System architecture, transmission method, vehicle, medium and chip for self-vehicle position recognition

Abstract

The present disclosure relates to a system architecture, transmission method, vehicle, medium and chip for self-vehicle position identification, belonging to the field of vehicle communication, and the system architecture includes: a central computing domain controller of the whole vehicle, and multiple vehicle-mounted control devices, the vehicle-mounted control device includes a self-vehicle position identification domain controller; the whole vehicle central computing domain controller is configured with a SOA service corresponding to the self-vehicle position identification domain controller, the vehicle-mounted control device subscribes to the subject identifier corresponding to the SOA service through the SOA service, and the self-vehicle position identification domain controller sends the self-vehicle position identification result to the whole vehicle central computing domain controller through the SOA service, so that the whole vehicle central computing domain controller publishes the subject identifier and the self-vehicle position identification result to the Ethernet based on the DDS protocol stack, so that the vehicle-mounted control device that subscribes to the subject identifier obtains the self-vehicle position identification result. It ensures that the self-vehicle position identification result with a large amount of data can be transmitted across domains, and also ensures the real-time performance of cross-domain data transmission.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle communications, and in particular to a system architecture, transmission method, vehicle, medium and chip for self-vehicle position identification. Background Art

[0002] In the related art, vehicle software development usually uses CAN signals to achieve communication between vehicle function development and system software components. However, the existing intelligent driving needs of vehicles require huge amounts of data and extremely high real-time performance. The data communication through CAN signals in the related art is obviously unable to meet the current intelligent driving needs. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the present disclosure provides a system architecture, a transmission method, a vehicle, a medium and a chip for self-vehicle position identification.

[0004] According to a first aspect of an embodiment of the present disclosure, a system architecture for self-vehicle position recognition is provided, which is applied to a vehicle, and the system architecture includes:

[0005] A vehicle central computing domain controller, and a plurality of vehicle-mounted control devices connected to the vehicle central computing domain controller via Ethernet, wherein the vehicle-mounted control devices include a vehicle position identification domain controller;

[0006] The whole vehicle central computing domain controller is configured with an SOA service corresponding to the self-vehicle position identification domain controller, and the vehicle-mounted control device subscribes to the subject identifier corresponding to the SOA service through the subscription interface provided by the SOA service, and the self-vehicle position identification domain controller sends the self-vehicle position identification result to the whole vehicle central computing domain controller through the upload interface provided by the SOA service, so that the whole vehicle central computing domain controller publishes the subject identifier and the self-vehicle position identification result to the Ethernet based on the DDS protocol stack, so that the vehicle-mounted control device that subscribes to the subject identifier obtains the self-vehicle position identification result.

[0007] Optionally, the control domain of the self-vehicle position identification domain controller includes an actuator for collecting self-vehicle position information, and the self-vehicle position identification domain controller is used to collect execution results of the actuator within the control domain of the self-vehicle position identification domain controller through a CAN bus, and generate the self-vehicle position identification result based on the execution result.

[0008] Optionally, the execution result is periodically executed and sent by the execution structure, or is executed and sent by the execution mechanism according to the execution instruction of the vehicle position identification domain controller.

[0009] Optionally, the vehicle-mounted control device that subscribes to the topic identifier includes a second domain controller, and the second domain controller is used to control an actuator within a control domain of the second domain controller according to the vehicle position identification result.

[0010] Optionally, the vehicle-mounted control device sends calling parameters to the vehicle central computing domain controller through the calling interface provided by the SOA service, and the vehicle central computing domain controller forwards the calling parameters to the vehicle position identification domain controller corresponding to the SOA service based on the DDS protocol stack, so that the vehicle position identification domain controller sends execution instructions to the actuator within the control domain of the vehicle position identification domain controller through the CAN bus according to the calling parameters.

[0011] Optionally, the vehicle-mounted control device sends the calling parameters to the vehicle central computing domain controller through the calling interface provided by the SOA service, and subscribes to the first topic identifier corresponding to the calling interface;

[0012] The vehicle position identification domain controller is used to receive the execution result of the actuator within its control domain in response to the call parameter, generate a service return parameter according to the execution result, and send the service return parameter to the vehicle central computing domain controller through the return interface provided by the SOA service. The vehicle central computing domain controller publishes the first topic identifier and the service return parameter association to the Ethernet based on the DDS protocol stack, so that the vehicle-mounted control device that subscribes to the first topic identifier obtains the service return parameter.

[0013] Optionally, the vehicle position recognition result is obtained by identifying at least one of the vehicle lane number, lane boundary, lane line relative distance, and road type.

[0014] According to a second aspect of an embodiment of the present disclosure, a transmission method for self-vehicle position identification is provided, the method being applied to the self-vehicle position identification domain controller in the first aspect of the present disclosure, the transmission method comprising:

[0015] The self-vehicle position identification result is sent to the whole vehicle central computing domain controller through the upload interface provided by the SOA service corresponding to the self-vehicle position identification domain controller in the whole vehicle central computing domain controller, so that the whole vehicle central computing domain controller publishes the subject identifier and the self-vehicle position identification result to the Ethernet based on the DDS protocol stack, so that the vehicle-mounted control device that subscribes to the subject identifier obtains the self-vehicle position identification result.

