System architecture, transmission method, vehicle, medium and chip for lane recognition

Abstract

The present disclosure relates to a system architecture, transmission method, vehicle, medium, and chip for lane recognition, including: a vehicle central computing domain controller, a lane recognition domain controller connected to the vehicle central computing domain controller via Ethernet, and a first underlying domain controller; the vehicle central computing domain controller is configured with a first SOA service corresponding to the lane recognition domain controller, and the lane recognition domain controller transplants an upload interface of the first SOA service into the application based on a pre-configured language interface between the application and the first SOA service, and uploads the lane recognition results to the vehicle central computing domain controller via the upload interface, so that the first underlying domain controller that subscribes to and calls the first SOA service on the vehicle central computing domain controller obtains the lane recognition results. The upload interface can be called to upload the lane recognition results without waiting for the CAN bus to be idle, thus overcoming the problem of delayed upload caused by CAN bus bandwidth limitations.

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 lane recognition. Background Art

[0002] In the field of intelligent driving technology, leading OEMs display the results of their intelligent driving perception systems on their SR road perception systems to build trust between users and vehicles. However, the existing CAN signal matrix limits the maximum signal length in the intelligent driving domain to 32 bits, or 4 bytes, which cannot meet the large data transmission requirements of the in-cabin SR road perception system. Due to the limited bandwidth of the traditional CAN bus, data that requires a large amount of memory cannot be transmitted via the CAN bus. Summary of the Invention

[0003] To overcome the problems existing in the related art, the present disclosure provides a system architecture, transmission method, vehicle, medium and chip for lane recognition.

[0004] According to a first aspect of an embodiment of the present disclosure, a system architecture for lane recognition is provided, which is applied to a vehicle. 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 lane 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 lane recognition domain controller. The first SOA service provides an upload interface. The lane recognition domain controller transplants the upload interface of the first SOA service into the application according to the pre-configured language interface between the application and the first SOA service, and uploads the lane recognition result to the vehicle central computing domain controller through the upload interface, so that the first underlying domain controller of the first SOA service is subscribed to and called on the vehicle central computing domain controller to obtain the lane recognition result, which is obtained by identifying the lane line and the road edge.

[0007] Optionally, the control domain of the lane recognition domain controller includes a road surface image acquisition device, and the vehicle central computing domain controller is configured with a second SOA service corresponding to the road surface image acquisition. The vehicle central computing domain controller provides a function call interface of the second SOA service to the first underlying domain controller.

[0008] Optionally, the vehicle central computing domain controller is used to publish the function call interface of the second SOA service to the first underlying domain controller through a remote procedure call protocol.

[0009] Optionally, the lane recognition domain controller is specifically used to:

[0010] rewriting the source code of the function call interface of the first SOA service into the source code of the control function of the application according to the language interface between the application and the first SOA service, wherein the language interface is defined based on a portable operating system interface;

[0011] The source code in the control function is recompiled to complete the step of transplanting the function call interface of the first SOA service into the application program.

[0012] Optionally, the lane recognition result is obtained by identifying at least one of the fitting parameters, confidence, lane line attributes and lane line type of the lane line and at least one of the fitting parameters, confidence and curb length of the road edge.

[0013] According to a second aspect of an embodiment of the present disclosure, a transmission method for lane recognition is provided. The method is applied to a lane recognition domain controller in the system architecture described in any one of the first aspects. The transmission method includes:

[0014] Uploading the lane recognition result to the vehicle central computing domain controller through the upload interface provided by the first SOA service corresponding to the lane recognition domain controller in the vehicle central computing domain controller. The vehicle central computing domain controller publishes the lane recognition result on the Ethernet by broadcasting, so that the first underlying domain controller that subscribes to and calls the first SOA service obtains the lane recognition result, which is obtained by identifying lane lines and road edges;

[0015] The lane recognition domain controller transplants the upload interface of the first SOA service into the application according to the pre-configured language interface between the application and the first SOA service.

