System architecture, transmission method, vehicle, medium and chip for traffic signal recognition

Abstract

The present disclosure relates to a system architecture, transmission method, vehicle, medium and chip for traffic signal recognition, including: a whole vehicle central computing domain controller, a traffic signal recognition domain controller and a first bottom-layer domain controller; the whole vehicle central computing domain controller is configured with a first SOA service corresponding to the traffic signal recognition domain controller, the traffic signal recognition domain controller generates a recognition result description according to the hierarchical structure of the traffic signal in the traffic signal recognition result, and uploads the traffic signal recognition result to the whole vehicle central computing domain controller through an upload interface provided by the first SOA service, the whole vehicle central computing domain controller generates a service list according to the recognition result description and the upload interface, and broadcasts the service list to the Ethernet, so that the first bottom-layer domain controller that subscribes to and calls the first SOA service on the whole vehicle central computing domain controller can obtain the service list, and call the traffic signal recognition result according to the recognition result description in the service list.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle engineering technology, and in particular to a system architecture, transmission method, vehicle, medium and chip for traffic signal recognition. Background Art

[0002] In the field of intelligent driving technology, in order to enable different domain controllers to control vehicle actuators in control domains other than their own domain controllers, cross-domain service calls can be made through SOA services. However, when a new domain controller is added to the vehicle, the calling service of the newly added domain controller needs to be set up, which increases the workload of vehicle development. 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 traffic signal recognition.

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

[0005] A vehicle central computing domain controller, and multiple underlying domain controllers connected to the vehicle central computing domain controller via Ethernet, wherein the underlying domain controllers include a traffic signal recognition domain controller and a first underlying domain controller;

[0006] The vehicle central computing domain controller is configured with a first SOA service corresponding to the traffic signal recognition domain controller. The first SOA service provides an upload interface. The traffic signal recognition domain controller generates an identification result description corresponding to the traffic signal recognition result according to the hierarchical structure of each traffic signal in the traffic signal recognition result, and uploads the traffic signal recognition result to the vehicle central computing domain controller through the upload interface. The vehicle central computing domain controller generates a service list according to the identification result description of the traffic signal recognition result and the upload interface of the first SOA service, and broadcasts the service list to the Ethernet, so that the first bottom-level domain controller that subscribes to and calls the first SOA service on the vehicle central computing domain controller can obtain the service list and call the traffic signal recognition result according to the identification result description in the service list. The traffic signal recognition result is obtained by identifying each traffic signal.

[0007] Optionally, the control domains of the multiple underlying domain controllers include corresponding vehicle actuators, and the vehicle central computing domain controller is configured with a second SOA service corresponding to the vehicle actuators in the control domains of the multiple underlying domain controllers. The multiple underlying domain controllers are all configured with a cross-domain service for cross-domain calling of the second SOA service, and the cross-domain service is used to call the second SOA service corresponding to the vehicle actuator in the control domain of a non-domain controller.

[0008] Optionally, the cross-domain service is used to:

[0009] Monitor the interface status of the upload interface corresponding to the first SOA service, and generate a call instruction when the interface status indicates that the traffic signal recognition domain controller uploads the traffic signal recognition result to the vehicle central computing domain controller;

[0010] The information broadcast by the vehicle central computing domain controller on the Ethernet is monitored according to the calling instruction, and when the vehicle central computing domain controller is monitored to broadcast the traffic signal recognition result to the Ethernet, the traffic signal recognition result is obtained from the Ethernet.

[0011] Optionally, the traffic signal recognition result is obtained by identifying at least one of a traffic sign, a traffic light and a traffic police command.

[0012] According to a second aspect of an embodiment of the present disclosure, a transmission method for traffic signal recognition is provided, the method being applied to a traffic signal recognition domain controller of the system architecture described in any one of the first aspects, the transmission method comprising:

[0013] generating a recognition result description corresponding to the traffic signal recognition result according to the hierarchical structure of each traffic signal in the traffic signal recognition result;

[0014] The traffic signal recognition result is uploaded to the vehicle central computing domain controller through the upload interface provided by the first SOA service corresponding to the traffic signal recognition domain controller in the vehicle central computing domain controller. The vehicle central computing domain controller generates a service list according to the recognition result description of the traffic signal recognition result and the upload interface of the first SOA service, and broadcasts the service list to the Ethernet, so that the first underlying domain controller that subscribes to and calls the first SOA service on the vehicle central computing domain controller can obtain the service list and call the traffic signal recognition result according to the recognition result description in the service list. The traffic signal recognition result is obtained by recognizing each traffic signal.