[0016] According to a third aspect of an embodiment of the present disclosure, a transmission method for self-vehicle position identification is provided, the method being applied to the vehicle central computing domain controller in the first aspect of the present disclosure, the transmission method comprising:

[0017] Receiving a self-vehicle position identification result uploaded by the self-vehicle position identification domain controller, wherein the self-vehicle position identification result is uploaded through an upload interface provided by a SOA service corresponding to the self-vehicle position identification domain controller in the vehicle central computing domain controller;

[0018] Based on the DDS protocol stack, the subject identifier and the vehicle position identification result are associated and published to the Ethernet, so that the vehicle control device subscribed to the subject identifier obtains the vehicle position identification result.

[0019] According to a fourth aspect of an embodiment of the present disclosure, there is provided a vehicle, comprising a vehicle central computing domain controller, a plurality of vehicle-mounted control devices connected to the vehicle central computing domain controller via Ethernet, the vehicle-mounted control devices comprising a vehicle position identification domain controller;

[0020] Among them, the vehicle position identification domain controller is configured to execute the method described in the second aspect of the present disclosure, the vehicle central computing domain controller is configured to execute the method described in the third aspect of the present disclosure, and the vehicle-mounted control device is configured to subscribe to the subject identifier corresponding to the SOA service through the subscription interface provided by the SOA service to obtain the vehicle position identification result.

[0021] According to a fifth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the method described in the second aspect of the present disclosure or the third aspect of the present disclosure are implemented.

[0022] According to a sixth aspect of an embodiment of the present disclosure, a chip is provided, comprising a processor and an interface; the processor is used to read instructions to execute the method described in the second aspect of the present disclosure or the third aspect of the present disclosure.

[0023] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: by adopting the publish / subscribe model of the DDS data distribution service protocol stack, the vehicle central computing domain controller is used to receive the vehicle position identification result uploaded by the vehicle position identification domain controller through the SOA service and distribute it to the Ethernet, so that the subscriber who subscribes to the topic identifier receives the vehicle position identification result, which effectively ensures that the subscriber who subscribes to the corresponding topic identifier can obtain the vehicle position identification result reliably and in real time, which not only ensures that the vehicle position identification result with a large amount of data can be transmitted across domains, but also ensures the real-time nature of data cross-domain transmission.

[0024] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0026] Figure 1 The diagram is a schematic diagram of a system architecture for vehicle position recognition according to an exemplary embodiment.

[0027] Figure 2 The present invention is a flow chart showing a transmission method for vehicle position identification according to an exemplary embodiment.

[0028] Figure 3 The present invention is a flow chart showing another transmission method for vehicle position identification according to an exemplary embodiment.

[0029] Figure 4 is a block diagram of a vehicle according to an exemplary embodiment.

[0030] Figure 5 It is a schematic diagram of a functional block diagram of a vehicle according to an exemplary embodiment.

[0031] Figure 6 The diagram is a block diagram of a domain controller according to an exemplary embodiment. DETAILED DESCRIPTION

[0032] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0033] Figure 1 is a schematic diagram of a system architecture for self-vehicle position recognition according to an exemplary embodiment. The system architecture can be applied to vehicles, such as Figure 1 As shown, the system architecture includes:

[0034] A vehicle central computing domain controller 110 and a plurality of vehicle-mounted control devices 120 connected to the vehicle central computing domain controller 110 via Ethernet, wherein the vehicle-mounted control devices 120 include a vehicle position identification domain controller 130 .

[0035] The vehicle central computing domain controller 110 is configured with an SOA service corresponding to the vehicle position identification domain controller 130. The vehicle-mounted control device 120 subscribes to the subject identifier corresponding to the SOA service through the subscription interface provided by the SOA service. The vehicle position identification domain controller 130 sends the vehicle position identification result to the vehicle central computing domain controller 110 through the upload interface provided by the SOA service, so that the vehicle central computing domain controller 110 associates the subject identifier and the vehicle position identification result with each other and publishes them to Ethernet based on the DDS protocol stack, so that the vehicle-mounted control device 120 that subscribes to the subject identifier obtains the vehicle position identification result.

[0036] The vehicle position identification domain controller 130 may specifically be a smart driving domain controller, and there may be multiple SOA services corresponding to the vehicle position identification domain controller 130 configured in the vehicle central computing domain controller 110. In addition, the vehicle control device 120 may also include other domain controllers, such as a cockpit domain controller, and / or vehicle-mounted devices such as TBOX and a vehicle central control screen.

[0037] It is worth noting that the DDS (Data Distribution Service) protocol stack adopts a publish / subscribe model, which can ensure real-time, efficient and flexible data distribution and meet the application requirements of various distributed real-time communications. DDS defines the data transmitted in the distributed network as a "topic", and defines the data generation and reception objects as "publishers" and "subscribers" respectively, thereby forming a publish / subscribe data transmission model. In other words, the vehicle central computing domain controller 110 can act as a publisher and publish the vehicle position identification results uploaded by the vehicle position identification domain controller 130 in association with the corresponding topic identifier, so that subscribers who subscribe to the topic identifier receive the vehicle position identification results.

[0038] Among them, the vehicle position recognition result can be used for automatic driving of the vehicle, and can also be displayed through the on-board central control screen, so that people in the vehicle can see the on-board central control screen display or the vehicle's driving conditions.

[0039] It is understandable that based on the above SOA services, other domain controllers can realize cross-domain functions, that is, they can obtain the vehicle location recognition results across domains. By encapsulating the cross-domain controller function into the SOA service, each controller only needs to focus on the data and logic related to its own business.

