positioning fusion system, wherein the positioning fusion system generates the positioning information of the vehicle based on at least one of the vehicle body information and the environmental information, and the whole vehicle control system can call the positioning information through the internal function control system.

5. The vehicle system according to claim 4, characterized in that: The internal function control system includes multiple subsystems, and the multiple subsystems of the internal function control system include an environmental information system. The environmental information system generates the internal environmental information of the vehicle and the external information of the vehicle based on at least one of the vehicle body information and the environmental information. The whole vehicle control system can call the internal environmental information of the vehicle and the external information of the vehicle through the internal function control system.

6. The vehicle system according to claim 4, characterized in that: The internal function control system includes multiple subsystems, and the multiple subsystems of the internal function control system include a user information system. The user information system is used to obtain the identity information of the target object, the number information of the target objects in the vehicle, and the driving status information of the driver. The whole vehicle control system can call the identity information, the number information and the driving status information through the internal function control system.

7. The vehicle system according to claim 4, characterized in that: The internal function control system includes multiple subsystems, and the multiple subsystems of the internal function control system also include a sensor fusion system, and the sensor fusion system is used to fuse the original information to obtain the fused information, wherein the original information includes at least one of the following: original information of different types of sensors, camera video streams, millimeter wave point cloud information, and lidar point cloud information.

8. The vehicle system according to claim 1, characterized in that The whole vehicle control system includes multiple subsystems, and the multiple subsystems of the whole vehicle control system include a high-level autonomous driving control system and an assisted driving control system, wherein the high-level autonomous driving control system controls the vehicle's L3 or above autonomous driving target strategy based on the target information, and the assisted driving control system controls the vehicle's L2 or below autonomous driving target strategy based on the target information, and at least one of the L3 or above autonomous driving target strategy and the L2 or below autonomous driving target strategy includes: controlling the vehicle to provide preset functional status information of the vehicle, controlling the vehicle to interact with the driver under a first preset condition, planning a route and making decisions based on the destination information of the target object, controlling the vehicle to move longitudinally and laterally, and controlling the vehicle to maintain a safe distance from surrounding objects.

9. The vehicle system according to claim 8, characterized in that: The multiple subsystems of the vehicle control system also include an automatic parking control system. In the automatic parking mode, the automatic parking control system is used to provide the vehicle status information to the vehicle control system, and control the vehicle to interact with the driver when a second preset condition is met, plan the route and make decisions based on the destination information of the target object, control the vehicle along the longitudinal and lateral movement of the vehicle, and control the vehicle to maintain a safe distance from surrounding objects.

10. A vehicle, comprising a vehicle system, characterized in that: The vehicle system is the vehicle system according to any one of claims 1 to 9.

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