[0016] According to a third aspect of an embodiment of the present disclosure, a transmission method for lane recognition is provided. The method is applied to a vehicle central computing domain controller in the system architecture described in any one of the first aspects. The transmission method includes:

[0017] receiving a lane recognition result uploaded by a lane recognition domain controller, the lane recognition result being uploaded via an upload interface provided by a first SOA service corresponding to the lane recognition domain controller in the vehicle central computing domain controller, the lane recognition domain controller transplanting the upload interface of the first SOA service into the application based on a pre-configured language interface between the application and the first SOA service, the lane recognition result being obtained by identifying lane lines and road edges;

[0018] The lane recognition result is published on the Ethernet in a broadcasting manner, so that the first bottom domain controller that subscribes to and calls the SOA service obtains the lane recognition result.

[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 lane recognition domain controller and a first underlying domain controller;

[0020] In which, the lane 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 lane recognition results uploaded by the lane recognition domain controller through the Ethernet.

[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 solutions provided by the embodiments of the present disclosure may have the following beneficial effects:

[0024] The vehicle's central computing domain controller is configured with a first SOA service corresponding to the lane recognition domain controller. The first SOA service provides an upload interface. The lane recognition domain controller, based on a pre-configured language interface between the application and the first SOA service, transplants the upload interface of the first SOA service into the application. The lane recognition domain controller then uploads the lane recognition results to the vehicle's central computing domain controller via the upload interface. This allows the first underlying domain controller that subscribes to and calls the first SOA service on the vehicle's central computing domain controller to obtain the lane recognition results. The lane recognition domain controller transplants the upload interface of the first SOA service into the application based on a pre-configured language interface between the application and the first SOA service. This allows the upload interface to be conveniently called to upload lane recognition results without waiting for the CAN bus to be idle, thus overcoming the issue of delayed lane recognition result uploads due to CAN bus bandwidth limitations.

[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 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 figure is a block diagram showing a system architecture for lane recognition according to an exemplary embodiment.

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

[0029] Figure 3 It is a functional block diagram of a vehicle shown in 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, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain 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 lane 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 110, and multiple underlying domain controllers connected to the vehicle central computing domain controller 110 via Ethernet, wherein the underlying domain controllers include a lane recognition domain controller 120 and a first underlying domain controller 130;

[0035] In the disclosed embodiment, the vehicle central computing domain controller 110VCCD is directly connected to multiple underlying domain controllers via Ethernet, and the vehicle central computing domain controller 110VCCD 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 130 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 a corresponding vehicle actuator. For example, the control domain of the lane recognition domain controller 120 includes a road surface image acquisition device, which is usually installed at the front of the vehicle, for example, at the vehicle grid at the front of the vehicle.

[0038] In the disclosed embodiment, the corresponding vehicle actuators in the control domain of each underlying domain controller are connected to the underlying domain controller via a CAN bus. Simultaneously, the corresponding vehicle actuators in the control domain of each underlying domain controller are connected to the vehicle central computing domain controller 110VCCD via a CAN bus. For example, the road surface image acquisition device in the control domain of the lane recognition domain controller 120 is connected to the lane recognition domain controller 120 via a CAN bus, and is connected to the vehicle central computing domain controller 110VCCD via a CAN bus.

[0039] The vehicle central computing domain controller 110 is configured with a first SOA service corresponding to the lane recognition domain controller 120. The first SOA service provides an upload interface. The lane recognition domain controller 120 transplants the upload interface of the first SOA service into the application according to the pre-configured language interface between the application and the first SOA service, and uploads the lane recognition result to the vehicle central computing domain controller 110 through the upload interface, so that the first underlying domain controller 130 of the first SOA service is subscribed and called on the vehicle central computing domain controller 110 to obtain the lane recognition result, which is obtained by identifying the lane line and the road edge.

[0040] Among them, the vehicle central computing domain controller 110 is configured with a second SOA service corresponding to the first underlying domain controller 130, and the vehicle central computing domain controller 110 sends information to the first underlying domain controller 130 through SOA messages based on the second SOA service.