[0040] In the disclosed embodiment, by adopting the publish / subscribe model of the DDS data distribution service protocol stack, the vehicle central computing domain controller 110 is used to receive the vehicle position identification result uploaded by the vehicle position identification domain controller 130 through the SOA service and distribute it to the Ethernet, so that the subscriber who subscribes to the topic identifier receives the vehicle position identification result, which effectively ensures that the subscriber who subscribes to the corresponding topic identifier can obtain the vehicle position identification result reliably and in real time, which not only ensures that the vehicle position identification result with a large amount of data can be transmitted across domains, but also ensures the real-time nature of data cross-domain transmission.

[0041] In some optional embodiments, the control domain of the self-vehicle position identification domain controller 130 includes an actuator for collecting self-vehicle position information, and the self-vehicle position identification domain controller 130 is used to collect the execution results of the actuator in the control domain of the self-vehicle position identification domain controller 130 through the CAN bus, and generate the self-vehicle position identification result based on the execution result.

[0042] In some other possible implementations, the perception device may also send the execution result of the actuator for collecting the vehicle position information to the vehicle position identification domain controller 130 via the LIN line.

[0043] It is worth noting that the execution results collected by the vehicle position identification domain controller 130 through the CAN bus or LIN line are transmitted in the form of signals, while the vehicle position identification results are sent to the vehicle central computing domain controller 110 in the form of service parameters.

[0044] It is understandable that there may be multiple actuators for collecting the vehicle position information, that is, the execution result includes the execution results of multiple actuators, and the vehicle position recognition result may include recognition results in multiple dimensions.

[0045] Among them, the actuator for collecting the self-vehicle position information may include sensing devices such as vehicle-mounted cameras and laser radars, and the execution result may include image data, radar data, etc. In addition, generating the self-vehicle position recognition result according to the execution result may be achieved by an AI model deployed in the self-vehicle position recognition domain controller 130. Alternatively, the actuator also includes an ECU that can perform image processing or radar data processing, and the execution result may include label data processed by the ECU. The self-vehicle position recognition result can collect these label data through the CAN bus and construct the self-vehicle position recognition result.

[0046] By adopting the above scheme, the self-vehicle position identification domain controller 130 receives the execution results of the actuators in its control domain through the CAN bus, and generates the self-vehicle position identification results in the form of service parameters based on the execution results, and sends them to the whole vehicle central computing domain controller 110 through Ethernet, which effectively ensures the diversity of information that the self-vehicle position identification results can include, and ensures that the self-vehicle position identification results with a large amount of data can be effectively and instantly transmitted to the whole vehicle central computing domain controller 110, thereby enabling other controllers to realize the collection of self-vehicle position identification results across domains, ensuring the effective and instant transmission of cross-domain data.

[0047] Optionally, the execution result is periodically executed and sent by the execution structure, or is executed and sent by the execution mechanism according to the execution instruction of the vehicle position identification domain controller 130.

[0048] Specifically, the execution instruction of the vehicle position identification domain controller 130 may be sent in response to other vehicle-mounted controllers actively calling the above-mentioned SOA service and receiving the control instruction sent by the vehicle central computing domain controller 110. Alternatively, it may also be sent when the vehicle position identification domain controller 130 detects an abnormal execution result.

[0049] By adopting the above scheme, the execution mechanism can report the execution result to the vehicle position identification domain controller 130 more flexibly, so that the vehicle position identification domain controller 130 can not only upload the vehicle position identification result periodically, but also enable other controllers to actively call the SOA service so that the vehicle position identification domain controller 130 sends an execution instruction to control the execution mechanism to actively upload the execution result, thereby allowing other controllers to obtain the vehicle position identification result.

[0050] In some other embodiments, the vehicle-mounted control device 120 subscribing to the topic identifier includes a second domain controller, and the second domain controller is used to control an actuator within a control domain of the second domain controller according to the vehicle position identification result.

[0051] For example, the second domain controller may be a cockpit domain controller, which subscribes to the subject identifier corresponding to the vehicle position identification result. If the vehicle position identification result received by the domain controller at a certain moment indicates that the vehicle is in the rightmost lane, and the rightmost lane is a bus lane, the audio and video playback system in the control domain of the domain controller may be controlled to play preset audio or video to prompt the driver to change lanes.

[0052] By adopting the above scheme, other domain controllers can subscribe to the subject identifier corresponding to the vehicle position identification result through the SOA service, and then obtain the vehicle position identification result when the vehicle central computing domain controller 110 publishes the vehicle position identification result through Ethernet, and then control the vehicle according to the vehicle position identification result, effectively realizing the cross-domain transmission and control of vehicle data based on SOA service, effectively avoiding the problems of complex design of traditional CAN communication, signal expansion limitation and so on, and reducing the coupling degree of vehicle function development software.

[0053] In some optional embodiments, the vehicle-mounted control device 120 sends calling parameters to the vehicle central computing domain controller 110 through the calling interface provided by the SOA service, and the vehicle central computing domain controller 110 forwards the calling parameters to the vehicle position identification domain controller 130 corresponding to the SOA service based on the DDS protocol stack, so that the vehicle position identification domain controller 130 sends execution instructions to the actuator within the control domain of the vehicle position identification domain controller 130 through the CAN bus according to the calling parameters.

[0054] It is understandable that the DDS protocol stack can not only realize data transmission in the form of subscription / publishing, but also support data transmission in the form of call / return.