[0015] According to a third aspect of an embodiment of the present disclosure, a transmission method for traffic signal recognition is provided, the method being applied to a vehicle central computing domain controller of the system architecture described in any one of the first aspects, the transmission method comprising:

[0016] receiving a traffic signal recognition result uploaded by a traffic signal recognition domain controller, the traffic signal recognition result carrying a recognition result description corresponding to the traffic signal recognition result generated according to the hierarchical structure of each traffic signal in the traffic signal recognition result, the traffic signal recognition result being uploaded through an upload interface provided by a first SOA service corresponding to the traffic signal recognition domain controller in the vehicle central computing domain controller, and the traffic signal recognition result being obtained by recognizing each traffic signal;

[0017] Generate a service list according to the recognition result description of the traffic signal recognition result and the upload interface of the first SOA service;

[0018] The service list is broadcasted to the Ethernet so that the first underlying domain controller that subscribes to and calls the first SOA service on the vehicle central computing domain controller can obtain the service list and call the traffic signal recognition result according to the recognition result description in the service list.

[0019] According to a fourth aspect of an embodiment of the present disclosure, a vehicle is provided, comprising: a vehicle central computing domain controller, a plurality of underlying domain controllers connected to the vehicle central computing domain controller via Ethernet, the underlying domain controllers comprising a traffic signal recognition domain controller and a first underlying domain controller;

[0020] Among them, the traffic signal recognition domain controller is configured to execute the method described in the second aspect, the vehicle central computing domain controller is configured to execute the method described in the third aspect, and the first underlying domain controller is configured to subscribe to and call the service list generated by the vehicle central computing domain controller based on the recognition result description of the traffic signal recognition result and the upload interface of the first SOA service through the Ethernet to call the traffic signal recognition result uploaded by the traffic signal recognition domain controller.

[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 or the third aspect 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 or the third aspect.

[0023] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0024] The first SOA service corresponding to the traffic signal recognition domain controller is configured in the central computing domain controller of the whole vehicle. The first SOA service provides an upload interface. The traffic signal recognition domain controller generates an identification result description corresponding to the traffic signal recognition result according to the hierarchical structure of each traffic signal in the traffic signal recognition result, and uploads the traffic signal recognition result to the central computing domain controller of the whole vehicle through the upload interface. The central computing domain controller of the whole vehicle generates a service list according to the identification result description of the traffic signal recognition result and the upload interface of the first SOA service, and broadcasts the service list to the Ethernet, so that the first bottom-level domain controller that subscribes to and calls the first SOA service on the central computing domain controller of the whole vehicle can obtain the service list and call the traffic signal recognition result according to the identification result description in the service list. Relying on SOA services, the first bottom-level domain controller can freely call traffic signal recognition results from the service list, and the domain controller newly added to the Ethernet can also subscribe and call directly from the service list, reducing the development workload and making the first bottom-level domain controller obtain traffic signal recognition results without being limited by the CAN bus bandwidth. When expanding functions, you only need to add the expanded domain controller to the Ethernet to obtain the traffic signal recognition results, without adjusting or adapting other domain controllers of the vehicle, etc., reducing the cost of vehicle function development.

[0025] 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

[0026] 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.

[0027] Figure 1 The invention is a block diagram showing a system architecture for traffic signal recognition according to an exemplary embodiment.

[0028] Figure 2 The figure is a schematic diagram of a data structure of a traffic signal recognition result according to an exemplary embodiment.

[0029] Figure 3 It is a schematic diagram of a functional block diagram of a vehicle showing an exemplary embodiment.

[0030] Figure 4 The diagram is a block diagram of a domain controller according to an exemplary embodiment. DETAILED DESCRIPTION

[0031] 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.