[0041] It can be understood that the upload interface can be understood as the prototype of the function, including the function name, parameter list and return value, etc.

[0042] Among them, the lane recognition domain controller 120 is configured with an application that can be used to instruct the road surface image acquisition device within the control domain of the lane recognition domain controller 120 to complete road surface image acquisition, and the lane recognition results can be uploaded through service calls.

[0043] The above system architecture configures a first SOA service corresponding to a lane recognition domain controller in the vehicle's central computing domain controller. The first SOA service provides an upload interface. The lane recognition domain controller transplants the upload interface of the first SOA service into the application based on a pre-configured language interface between the application and the first SOA service. The lane recognition domain controller then uploads the lane recognition results to the vehicle's central computing domain controller via the upload interface, allowing the first underlying domain controller that subscribes to and calls the first SOA service on the vehicle's central computing domain controller to obtain the lane recognition results. The lane recognition domain controller transplants the upload interface of the first SOA service into the application based on a pre-configured language interface between the application and the first SOA service. This allows the upload interface to be conveniently called to upload lane recognition results without waiting for the CAN bus to be idle, thus overcoming the problem of delayed lane recognition result uploads due to CAN bus bandwidth limitations.

[0044] In this disclosed embodiment, the upload interface of the first SOA service is compiled based on the preconfigured language interface between the application and the first SOA service, generating a corresponding function within the application. When uploading lane recognition results, the application in the lane recognition domain controller 120 calls the stored function and uploads the lane recognition results to the vehicle central computing domain controller 110.

[0045] Optionally, the control domain of the lane recognition domain controller 120 includes a road surface image acquisition device, and the vehicle central computing domain controller 110 is configured with a second SOA service corresponding to the road surface image acquisition. The vehicle central computing domain controller 110 provides a function call interface of the second SOA service to the first underlying domain controller 130.

[0046] It can be understood that the lane recognition domain controller 120 is connected to the MCU (Micro-controller Unit) in the road image acquisition device through a CAN bus communication, and the vehicle central computing domain controller 110 is also connected to the MCU in the road image acquisition device through a CAN bus communication.

[0047] The road image acquisition device uploads the collected road image to the lane recognition domain controller 120 via the CAN bus, and the first underlying domain controller 130 calls the second SOA service in the vehicle central computing domain controller 110, and uploads the road image acquisition instruction of the SOA message type to the vehicle central computing domain controller 110 via Ethernet through the DDS (Data Distribution Service) protocol stack. The second SOA service includes atomic services and composite services. The atomic service is the smallest perception unit obtained by decoupling the perception action of the environmental perception device within the control domain of the lane recognition domain controller. The function call interface corresponding to each composite service is generated by orderly combining the function call interfaces of multiple atomic services and encapsulating them.

[0048] The vehicle's central computing domain controller 110 converts the SOA message-based road image acquisition instruction into a CAN message-based road image acquisition instruction and sends it to the image acquisition device. The road image acquisition device then uploads the acquired road image to the vehicle's central computing domain controller 110 via a CAN message. The vehicle's central computing domain controller 110 then converts the CAN message-based road image into a corresponding SOA message-based road image service using the S2S (Signal to Service) method. Furthermore, the vehicle's central computing domain controller 110 broadcasts the SOA message-based road image service via the DDS protocol stack to the first underlying domain controller 130, which invokes the second SOA service.

[0049] Optionally, the vehicle central computing domain controller 110 is used to publish the function call interface of the second SOA service to the first underlying domain controller 130 through a remote procedure call protocol.

[0050] It can be understood that the first underlying domain controller 130 receives the function call interface published by the remote procedure call protocol of the vehicle central computing domain controller 110, and compiles the upload interface of the second SOA service according to the language interface between the pre-configured application and the second SOA service, and generates the corresponding functional function in the application.