[0055] For example, if the first domain controller does not have high requirements for the real-time acquisition of the vehicle position identification result, and under normal circumstances there is no need to obtain the vehicle position identification result, but under certain circumstances the vehicle position identification result is needed, or the vehicle position identification domain controller 130 is not configured to periodically upload the vehicle position identification result, then the first domain controller can send calling parameters to the vehicle central computing domain controller 110 through the calling interface of the SOA service to realize the active calling of the SOA service, so that the vehicle central computing domain controller 110 forwards the calling parameters to the vehicle position identification domain controller 130 so that the vehicle position identification domain controller 130 controls the actuator within its control domain to perform corresponding operations, so that the vehicle position identification domain controller 130 obtains the vehicle position identification result and sends it to the vehicle central computing domain controller 110, thereby enabling the first domain controller that calls the SOA service to obtain the vehicle position identification result.

[0056] By adopting the above scheme and providing a calling interface through the SOA service, the vehicle control device 120 can obtain the vehicle position identification result through active calling without subscribing to the subject identifier corresponding to the SOA service, thereby further improving the flexibility of the transmission of the vehicle position identification result to meet different needs.

[0057] Further, the vehicle control device 120 sends the calling parameters to the vehicle central computing domain controller 110 through the calling interface provided by the SOA service, and subscribes to the first topic identifier corresponding to the calling interface;

[0058] The vehicle position identification domain controller 130 is used to receive the execution result of the actuator within its control domain in response to the call parameter, generate a service return parameter according to the execution result, and send the service return parameter to the vehicle central computing domain controller 110 through the return interface provided by the SOA service. The vehicle central computing domain controller 110 publishes the first topic identifier and the service return parameter association to the Ethernet based on the DDS protocol stack, so that the vehicle-mounted control device 120 that subscribes to the first topic identifier obtains the service return parameter.

[0059] The first topic identifier may be the same as or different from the topic identifier in the above implementation, and the present disclosure does not limit this. In addition, other control devices in the vehicle-mounted control device 120 may subscribe to the first topic identifier.

[0060] It is understandable that the service return parameter is transmitted in the Ethernet in the form of a service parameter, and the data format of the service return parameter may be the same as the above-mentioned vehicle position identification result.

[0061] In some possible implementations, if the calling interface provided by the vehicle control device 120 SOA service sends calling parameters to the vehicle central computing domain controller 110 and subscribes to the first topic identifier, and a service return parameter corresponding to the first topic identifier is received, the subscription to the first topic identifier is canceled.

[0062] By adopting the above scheme, the vehicle-mounted control device 120 can actively call the SOA service published on the vehicle central computing domain controller 110 and subscribe to the corresponding subject identifier. After the vehicle position identification domain controller 130 controls the execution of the actuator in its control domain according to the calling parameters, it can collect the execution results and generate service return parameters. The vehicle central computing domain controller 110 associates the service return parameters with the subject identifier and publishes them, ensuring that the vehicle-mounted control device 120 that calls the SOA service and the vehicle-mounted control device 120 that subscribes to the subject identifier can obtain the corresponding service return parameters, further improving the flexibility of data transmission and ensuring that the system architecture can adapt to different data transmission requirements.

[0063] In some embodiments, the vehicle position recognition result is obtained by identifying at least one of the vehicle lane number, lane boundary, lane line relative distance, and road type.

[0064] Specifically, the self-vehicle position recognition result can be determined based on the execution results of multiple perception mechanisms, such as the self-vehicle position recognition result obtained by processing the image data, ultrasonic data, laser radar data and map data through the AI ​​model. The data structure of the self-vehicle position recognition result can be a tree data structure, including multiple nodes, and under the root node, it can include lane direction, current section road type, next section road type, distance to next section, next section speed limit, connection type, turn type, distance to connection point, current section speed limit, distance to left lane, distance to right lane, distance to speed bump, number of feature points, set of feature points, number of boundaries, set of boundaries, lane line information in front of adjacent vehicles, lane line information behind adjacent vehicles, lane information in front of all vehicles, lane information of all vehicles, etc.

[0065] The lane direction node may include nodes such as one-way lanes and two-way lanes. The current section road type node and the next section road type node may include nodes such as overview sections, urban sections, rural roads, and unstructured roads. The connection type node may include nodes such as crossroads or T-shaped intersections, one-way road entrances, one-way road exits, and virtual connection points. The feature point combination node may include nodes corresponding to each feature point. The node corresponding to each feature point includes nodes such as 3D coordinates, index values, distances, and feature attributes, and so on. The present disclosure will not go into details here.

[0066] By adopting the above scheme, the self-vehicle position recognition result obtained by identifying the information used to characterize the vehicle's self-vehicle position, such as the self-vehicle lane number, lane boundary, relative distance of lane lines, road type, etc., can at least characterize the lane number, lane boundary, etc. corresponding to the vehicle's current self-vehicle position based on this information, so that the vehicle-mounted control device 120 that subscribes to the subject identifier corresponding to the self-vehicle position recognition result can more conveniently perform further processing such as data analysis and display based on the self-vehicle position recognition result, thereby improving the efficiency of data processing.

[0067] Figure 2 1 is a flow chart showing a transmission method for self-vehicle position identification according to an exemplary embodiment. The method can be applied to the self-vehicle position identification domain controller 130. The transmission method includes:

[0068] S201. Send the self-vehicle position identification result to the whole vehicle central computing domain controller through the upload interface provided by the SOA service corresponding to the self-vehicle position identification domain controller in the whole vehicle central computing domain controller, so that the whole vehicle central computing domain controller publishes the subject identifier and the self-vehicle position identification result to the Ethernet based on the DDS protocol stack, so that the vehicle-mounted control device that subscribes to the subject identifier obtains the self-vehicle position identification result.