[0032] It should be noted that all actions of acquiring signals, information or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where they are located, and with the authorization given by the owner of the corresponding device.

[0033] Figure 1 is a schematic block diagram of a system architecture for traffic signal recognition according to an exemplary embodiment, wherein the system architecture is applied to a vehicle, such as Figure 1 As shown, the system architecture includes:

[0034] A vehicle central computing domain controller, and multiple underlying domain controllers connected to the vehicle central computing domain controller via Ethernet, wherein the underlying domain controllers include a traffic signal recognition domain controller and a first underlying domain controller;

[0035] In the disclosed embodiment, the vehicle central computing domain controller VCCD is directly connected to multiple underlying domain controllers via Ethernet, and the vehicle central computing domain controller VCCD communicates with multiple underlying domain controllers via SOA (Service Oriented Architecture) messages. With the help of SOA services, a unified data and function call interface function is abstracted on a heterogeneous distributed system, which can shield the differences between different operating systems and different communication buses, encapsulate the entire vehicle into a logical device, and simplify the horizontal and vertical complexity of software development.

[0036] Among them, the first underlying domain controller can be, for example, any one of an assisted driving domain controller, a chassis domain controller, a power domain controller, a cockpit domain controller and a body domain controller.

[0037] It is worth noting that the control domain of each underlying domain controller includes corresponding vehicle actuators. For example, the control domain of the traffic signal recognition domain controller includes an image acquisition device, which is usually installed at the front of the vehicle, for example, at the front vehicle grid.

[0038] In the disclosed embodiment, the corresponding vehicle actuator in the control domain of each underlying domain controller is connected to the underlying domain controller through the CAN bus, and at the same time, the corresponding vehicle actuator in the control domain of each underlying domain controller is connected to the vehicle central computing domain controller VCCD through the CAN bus. For example, the image acquisition device in the control domain of the traffic signal recognition domain controller is connected to the traffic signal recognition domain controller through the CAN bus, and is connected to the vehicle central computing domain controller VCCD through the CAN bus.

[0039] The vehicle central computing domain controller is configured with a first SOA service corresponding to the traffic signal recognition domain controller. The first SOA service provides an upload interface. The traffic signal recognition domain controller generates an identification result description corresponding to the traffic signal recognition result according to the hierarchical structure of each traffic signal in the traffic signal recognition result, and uploads the traffic signal recognition result to the vehicle central computing domain controller through the upload interface. The vehicle central computing domain controller generates a service list according to the identification result description of the traffic signal recognition result and the upload interface of the first SOA service, and broadcasts the service list to the Ethernet, so that the first bottom-level domain controller that subscribes to and calls the first SOA service on the vehicle central computing domain controller can obtain the service list and call the traffic signal recognition result according to the identification result description in the service list. The traffic signal recognition result is obtained by identifying each traffic signal.

[0040] The hierarchical structure may be a classification hierarchy of each traffic signal in the traffic signal recognition result. The recognition result description is used to represent the semantics of the current traffic signal. Furthermore, the service list includes not only the recognition result description of the traffic signal recognition domain controller and the upload interface of the first SOA service, but also the recognition result description of each first bottom-level domain controller and the upload interface of the first SOA service. The bottom-level domain controller may call the recognition result of any other domain bottom-level controller from the service list.

[0041] The above system architecture is configured with a first SOA service corresponding to the traffic signal recognition domain controller in the central computing domain controller of the whole vehicle. The first SOA service provides an upload interface. The traffic signal recognition domain controller generates a recognition result description corresponding to the traffic signal recognition result according to the hierarchical structure of each traffic signal in the traffic signal recognition result, and uploads the traffic signal recognition result to the central computing domain controller of the whole vehicle through the upload interface. The central computing domain controller of the whole vehicle generates a service list according to the recognition result description of the traffic signal recognition result and the upload interface of the first SOA service, and broadcasts the service list to the Ethernet, so that the first bottom-level domain controller that subscribes to and calls the first SOA service on the central computing domain controller of the whole vehicle can obtain the service list and call the traffic signal recognition result according to the recognition result description in the service list. Relying on SOA services, the first bottom-level domain controller can freely call traffic signal recognition results from the service list, and the domain controller newly added to the Ethernet can also subscribe and call directly from the service list, reducing the development workload and making the first bottom-level domain controller obtain traffic signal recognition results without being limited by the CAN bus bandwidth. When expanding functions, you only need to add the expanded domain controller to the Ethernet to obtain the traffic signal recognition results, without adjusting or adapting other domain controllers of the vehicle, etc., reducing the cost of vehicle function development.