[0051] Optionally, the lane recognition domain controller 120 is specifically configured to:

[0052] rewriting the source code of the function call interface of the first SOA service into the source code of the control function of the application according to the language interface between the application and the first SOA service, wherein the language interface is defined based on a portable operating system interface;

[0053] It is understandable that the Portable Operating System Interface (POSIX) can associate the function call interface of the first SOA service with the control function of the application program by rewriting the source code.

[0054] The source code in the control function is recompiled to complete the step of transplanting the function call interface of the first SOA service into the application program.

[0055] Optionally, the lane recognition result is obtained by identifying at least one of the fitting parameters, confidence, lane line attributes and lane line type of the lane line and at least one of the fitting parameters, confidence and curb length of the road edge.

[0056] See also Figure 2 The data structure diagram of the lane recognition result is shown. The data structure can also include the data sending time of the lane recognition result and the width of each lane. Furthermore, the lane line type can be determined according to the number of lanes on the road. For example, for a road with 3 lanes, the lane line type can include the lane center line, the left side line of the left lane, the right side line of the left lane, the left side line of the right lane, and the right side line of the right lane.

[0057] In the embodiment of the present disclosure, for the lane centerline, the data structure of the lane recognition result may include line type, confidence, lane line length, lane line material structure, and curve fitting parameters. The line type may be, for example, a dashed line, a solid line, or none (no lane line). The lane line material structure may be, for example, a smear material.

[0058] In the disclosed embodiment, the lane recognition result data structure for the left lane left line, left lane right line, right lane left line, and right lane right line may include line type, confidence level, maximum effective longitudinal distance, lane material structure, lane width, lane color, lane length, the distance between the inner and outer lane lines, and curve fitting parameters. Line types may include dashed lines, solid lines, separators, and no lane lines; lane colors may include white, yellow, and an invalid color; and abnormalities in the distance between the inner and outer lane lines may include non-parallel lane lines and driving over the lane line.

[0059] In the embodiment of the present disclosure, lane line attributes may include lane line events and the distance from the lane line events, where lane line events include ramp opening, ramp closing, lane line changing from dotted line to solid line, lane line changing from solid line to dotted line, dotted lane line appearing from no lane line, and solid lane line appearing from no lane line.

[0060] In the disclosed embodiment, the road edge data may include the time at which the road edge data is sent and the number of road edges. Typically, the default number of road edges is two. For each road edge, the confidence level, curb length, and multiple curve fitting parameters may be included. The confidence level is used to indicate the reliability of the presence of a road edge in the lane recognition result.

[0061] The above technical solution can identify both lane lines and road edges, and the lane and road edge information can be clearly represented based on the data structure of the lane recognition result, so that it can be quickly uploaded to the vehicle central computing domain controller 110 via Ethernet, making it convenient for other domain controllers on the vehicle to obtain lane recognition results from Ethernet.

[0062] The present disclosure also provides a transmission method for lane recognition, which is applied to the lane recognition domain controller in the system architecture described in any of the aforementioned embodiments. The transmission method includes:

[0063] Uploading the lane recognition result to the vehicle central computing domain controller through the upload interface provided by the first SOA service corresponding to the lane recognition domain controller in the vehicle central computing domain controller. The vehicle central computing domain controller publishes the lane recognition result on the Ethernet by broadcasting, so that the first underlying domain controller that subscribes to and calls the first SOA service obtains the lane recognition result, which is obtained by identifying lane lines and road edges;

[0064] The lane recognition domain controller transplants the upload interface of the first SOA service into the application according to the pre-configured language interface between the application and the first SOA service.

[0065] The present disclosure also provides a transmission method for lane identification, which is applied to a vehicle central computing domain controller in the system architecture described in any of the aforementioned embodiments. The transmission method includes:

[0066] receiving a lane recognition result uploaded by a lane recognition domain controller, the lane recognition result being uploaded via an upload interface provided by a first SOA service corresponding to the lane recognition domain controller in the vehicle central computing domain controller, the lane recognition domain controller transplanting the upload interface of the first SOA service into the application based on a pre-configured language interface between the application and the first SOA service, the lane recognition result being obtained by identifying lane lines and road edges;

[0067] The lane recognition result is published on the Ethernet in a broadcasting manner, so that the first bottom domain controller that subscribes to and calls the SOA service obtains the lane recognition result.