[0069] Optionally, the control domain of the vehicle position identification domain controller includes an actuator for collecting vehicle position information, and the method includes:

[0070] The execution results of the actuators in the control domain of the self-vehicle position identification domain controller are collected through the CAN bus, and the self-vehicle position identification result is generated according to the execution results.

[0071] Optionally, the execution result is periodically executed and sent by the execution structure, or is executed and sent by the execution mechanism according to the execution instruction of the vehicle position identification domain controller.

[0072] Optionally, the vehicle-mounted control device that subscribes to the topic identifier includes a second domain controller, and the second domain controller is used to control an actuator within a control domain of the second domain controller according to the vehicle position identification result.

[0073] Optionally, the vehicle-mounted control device sends calling parameters to the vehicle central computing domain controller through the calling interface provided by the SOA service, and the vehicle central computing domain controller forwards the calling parameters to the vehicle position identification domain controller corresponding to the SOA service based on the DDS protocol stack, so that the vehicle position identification domain controller sends execution instructions to the actuator within the control domain of the vehicle position identification domain controller through the CAN bus according to the calling parameters.

[0074] Optionally, the vehicle-mounted control device sends the calling parameters to the vehicle central computing domain controller through the calling interface provided by the SOA service, and subscribes to the first topic identifier corresponding to the calling interface;

[0075] The method comprises:

[0076] Receive the execution result of the execution mechanism in its control domain in response to the call parameter, generate a service return parameter according to the execution result, send the service return parameter to the vehicle central computing domain controller through the return interface provided by the SOA service, and the vehicle central computing domain controller publishes the first topic identifier and the service return parameter association to the Ethernet based on the DDS protocol stack, so that the vehicle-mounted control device that subscribes to the first topic identifier obtains the service return parameter.

[0077] Optionally, the vehicle position recognition result is obtained by identifying at least one of the vehicle lane number, lane boundary, lane line relative distance, and road type.

[0078] Figure 31 is a flow chart showing a transmission method for self-vehicle position identification according to an exemplary embodiment. The method can be a central computing domain controller 110 of the whole vehicle. The transmission method includes:

[0079] S301, receiving a self-vehicle position identification result uploaded by a self-vehicle position identification domain controller, wherein the self-vehicle position identification result is uploaded through an upload interface provided by a SOA service corresponding to the self-vehicle position identification domain controller in the vehicle central computing domain controller.

[0080] S302: Based on the DDS protocol stack, the subject identifier and the vehicle position identification result are associated and published to the Ethernet, so that the vehicle control device subscribed to the subject identifier obtains the vehicle position identification result.

[0081] Optionally, the control domain of the self-vehicle position identification domain controller includes an actuator for collecting self-vehicle position information, and the self-vehicle position identification domain controller is used to collect execution results of the actuator within the control domain of the self-vehicle position identification domain controller through a CAN bus, and generate the self-vehicle position identification result based on the execution result.

[0082] Optionally, the execution result is periodically executed and sent by the execution structure, or is executed and sent by the execution mechanism according to the execution instruction of the vehicle position identification domain controller.

[0083] Optionally, the vehicle-mounted control device that subscribes to the topic identifier includes a second domain controller, and the second domain controller is used to control an actuator within a control domain of the second domain controller according to the vehicle position identification result.

[0084] Optionally, the vehicle-mounted control device sends a call parameter to the vehicle central computing domain controller through a call interface provided by the SOA service;

[0085] The method comprises:

[0086] Based on the DDS protocol stack, the calling parameters are forwarded to the vehicle position identification domain controller corresponding to the SOA service, so that the vehicle position identification domain controller sends execution instructions to the actuator in the control domain of the vehicle position identification domain controller through the CAN bus according to the calling parameters.

[0087] Optionally, the vehicle-mounted control device sends the call parameters to the vehicle central computing domain controller through the call interface provided by the SOA service, and subscribes to the first topic identifier corresponding to the call interface; the vehicle position identification domain controller is used to receive the execution result of the actuator in its control domain in response to the call parameters, generate a service return parameter according to the execution result, and send the service return parameter to the vehicle central computing domain controller through the return interface provided by the SOA service;

[0088] The method comprises:

[0089] Based on the DDS protocol stack, the first topic identifier and the service return parameter are associated and published to the Ethernet, so that the vehicle control device subscribed to the first topic identifier obtains the service return parameter.

[0090] Optionally, the vehicle position recognition result is obtained by identifying at least one of the vehicle lane number, lane boundary, lane line relative distance, and road type.

[0091] Figure 4 A vehicle is shown according to an exemplary embodiment, such as Figure 4 As shown, it includes a vehicle central computing domain controller 110, and a plurality of vehicle-mounted control devices 120 connected to the vehicle central computing domain controller via Ethernet, wherein the vehicle-mounted control device 120 includes a vehicle position identification domain controller 130;

[0092] The vehicle position identification domain controller 130 is configured to perform the above-mentioned Figure 2 The transmission method for self-vehicle position identification is shown, and the vehicle central computing domain controller 110 is configured to perform the above Figure 3 In the transmission method for self-vehicle position identification shown, the vehicle-mounted control device 120 is configured to subscribe to the subject identifier corresponding to the SOA service through the subscription interface provided by the SOA service to obtain the self-vehicle position identification result.

[0093] See also Figure 5 , Figure 5 5 is a functional block diagram of another vehicle shown in an exemplary embodiment. Vehicle 500 can be configured in a fully or partially autonomous driving mode. For example, vehicle 500 can obtain environmental information about its surroundings through perception system 520, and obtain an autonomous driving strategy based on the analysis of the surrounding environmental information to achieve fully autonomous driving, or present the analysis results to the user to achieve partially autonomous driving.