[0042] Optionally, the control domains of the multiple underlying domain controllers include corresponding vehicle actuators, and the vehicle central computing domain controller is configured with a second SOA service corresponding to the vehicle actuators in the control domains of the multiple underlying domain controllers. The multiple underlying domain controllers are all configured with a cross-domain service for cross-domain calling of the second SOA service, and the cross-domain service is used to call the second SOA service corresponding to the vehicle actuator in the control domain of a non-domain controller.

[0043] It can be understood that multiple underlying domain controllers are connected to the vehicle actuators within their control domains via CAN bus communication, and the vehicle central computing domain controller is connected to any vehicle actuator via CAN bus communication.

[0044] Optionally, the cross-domain service is used to:

[0045] Monitor the interface status of the upload interface corresponding to the first SOA service, and generate a call instruction when the interface status indicates that the traffic signal recognition domain controller uploads the traffic signal recognition result to the vehicle central computing domain controller;

[0046] The information broadcast by the vehicle central computing domain controller on the Ethernet is monitored according to the calling instruction, and when the vehicle central computing domain controller is monitored to broadcast the traffic signal recognition result to the Ethernet, the traffic signal recognition result is obtained from the Ethernet.

[0047] In the embodiment of the present disclosure, the bottom domain controller determines the upload interface corresponding to the first SOA service that needs to be subscribed and called from the service list, and after the subscription and call are successful, monitors the interface status of the upload interface provided by the first SOA service subscribed and called in the service list. It is not necessary to monitor the interface status of the upload interface provided for the called first SOA service.

[0048] Optionally, the traffic signal recognition result is obtained by identifying at least one of a traffic sign, a traffic light and a traffic police command.

[0049] See also Figure 2 The data structure diagram of the traffic signal recognition result shown in the data structure may also include the data sending time of the traffic signal recognition result. Further, the recognition result for the traffic sign may include the speed limit represented by the traffic sign and the current distance from the vehicle. For the traffic light, it may include the current distance of the traffic light from the vehicle and the type of traffic light. For example, there is only one light, which is used to indicate left turn and straight ahead at the same time; there are two lights, which are used to indicate left turn and straight ahead respectively; there are three lights, which are used to indicate left turn, right turn and straight ahead respectively; there are four lights, which are used to indicate left turn, right turn, U-turn and straight ahead respectively. Further, it may also include the state of the traffic light, such as flashing, always on or always off. Of course, the recognition result of the traffic light should include the color of the light, such as green, red or yellow, and each color may correspond to a number (countdown). In one embodiment, the recognition result of the traffic light may also include whether the duration of the light is normal. If it is normal, it means that other domain controllers can call it, and if the duration of the light is abnormal, it means that other domain controllers cannot call it.

[0050] Traffic signs can include ground traffic signs and air traffic signs. For ground traffic signs, the specific recognition is shape, such as circle, arrow (left turn, U-turn, go straight, no left turn, no U-turn, no right turn, no straight), triangle, diamond, square, rectangle. The recognition results of traffic police command signals can include various traffic command gestures, such as passable gestures, no passable gestures, pull over gestures, pass warning gestures, etc.