[0068] The present disclosure also 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 lane recognition domain controller and a first underlying domain controller;

[0069] In which, the lane recognition domain controller is configured to execute the transmission method on the lane recognition domain controller side described in the aforementioned embodiment, the vehicle central computing domain controller is configured to execute the transmission method on the vehicle central computing domain controller side described in the aforementioned embodiment, and the first underlying domain controller is configured to subscribe to and call the lane recognition results uploaded by the lane recognition domain controller through the Ethernet.

[0070] The embodiments of the present disclosure further provide a computer-readable storage medium having computer program instructions stored thereon, which implement the steps of the method described in the aforementioned embodiments when the program instructions are executed by a processor.

[0071] An embodiment of the present disclosure further provides a chip, including a processor and an interface; the processor is used to read instructions to execute the method described in the above embodiment.

[0072] In addition to being an independent electronic device, the aforementioned device may also be part of an independent electronic device. For example, in one embodiment, the device may be an integrated circuit (IC) or a chip, wherein the integrated circuit may be a single 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 aforementioned integrated circuit or chip may be used to execute executable instructions (or code) to implement the aforementioned transmission method for lane 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, 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 lane recognition 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 lane recognition.

[0073] See Figure 3 , Figure 3 FIG3 is a functional block diagram of a vehicle 300, illustrating an exemplary embodiment. Vehicle 300 can be configured for fully or partially autonomous driving. For example, vehicle 300 can obtain environmental information about its surroundings through perception system 320 and, based on analysis of this environmental information, derive an autonomous driving strategy to achieve fully autonomous driving, or present the analysis results to the user to achieve partially autonomous driving.

[0074] 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. Alternatively, vehicle 300 may include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of vehicle 300 may be interconnected via wired or wireless means.

[0075] In some embodiments, infotainment system 310 may include a communication system 311 , an entertainment system 312 , and a navigation system 313 .

[0076] 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 can use 3G cellular communication, such as CDMA, EVDO, GSM / GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system can use WiFi to communicate with a wireless local area network (WLAN). In some embodiments, the wireless communication system can use an infrared link, Bluetooth, or ZigBee to communicate directly with the device. 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.

[0077] 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 screen on the display device. The display device can be touch-sensitive and the user can operate it by touching the screen.

[0078] 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.

[0079] Navigation system 313 may include map services provided by a map provider, thereby providing navigation for vehicle 300. Navigation system 313 may be used in conjunction with the vehicle's global positioning system 321 and inertial measurement unit 322. The map services provided by the map provider may be two-dimensional maps or high-precision maps.

[0080] The perception system 320 may include several sensors that sense information about the environment surrounding 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 system), an inertial measurement unit (IMU) 322, a lidar 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.). Such detection and recognition are key functions for the safe operation of the vehicle 300.

[0081] The global positioning system 321 is used to estimate the geographic location of the vehicle 300 .

[0082] The inertial measurement unit 322 is used to sense the posture change of the vehicle 300 based on inertial acceleration. In some embodiments, the inertial measurement unit 322 can be a combination of an accelerometer and a gyroscope.

[0083] 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.

[0084] 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 objects.

[0085] The ultrasonic radar 325 may sense objects around the vehicle 300 using ultrasonic signals.

[0086] 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 obtained by the camera device 326 may include static images or video stream information.

[0087] 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, as well as a steering system 333, throttle 334 and braking system 335 for controlling the vehicle 300.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] The throttle 334 is used to control the operating speed of the engine 341 and thus the speed of the vehicle 300 .