[0094] The vehicle 500 may include various subsystems, such as an infotainment system 510, a perception system 520, a decision control system 530, a drive system 540, and a computing platform 550. Optionally, the vehicle 500 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and component of the vehicle 500 may be interconnected by wire or wirelessly.

[0095] In some embodiments, infotainment system 510 may include communication system 511 , entertainment system 512 , and navigation system 513 .

[0096] The communication system 511 may include a wireless communication system that can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system may use 3G cellular communications, such as CDMA, EVDO, GSM / GPRS, or 4G cellular communications, such as LTE. Or 5G cellular communications. The wireless communication system may communicate with a wireless local area network (WLAN) using WiFi. In some embodiments, the wireless communication system may communicate directly with the device using an infrared link, Bluetooth, or ZigBee. Other wireless protocols, such as various vehicle communication systems, for example, the wireless communication system may include one or more dedicated short range communications (DSRC) devices, which may include public and / or private data communications between vehicles and / or roadside stations.

[0097] The entertainment system 512 may include a display device, a microphone and speakers. Users can listen to the radio and play music in the car based on the entertainment system; or connect the mobile phone to the vehicle and project the mobile phone's screen on the display device. The display device may be touch-screen, and users can operate by touching the screen.

[0098] In some cases, the user's voice signal can be obtained through a microphone, and based on the analysis of the user's voice signal, the user can control certain aspects of the vehicle 500, such as adjusting the temperature inside the vehicle, etc. In other cases, music can be played to the user through a speaker.

[0099] The navigation system 513 may include a map service provided by a map provider, thereby providing navigation of the driving route for the vehicle 500, and the navigation system 513 may be used in conjunction with the vehicle's global positioning system 521 and inertial measurement unit 522. The map service provided by the map provider may be a two-dimensional map or a high-precision map.

[0100] The perception system 520 may include several sensors that sense information about the environment around the vehicle 500. For example, the perception system 520 may include a global positioning system 521 (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU) 522, a laser radar 523, a millimeter wave radar 524, an ultrasonic radar 525, and a camera 526. The perception system 520 may also include sensors of the internal systems of the monitored vehicle 500 (for example, an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, direction, speed, etc.). Such detection and recognition are key functions for the safe operation of the vehicle 500.

[0101] The global positioning system 521 is used to estimate the geographic location of the vehicle 500 .

[0102] The inertial measurement unit 522 is used to sense the change of the posture of the vehicle 500 based on the inertial acceleration. In some embodiments, the inertial measurement unit 522 may be a combination of an accelerometer and a gyroscope.

[0103] Lidar 523 utilizes lasers to sense objects in the environment in which vehicle 500 is located. In some embodiments, Lidar 523 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

[0104] The millimeter wave radar 524 uses radio signals to sense objects in the surrounding environment of the vehicle 500. In some embodiments, in addition to sensing objects, the millimeter wave radar 524 can also be used to sense the speed and / or heading of the object.

[0105] The ultrasonic radar 525 may sense objects around the vehicle 500 using ultrasonic signals.

[0106] The camera device 526 is used to capture image information of the surrounding environment of the vehicle 500. The camera device 526 may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, etc. The image information acquired by the camera device 526 may include a static image or video stream information.

[0107] The decision control system 530 includes a computing system 531 that analyzes and makes decisions based on the information obtained by the perception system 520. The decision control system 530 also includes a vehicle controller 532 that controls the power system of the vehicle 500, and a steering system 533, a throttle 534 and a braking system 535 for controlling the vehicle 500.

[0108] The computing system 531 can be operated to process and analyze various information obtained by the perception system 520 in order to identify targets, objects and / or features in the environment surrounding the vehicle 500. Targets may include pedestrians or animals, and objects and / or features may include traffic signals, road boundaries and obstacles. The computing system 531 may use object recognition algorithms, Structure from Motion (SFM) algorithms, video tracking and other technologies. In some embodiments, the computing system 531 can be used to map the environment, track objects, estimate the speed of objects, and so on. The computing system 531 can analyze the various information obtained and derive a control strategy for the vehicle.

[0109] The vehicle controller 532 can be used to coordinate and control the vehicle's power battery and engine 541 to improve the power performance of the vehicle 500.

[0110] The steering system 533 is operable to adjust the forward direction of the vehicle 500. For example, in one embodiment, it may be a steering wheel system.

[0111] The throttle 534 is used to control the operating speed of the engine 541 and thus control the speed of the vehicle 500 .

[0112] Braking system 535 is used to control the deceleration of vehicle 500. Braking system 535 can use friction to slow down wheels 544. In some embodiments, braking system 535 can convert the kinetic energy of wheels 544 into electric current. Braking system 535 can also take other forms to slow down the rotation speed of wheels 544 to control the speed of vehicle 500.

[0113] The drive system 540 may include components that provide powered movement for the vehicle 500. In one embodiment, the drive system 540 may include an engine 541, an energy source 542, a transmission system 543, and wheels 544. The engine 541 may be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 541 converts the energy source 542 into mechanical energy.

[0114] Examples of energy source 542 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy source 542 can also provide energy to other systems of vehicle 500.

[0115] The transmission system 543 can transmit the mechanical power from the engine 541 to the wheels 544. The transmission system 543 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission system 543 may also include other devices, such as a clutch. Among them, the drive shaft may include one or more shafts that can be coupled to one or more wheels 544.