[0051] Based on the same inventive concept, the embodiment of the present disclosure further provides a transmission method for traffic signal recognition, the method is applied to the traffic signal recognition domain controller of the system architecture described in any one of the aforementioned embodiments, the transmission method comprising:

[0052] generating a recognition result description corresponding to the traffic signal recognition result according to the hierarchical structure of each traffic signal in the traffic signal recognition result;

[0053] The traffic signal recognition result is uploaded to the vehicle central computing domain controller through the upload interface provided by the first SOA service corresponding to the traffic signal recognition domain controller in the vehicle central computing domain controller. The vehicle central computing domain controller generates a service list according to the recognition result description of the traffic signal recognition result and the upload interface of the first SOA service, and broadcasts the service list to the Ethernet, so that the first underlying domain controller that subscribes to and calls the first SOA service on the vehicle central computing domain controller can obtain the service list and call the traffic signal recognition result according to the recognition result description in the service list. The traffic signal recognition result is obtained by recognizing each traffic signal.

[0054] Based on the same inventive concept, the embodiment of the present disclosure further provides a transmission method for traffic signal recognition, the method is applied to the vehicle central computing domain controller of the system architecture described in any one of the aforementioned embodiments, and the transmission method includes:

[0055] receiving a traffic signal recognition result uploaded by a traffic signal recognition domain controller, the traffic signal recognition result carrying a recognition result description corresponding to the traffic signal recognition result generated according to the hierarchical structure of each traffic signal in the traffic signal recognition result, the traffic signal recognition result being uploaded through an upload interface provided by a first SOA service corresponding to the traffic signal recognition domain controller in the vehicle central computing domain controller, and the traffic signal recognition result being obtained by recognizing each traffic signal;

[0056] Generate a service list according to the recognition result description of the traffic signal recognition result and the upload interface of the first SOA service;

[0057] The service list is broadcasted to the Ethernet so that the first underlying domain controller that subscribes to and calls the first SOA service on the vehicle central computing domain controller can obtain the service list and call the traffic signal recognition result according to the recognition result description in the service list.

[0058] Based on the same inventive concept, the embodiment of the present disclosure further provides a vehicle, comprising: a vehicle central computing domain controller, a plurality of underlying domain controllers connected to the vehicle central computing domain controller via Ethernet, the underlying domain controllers comprising a traffic signal recognition domain controller and a first underlying domain controller;

[0059] Among them, the traffic signal recognition domain controller is configured to execute the transmission method described on the traffic signal recognition domain controller side, the vehicle central computing domain controller is configured to execute the transmission method described on the vehicle central computing domain controller side, and the first underlying domain controller is configured to subscribe to and call the service list generated by the vehicle central computing domain controller based on the recognition result description of the traffic signal recognition result and the upload interface of the first SOA service through the Ethernet to call the traffic signal recognition result uploaded by the traffic signal recognition domain controller.

[0060] The embodiments of the present disclosure further provide a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the steps of the method described in any of the aforementioned embodiments.

[0061] 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 any one of the aforementioned embodiments.

[0062] In addition to being an independent electronic device, the above-mentioned device can also be a part of an independent electronic device. For example, in one embodiment, the device can be an integrated circuit (IC) or a chip, wherein the integrated circuit can be an IC or a collection of multiple ICs; the chip can 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 traffic signal recognition. The executable instructions can be stored in the integrated circuit or chip, or can 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 may be stored in the memory, and when the executable instruction is executed by the processor, the above-mentioned transmission method for traffic signal recognition is implemented; alternatively, the integrated circuit or chip may 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 traffic signal recognition.

[0063] See also Figure 3 , Figure 3 3 is a functional block diagram of a vehicle 300 shown in an exemplary embodiment. The vehicle 300 can be configured in a fully or partially autonomous driving mode. For example, the vehicle 300 can obtain environmental information about its surroundings through the perception system 320, 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.

[0064] The vehicle 300 may include various subsystems, such as an infotainment system 310, a perception system 320, a decision control system 330, a drive system 340, and a computing platform 350. Optionally, the vehicle 300 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and component of the vehicle 300 may be interconnected by wire or wirelessly.

[0065] In some embodiments, infotainment system 310 may include communication system 311 , entertainment system 312 , and navigation system 313 .

[0066] The communication system 311 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.

[0067] The entertainment system 312 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.

[0068] 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 300, such as adjusting the temperature inside the vehicle, etc. In other cases, music can be played to the user through a speaker.