[0092] 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 electrical current. Braking system 335 can also take other forms to slow the rotation speed of wheels 344 and thus control the speed of vehicle 300.

[0093] Drive system 340 may include components that provide powered motion for vehicle 300. In one embodiment, drive system 340 may include an engine 341, an energy source 342, a transmission system 343, and wheels 344. Engine 341 may be an internal combustion engine, an electric motor, an air compression engine, or another combination 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. Engine 341 converts energy source 342 into mechanical energy.

[0094] 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 can also provide energy to other systems of vehicle 300.

[0095] The transmission system 343 can transmit 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 components, such as a clutch. The drive shaft may include one or more shafts that can be coupled to one or more wheels 344.

[0096] 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 that can 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.

[0097] The processor 351 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor 351 may also include a graphics processor (GPU), a field programmable gate array (FPGA), a system on chip (SOC), an application specific integrated circuit (ASIC), or a combination thereof. Figure 3 Functionally, processor, memory, and other elements of the computer in the same block are illustrated, but those of ordinary skill in the art will appreciate that the processor, computer, or memory may in fact comprise a plurality of 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 medium that is positioned in a housing that is different from the computer. Therefore, reference to a processor or computer will be understood to include reference 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 assemblies such as steering assembly and deceleration assembly may each have their own processor that only performs the calculations relevant to the functions specific to the assembly.

[0098] In an embodiment of the present disclosure, the processor 351 may execute the above-mentioned transmission method for lane recognition.

[0099] In various aspects described herein, the processor 351 can be located remotely 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 while others are performed by a remote processor, including taking the necessary steps to perform a single maneuver.

[0100] In some embodiments, the first memory 352 may contain instructions 353 (e.g., program logic) that are executable by the processor 351 to perform various functions of the vehicle 300. The first memory 352 may also contain additional instructions, including instructions for sending data to, receiving data from, interacting with, and / or controlling one or more of the infotainment system 310, the perception system 320, the decision control system 330, and the drive system 340.

[0101] 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. This information may be used by vehicle 300 and computing platform 350 during operation of vehicle 300 in autonomous, semi-autonomous, and / or manual modes.

[0102] Computing platform 350 may control functions of vehicle 300 based on input received from various subsystems, such as drive system 340, perception system 320, and decision control system 330. For example, computing platform 350 may utilize input from decision control system 330 to control steering system 333 to avoid an obstacle detected by perception system 320. In some embodiments, computing platform 350 may be operable to provide control over many aspects of vehicle 300 and its subsystems.

[0103] Alternatively, one or more of the above components may be installed or associated separately from the vehicle 300. For example, the first memory 352 may be partially or completely separate from the vehicle 300. The above components may be communicatively coupled together in a wired and / or wireless manner.

[0104] Optionally, the above components are just an example. 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.

[0105] An autonomous vehicle traveling on a road, such as vehicle 300 above, can identify objects in its surroundings to determine adjustments to its 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 the speed adjustment to be made to the autonomous vehicle can be determined based on its respective characteristics, such as its current speed, acceleration, and distance from the vehicle.

[0106] 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 objects based on the characteristics of the identified objects 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 identified objects can 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 objects. 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 objects. 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.

[0107] 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).

[0108] The vehicle 300 may be any type of 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 impose any particular limitation thereto.

[0109] 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 code portions for performing the above-described transmission method for lane recognition when executed by the programmable device.

[0110] 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 lane recognition domain controller 120 shown, which may also be the vehicle central computing domain controller 110, includes a processing component 422, which further includes one or more processors, and memory resources represented by a second memory 432 for storing instructions executable by the processing component 422, such as application programs. The application programs stored in the second memory 432 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processing component 422 is configured to execute the instructions to perform the aforementioned transmission method for lane recognition.

[0111] The domain controller 400 may further 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.