[0116] Some or all functions of the vehicle 500 are controlled by a computing platform 550. The computing platform 550 may include at least one processor 551 that may execute instructions 553 stored in a non-transitory computer-readable medium such as a memory 552. In some embodiments, the computing platform 550 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 500 in a distributed manner.

[0117] The processor 551 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor 551 may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof. Figure 5 Functionally illustrated processor, memory and other elements of the computer in the same block, but those of ordinary skill in the art will appreciate that the processor, computer or memory may actually include multiple processors, computers or memories that may or may not be stored in the same physical housing. For example, the memory may be a hard drive or other storage media that is located in a housing different from the computer. Therefore, references to processors or computers will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Different from using a single processor to perform the steps described herein, some components such as steering components and deceleration components may each have their own processors that only perform calculations related to the functions specific to the components.

[0118] In the embodiment of the present disclosure, the processor 551 may execute the above-mentioned transmission method for self-vehicle position identification.

[0119] In various aspects described herein, processor 551 may be located remote from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are performed on a processor disposed within the vehicle and others are performed by a remote processor, including taking the necessary steps to perform a single maneuver.

[0120] In some embodiments, the memory 552 may include instructions 553 (e.g., program logic) that may be executed by the processor 551 to perform various functions of the vehicle 500. The memory 552 may also include additional instructions, including instructions to send data to, receive data from, interact with, and / or control one or more of the infotainment system 510, the perception system 520, the decision control system 530, and the drive system 540.

[0121] In addition to instructions 553, memory 552 may also store data such as road maps, route information, the vehicle's location, direction, speed, and other such vehicle data, as well as other information. Such information may be used by vehicle 500 and computing platform 550 during operation of vehicle 500 in autonomous, semi-autonomous, and / or manual modes.

[0122] The computing platform 550 may control functions of the vehicle 500 based on input received from various subsystems, such as the drive system 540, the perception system 520, and the decision control system 530. For example, the computing platform 550 may utilize input from the decision control system 530 in order to control the steering system 533 to avoid an obstacle detected by the perception system 520. In some embodiments, the computing platform 550 may be operable to provide control over many aspects of the vehicle 500 and its subsystems.

[0123] Alternatively, one or more of the above-mentioned components may be installed or associated separately from the vehicle 500. For example, the first memory 552 may exist partially or completely separately from the vehicle 500. The above-mentioned components may be communicatively coupled together in a wired and / or wireless manner.

[0124] Optionally, the above components are only examples. In actual applications, the components in the above modules may be added or deleted according to actual needs. Figure 5 It should not be understood as limiting the embodiments of the present disclosure.

[0125] An autonomous vehicle traveling on a road, such as vehicle 500 above, can identify objects in its surroundings to determine adjustments to the current speed. Objects can be other vehicles, traffic control devices, or other types of objects. In some examples, each identified object can be considered independently, and based on the object's respective characteristics, such as its current speed, acceleration, spacing from the vehicle, etc., can be used to determine the speed to be adjusted by the autonomous vehicle.

[0126] Optionally, the vehicle 500 or a sensing and computing device associated with the vehicle 500 (e.g., computing system 531, computing platform 550) can predict the behavior of the identified object based on the characteristics of the identified object and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each identified object depends on the behavior of each other, so all the identified objects can also be considered together to predict the behavior of a single identified object. The vehicle 500 can adjust its speed based on the predicted behavior of the identified object. In other words, the autonomous vehicle can determine what stable state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the object. In this process, other factors can also be considered to determine the speed of the vehicle 500, such as the lateral position of the vehicle 500 in the road on which it is traveling, the curvature of the road, the proximity of static and dynamic objects, etc.

[0127] In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may also provide instructions to modify the steering angle of vehicle 500 so that the autonomous vehicle follows a given trajectory and / or maintains a safe lateral and longitudinal distance from objects near the autonomous vehicle (e.g., vehicles in adjacent lanes on the road).

[0128] The vehicle 500 may be any type of travel vehicle, such as a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, an RV, a train, etc., and the present disclosure does not specifically limit the vehicle.

[0129] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and has a code portion for executing the above-mentioned transmission method for identifying the position of the own vehicle when the computer program is executed by the programmable device.

[0130] Figure 6 FIG. 1 is a block diagram of a domain controller according to an exemplary embodiment. Figure 6 , the domain controller 600 may be as follows Figure 1 The vehicle central computing domain controller 110 shown may also be the vehicle position identification domain controller 130, and the domain controller 600 includes a processing component 622, which further includes one or more processors, and a memory resource represented by a second memory 632, for storing instructions executable by the processing component 622, such as an application. The application stored in the second memory 632 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 622 is configured to execute instructions to perform the above-mentioned transmission method for vehicle position identification.

[0131] The domain controller 600 may also include a power supply component 626 configured to perform power management of the domain controller 600, a wired or wireless network interface 650 configured to connect the domain controller 600 to a network, and an input / output interface 658. The domain controller 600 may operate based on an operating system stored in the second memory 632, such as Windows Server 2000. TM , Mac OS X TM , Unix TM , Linux TM , FreeBSD TM or similar.