[0069] The navigation system 313 may include a map service provided by a map provider, thereby providing navigation of the driving route for the vehicle 300. The navigation system 313 may be used in conjunction with the vehicle's global positioning system 321 and inertial measurement unit 322. The map service provided by the map provider may be a two-dimensional map or a high-precision map.

[0070] The perception system 320 may include several sensors that sense information about the environment around the vehicle 300. For example, the perception system 320 may include a global positioning system 321 (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU) 322, a laser radar 323, a millimeter wave radar 324, an ultrasonic radar 325, and a camera 326. The perception system 320 may also include sensors of the internal systems of the monitored vehicle 300 (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.). This detection and recognition is a key function for the safe operation of the vehicle 300.

[0071] The global positioning system 321 is used to estimate the geographic location of the vehicle 300 .

[0072] The inertial measurement unit 322 is used to sense the change of the posture of the vehicle 300 based on inertial acceleration. In some embodiments, the inertial measurement unit 322 may be a combination of an accelerometer and a gyroscope.

[0073] Lidar 323 utilizes laser light to sense objects in the environment in which vehicle 300 is located. In some embodiments, Lidar 323 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

[0074] The millimeter wave radar 324 uses radio signals to sense objects in the surrounding environment of the vehicle 300. In some embodiments, in addition to sensing objects, the millimeter wave radar 324 can also be used to sense the speed and / or heading of the object.

[0075] The ultrasonic radar 325 may sense objects around the vehicle 300 using ultrasonic signals.

[0076] The camera device 326 is used to capture image information of the surrounding environment of the vehicle 300. The camera device 326 may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, etc. The image information acquired by the camera device 326 may include a static image or video stream information.

[0077] The decision control system 330 includes a computing system 331 that analyzes and makes decisions based on the information obtained by the perception system 320. The decision control system 330 also includes a vehicle controller 332 that controls the power system of the vehicle 300, and a steering system 333, a throttle 334 and a braking system 335 for controlling the vehicle 300.

[0078] The computing system 331 can be operated to process and analyze various information obtained by the perception system 320 in order to identify targets, objects and / or features in the environment surrounding the vehicle 300. Targets may include pedestrians or animals, and objects and / or features may include traffic signals, road boundaries and obstacles. The computing system 331 may use object recognition algorithms, Structure from Motion (SFM) algorithms, video tracking and other technologies. In some embodiments, the computing system 331 can be used to map the environment, track objects, estimate the speed of objects, and so on. The computing system 331 can analyze the various information obtained and derive a control strategy for the vehicle.

[0079] The vehicle controller 332 can be used to coordinate and control the vehicle's power battery and engine 341 to improve the power performance of the vehicle 300.

[0080] The steering system 333 is operable to adjust the forward direction of the vehicle 300. For example, in one embodiment, it may be a steering wheel system.

[0081] The throttle 334 is used to control the operating speed of the engine 341 and thus the speed of the vehicle 300 .

[0082] Braking system 335 is used to control the deceleration of vehicle 300. Braking system 335 can use friction to slow down wheels 344. In some embodiments, braking system 335 can convert the kinetic energy of wheels 344 into electric current. Braking system 335 can also take other forms to slow down the rotation speed of wheels 344 to control the speed of vehicle 300.

[0083] The drive system 340 may include components that provide powered movement for the vehicle 300. In one embodiment, the drive system 340 may include an engine 341, an energy source 342, a transmission system 343, and wheels 344. The engine 341 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 341 converts the energy source 342 into mechanical energy.

[0084] Examples of energy source 342 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy source 342 may also provide energy to other systems of vehicle 300.

[0085] The transmission system 343 can transmit the mechanical power from the engine 341 to the wheels 344. The transmission system 343 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission system 343 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 344.

[0086] Some or all functions of the vehicle 300 are controlled by a computing platform 350. The computing platform 350 may include at least one processor 351, which may execute instructions 353 stored in a non-transitory computer-readable medium such as a first memory 352. In some embodiments, the computing platform 350 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 300 in a distributed manner.

[0087] The processor 351 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor 351 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 3 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.

[0088] In the embodiment of the present disclosure, the processor 351 may execute the above-mentioned transmission method for traffic signal recognition.