[0112] In addition to being an independent electronic device, the domain controller 400 can also be part of an independent electronic device. For example, in one embodiment, the domain controller 400 can be an integrated circuit (IC) or a chip, where the integrated circuit can be a single 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 code) to implement the above-mentioned transmission method for lane recognition. The executable instructions can be stored in the integrated circuit or chip, or obtained from other devices or equipment, such as the integrated circuit or chip including a processor, 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 lane recognition 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 lane recognition.

[0113] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the present disclosure. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0114] 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 can 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 lane 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. The vehicle central computing domain controller and the multiple underlying domain controllers communicate with each other via service-oriented architecture (SOA) messages. The corresponding vehicle actuators in the control domain of each underlying domain controller are communicatively connected to the vehicle central computing domain controller via a CAN bus. The underlying domain controllers include a lane 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 lane recognition domain controller. The first SOA service provides an upload interface. The lane recognition domain controller transplants the upload interface of the first SOA service into the application according to the pre-configured language interface between the application and the first SOA service, and uploads the lane recognition result to the vehicle central computing domain controller through the upload interface, so that the first underlying domain controller of the first SOA service is subscribed to and called on the vehicle central computing domain controller to obtain the lane recognition result, which is obtained by identifying the lane line and the road edge.

2. The system architecture according to claim 1, characterized in that: The control domain of the lane recognition domain controller includes a road surface image acquisition device, and the vehicle central computing domain controller is configured with a second SOA service corresponding to the road surface image acquisition. The vehicle central computing domain controller provides a function call interface of the second SOA service to the first underlying domain controller.

3. The system architecture according to claim 2, characterized in that: The vehicle central computing domain controller is used to publish the function call interface of the second SOA service to the first underlying domain controller through the remote procedure call protocol.

4. The system architecture according to claim 1, wherein: The lane recognition domain controller is specifically used to: rewriting the source code of the function call interface of the first SOA service into the source code of the control function of the application according to the language interface between the application and the first SOA service, wherein the language interface is defined based on a portable operating system interface; The source code in the control function is recompiled to complete the step of transplanting the function call interface of the first SOA service into the application program.

5. The system architecture according to any one of claims 1 to 4, characterized in that: The lane recognition result is obtained by identifying at least one of the fitting parameters, confidence, lane line attributes and lane line type of the lane line and at least one of the fitting parameters, confidence and curb length of the road edge.

6. A transmission method for lane recognition, characterized in that: The method is applied to the lane recognition domain controller in claims 1-5, and the transmission method includes: Uploading the lane recognition result to the vehicle central computing domain controller through the upload interface provided by the first SOA service corresponding to the lane recognition domain controller in the vehicle central computing domain controller. The vehicle central computing domain controller publishes the lane recognition result on the Ethernet by broadcasting, so that the first underlying domain controller that subscribes to and calls the first SOA service obtains the lane recognition result, which is obtained by identifying lane lines and road edges; The lane recognition domain controller transplants the upload interface of the first SOA service into the application according to the pre-configured language interface between the application and the first SOA service.

7. A transmission method for lane recognition, characterized in that: The method is applied to the vehicle central computing domain controller in claims 1-5, and the transmission method includes: receiving a lane recognition result uploaded by a lane recognition domain controller, the lane recognition result being uploaded via an upload interface provided by a first SOA service corresponding to the lane recognition domain controller in the vehicle central computing domain controller, the lane recognition domain controller transplanting the upload interface of the first SOA service into the application based on a pre-configured language interface between the application and the first SOA service, the lane recognition result being obtained by identifying lane lines and road edges; The lane recognition result is published on the Ethernet in a broadcasting manner, so that the first bottom domain controller that subscribes to and calls the SOA service obtains the lane recognition result.

8. 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 lane recognition domain controller and a first underlying domain controller; Wherein, the lane recognition domain controller is configured to execute the method of claim 6, the vehicle central computing domain controller is configured to execute the method of claim 7, and the first underlying domain controller is configured to subscribe to and call the lane recognition results uploaded by the lane recognition domain controller through the Ethernet.

9. 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 6 or 7 are implemented.

10. 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 6 or 7.

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