[0132] In addition to being an independent electronic device, the domain controller 600 may also be a part of an independent electronic device. For example, in one embodiment, the domain controller 600 may be an integrated circuit (IC) or a chip, wherein the integrated circuit may be an IC or a collection of multiple ICs; the chip may include but is not limited to the following types: GPU (Graphics Processing Unit), CPU (Central Processing Unit), FPGA (Field Programmable Gate Array), DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), SOC (System on Chip, SoC), etc. The above-mentioned integrated circuit or chip can be used to execute executable instructions (or codes) to implement the above-mentioned transmission method for self-vehicle position identification. The executable instructions may be stored in the integrated circuit or chip, or may be obtained from other devices or equipment, such as the integrated circuit or chip including a processor, a memory, and an interface for communicating with other devices. The executable instruction can be stored in the memory, and when the executable instruction is executed by the processor, the above-mentioned transmission method for self-vehicle position identification is implemented; alternatively, the integrated circuit or chip can receive the executable instruction through the interface and transmit it to the processor for execution, so as to implement the above-mentioned transmission method for self-vehicle position identification.

[0133] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the present disclosure. This application is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0134] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A system architecture for vehicle position recognition, characterized in that: Applied to a vehicle, the system architecture includes: A vehicle central computing domain controller, and a plurality of vehicle-mounted control devices connected to the vehicle central computing domain controller via Ethernet, wherein the vehicle-mounted control devices include a vehicle position identification domain controller; The whole vehicle central computing domain controller is configured with an SOA service corresponding to the self-vehicle position identification domain controller, and the on-board control device subscribes to the subject identifier corresponding to the SOA service through the subscription interface provided by the SOA service, and the self-vehicle position identification domain controller sends the self-vehicle position identification result to the whole vehicle central computing domain controller through the upload interface provided by the SOA service, so that the whole vehicle central computing domain controller associates the subject identifier and the self-vehicle position identification result and publishes it to the Ethernet based on the DDS protocol stack, so that the on-board control device that subscribes to the subject identifier obtains the self-vehicle position identification result.

2. The system architecture according to claim 1, characterized in that: The control domain of the self-vehicle position identification domain controller includes an actuator for collecting self-vehicle position information. The self-vehicle position identification domain controller is used to collect the execution results of the actuator in the control domain of the self-vehicle position identification domain controller through the CAN bus, and generate the self-vehicle position identification result based on the execution result.

3. The system architecture according to claim 2, characterized in that: The execution result is periodically executed and sent by the execution structure, or is executed and sent by the execution mechanism according to the execution instruction of the vehicle position identification domain controller.

4. The system architecture according to claim 1, characterized in that: The vehicle-mounted control device subscribing to the subject identifier includes a second domain controller, and the second domain controller is used to control an actuator within a control domain of the second domain controller according to the vehicle position identification result.

5. The system architecture according to claim 1, characterized in that: The vehicle-mounted control device sends calling parameters to the vehicle central computing domain controller through the calling interface provided by the SOA service. The vehicle central computing domain controller forwards the calling parameters to the vehicle position identification domain controller corresponding to the SOA service based on the DDS protocol stack, so that the vehicle position identification domain controller sends execution instructions to the actuator within the control domain of the vehicle position identification domain controller through the CAN bus according to the calling parameters.

6. The system architecture according to claim 5, characterized in that: The vehicle-mounted control device sends a call parameter to the vehicle central computing domain controller through the call interface provided by the SOA service, and subscribes to the first topic identifier corresponding to the call interface; The vehicle position identification domain controller is used to receive the execution result of the actuator within its control domain in response to the call parameter, generate a service return parameter according to the execution result, and send the service return parameter to the vehicle central computing domain controller through the return interface provided by the SOA service. The vehicle central computing domain controller publishes the first topic identifier and the service return parameter association to the Ethernet based on the DDS protocol stack, so that the vehicle-mounted control device that subscribes to the first topic identifier obtains the service return parameter.

7. The system architecture according to any one of claims 1 to 6, characterized in that: The vehicle position recognition result is obtained by identifying at least one of the vehicle lane number, lane boundary, lane line relative distance, and road type.

8. A transmission method for vehicle position recognition, characterized in that: The method is applied to the vehicle position identification domain controller in claims 1-7, and the transmission method includes: The self-vehicle position identification result is sent to the whole vehicle central computing domain controller through the upload interface provided by the SOA service corresponding to the self-vehicle position identification domain controller in the whole vehicle central computing domain controller, so that the whole vehicle central computing domain controller publishes the subject identifier and the self-vehicle position identification result to the Ethernet based on the DDS protocol stack, so that the vehicle-mounted control device that subscribes to the subject identifier obtains the self-vehicle position identification result.

9. A transmission method for vehicle position recognition, characterized in that: The method is applied to the vehicle central computing domain controller in claims 1-7, and the transmission method includes: Receiving a self-vehicle position identification result uploaded by the self-vehicle position identification domain controller, wherein the self-vehicle position identification result is uploaded through an upload interface provided by a SOA service corresponding to the self-vehicle position identification domain controller in the vehicle central computing domain controller; Based on the DDS protocol stack, the subject identifier and the vehicle position identification result are associated and published to the Ethernet, so that the vehicle control device subscribed to the subject identifier obtains the vehicle position identification result.

10. A vehicle, characterized in that: It includes a vehicle central computing domain controller, and a plurality of vehicle-mounted control devices connected to the vehicle central computing domain controller via Ethernet, wherein the vehicle-mounted control devices include a vehicle position identification domain controller; Among them, the vehicle position identification domain controller is configured to execute the method described in claim 8, the vehicle central computing domain controller is configured to execute the method described in claim 9, and the vehicle-mounted control device is configured to subscribe to the subject identifier corresponding to the SOA service through the subscription interface provided by the SOA service to obtain the vehicle position identification result.

11. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the steps of the method according to claim 8 or 9 are implemented.

12. A chip, characterized in that: The method comprises a processor and an interface; the processor is used to read instructions to execute the method according to claim 8 or 9.

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