[0089] In various aspects described herein, processor 351 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.

[0090] In some embodiments, the first memory 352 may include instructions 353 (e.g., program logic) that may be executed by the processor 351 to perform various functions of the vehicle 300. The first memory 352 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 310, the perception system 320, the decision control system 330, and the drive system 340.

[0091] In addition to instructions 353, first memory 352 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 300 and computing platform 350 during operation of vehicle 300 in autonomous, semi-autonomous, and / or manual modes.

[0092] The computing platform 350 may control functions of the vehicle 300 based on input received from various subsystems, such as the drive system 340, the perception system 320, and the decision control system 330. For example, the computing platform 350 may utilize input from the decision control system 330 in order to control the steering system 333 to avoid an obstacle detected by the perception system 320. In some embodiments, the computing platform 350 may be operable to provide control over many aspects of the vehicle 300 and its subsystems.

[0093] Alternatively, one or more of the above-mentioned components may be installed or associated separately from the vehicle 300. For example, the first memory 352 may exist partially or completely separately from the vehicle 300. The above-mentioned components may be communicatively coupled together in a wired and / or wireless manner.

[0094] 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 3 It should not be understood as limiting the embodiments of the present disclosure.

[0095] An autonomous vehicle traveling on a road, such as vehicle 300 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.

[0096] Optionally, the vehicle 300 or a sensing and computing device associated with the vehicle 300 (e.g., computing system 331, computing platform 350) 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 300 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 300, such as the lateral position of the vehicle 300 in the road it is traveling on, the curvature of the road, the proximity of static and dynamic objects, etc.

[0097] 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 300 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).

[0098] The vehicle 300 may be any type of travel vehicle, such as a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, an amusement vehicle, a train, etc., and the present disclosure does not specifically limit the above-mentioned embodiments.

[0099] 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 traffic sign recognition when executed by the programmable device.

[0100] Figure 4 FIG. 1 is a block diagram of a domain controller according to an exemplary embodiment. Figure 4 , the domain controller 400 may be Figure 1 The traffic signal recognition domain controller 120 shown may also be the vehicle central computing domain controller 110. The domain controller 400 includes a processing component 422, which further includes one or more processors, and a memory resource represented by a second memory 432, for storing instructions that can be executed by the processing component 422, such as an application. The application stored in the second memory 432 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 422 is configured to execute instructions to perform the above-mentioned transmission method for traffic signal recognition.

[0101] The domain controller 400 may also include a power supply component 426 configured to perform power management of the domain controller 400, a wired or wireless network interface 450 configured to connect the domain controller 400 to a network, and an input / output interface 458. The domain controller 400 may operate based on an operating system stored in the second memory 432, such as Windows Server 2000. TM , Mac OS X TM , Unix TM , Linux TM , FreeBSD TM or similar.

[0102] In addition to being an independent electronic device, the domain controller 400 may also be a part of an independent electronic device. For example, in one embodiment, the domain controller 400 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 traffic signal recognition. 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 may be stored in the memory, and when the executable instruction is executed by the processor, the above-mentioned transmission method for traffic signal recognition is implemented; alternatively, the integrated circuit or chip may 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 traffic signal recognition.

[0103] 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.

[0104] 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 traffic signal recognition, characterized in that: Applied to a vehicle, the system architecture includes: A vehicle central computing domain controller, and multiple underlying domain controllers connected to the vehicle central computing domain controller via Ethernet, wherein the underlying domain controllers include a traffic signal recognition domain controller and a first underlying domain controller; The vehicle central computing domain controller is configured with a first SOA service corresponding to the traffic signal recognition domain controller. The first SOA service provides an upload interface. The traffic signal recognition domain controller generates an identification result description corresponding to the traffic signal recognition result according to the hierarchical structure of each traffic signal in the traffic signal recognition result, and uploads the traffic signal recognition result to the vehicle central computing domain controller through the upload interface. The vehicle central computing domain controller generates a service list according to the identification result description of the traffic signal recognition result and the upload interface of the first SOA service, and broadcasts the service list to the Ethernet, so that the first bottom-level domain controller that subscribes to and calls the first SOA service on the vehicle central computing domain controller can obtain the service list and call the traffic signal recognition result according to the identification result description in the service list. The traffic signal recognition result is obtained by identifying each traffic signal.

2. The system architecture according to claim 1, characterized in that: The control domains of the multiple underlying domain controllers include corresponding vehicle actuators, and the vehicle central computing domain controller is configured with a second SOA service corresponding to the vehicle actuators in the control domains of the multiple underlying domain controllers. The multiple underlying domain controllers are all configured with a cross-domain service for cross-domain calling of the second SOA service, and the cross-domain service is used to call the second SOA service corresponding to the vehicle actuator in the control domain of a non-domain controller.

3. The system architecture according to claim 2, characterized in that: The cross-domain service is used to: Monitor the interface status of the upload interface corresponding to the first SOA service, and generate a call instruction when the interface status indicates that the traffic signal recognition domain controller uploads the traffic signal recognition result to the vehicle central computing domain controller; The information broadcast by the vehicle central computing domain controller on the Ethernet is monitored according to the calling instruction, and when the vehicle central computing domain controller is monitored to broadcast the traffic signal recognition result to the Ethernet, the traffic signal recognition result is obtained from the Ethernet.

4. The system architecture according to any one of claims 1 to 3, characterized in that: The traffic signal recognition result is obtained by recognizing at least one of a traffic signboard, a traffic signal light, and a traffic police command.

5. A transmission method for traffic signal recognition, characterized in that: The method is applied to a traffic signal recognition domain controller of the system architecture described in any one of claims 1 to 4, and the transmission method comprises: generating a recognition result description corresponding to the traffic signal recognition result according to the hierarchical structure of each traffic signal in the traffic signal recognition result; The traffic signal recognition result is uploaded to the vehicle central computing domain controller through the upload interface provided by the first SOA service corresponding to the traffic signal recognition domain controller in the vehicle central computing domain controller. The vehicle central computing domain controller generates a service list according to the recognition result description of the traffic signal recognition result and the upload interface of the first SOA service, and broadcasts the service list to the Ethernet, so that the first underlying domain controller that subscribes to and calls the first SOA service on the vehicle central computing domain controller can obtain the service list and call the traffic signal recognition result according to the recognition result description in the service list. The traffic signal recognition result is obtained by recognizing each traffic signal.

6. A transmission method for traffic signal recognition, characterized in that: The method is applied to a vehicle central computing domain controller of the system architecture described in any one of claims 1 to 4, and the transmission method includes: receiving a traffic signal recognition result uploaded by a traffic signal recognition domain controller, the traffic signal recognition result carrying a recognition result description corresponding to the traffic signal recognition result generated according to the hierarchical structure of each traffic signal in the traffic signal recognition result, the traffic signal recognition result being uploaded through an upload interface provided by a first SOA service corresponding to the traffic signal recognition domain controller in the vehicle central computing domain controller, and the traffic signal recognition result being obtained by recognizing each traffic signal; Generate a service list according to the recognition result description of the traffic signal recognition result and the upload interface of the first SOA service; The service list is broadcasted to the Ethernet so that the first underlying domain controller that subscribes to and calls the first SOA service on the vehicle central computing domain controller can obtain the service list and call the traffic signal recognition result according to the recognition result description in the service list.

7. A vehicle, characterized in that: include: A vehicle central computing domain controller, and multiple underlying domain controllers connected to the vehicle central computing domain controller via Ethernet, wherein the underlying domain controllers include a traffic signal recognition domain controller and a first underlying domain controller; Wherein, the traffic signal recognition domain controller is configured to execute the method described in claim 5, the vehicle central computing domain controller is configured to execute the method described in claim 6, and the first underlying domain controller is configured to subscribe to and call the service list generated by the vehicle central computing domain controller based on the recognition result description of the traffic signal recognition result and the upload interface of the first SOA service through the Ethernet to call the traffic signal recognition result uploaded by the traffic signal recognition domain controller.

8. 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 5 or 6 are implemented.

9. 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 5 or 6.

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