System architecture, transmission method, vehicle, medium and chip for dynamic object recognition

Abstract

The present disclosure relates to a system architecture, transmission method, vehicle, medium and chip for dynamic object recognition, including: a whole vehicle central computing domain controller, multiple underlying domain controllers, the underlying domain controllers including a dynamic identification domain controller and a first underlying domain controller; the whole vehicle central computing domain controller is configured with a first SOA service and a second SOA service corresponding to the dynamic identification domain controller, the dynamic identification domain controller uploads the dynamic object recognition result to the whole vehicle central computing domain controller through an upload interface provided by the second SOA service, so that the first underlying domain controller subscribed to and called the second SOA service on the whole vehicle central computing domain controller obtains the dynamic object recognition result, and the first SOA service is obtained by service encapsulation according to the atomic capability configured in the first underlying domain controller that subscribes to and calls the second SOA service.

Description

Technical Field

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

[0002] In the field of intelligent driving technology, the recognition results between vehicle domain controllers are usually transmitted through the CAN bus, and different domain controllers are usually unable to control vehicle actuators in the control domain of other domain controllers. For example, the intelligent driving domain is usually unable to control the vehicle actuators in the control domain of the dynamic object recognition domain controller, and the recognition results of the dynamic object recognition domain controller are usually transmitted from the CAN bus to the intelligent driving domain. However, the CAN bus bandwidth is limited, and the maximum signal length does not exceed 32 bits, that is, 4 bytes. The dynamic object recognition results with large memory usage are transmitted through the CAN bus, which cannot meet the large data transmission requirements of the cockpit SR road perception system. 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 dynamic object recognition.

[0004] According to a first aspect of an embodiment of the present disclosure, a system architecture for dynamic object 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 dynamic identification domain controller and a first underlying domain controller;

[0006] The vehicle central computing domain controller is configured with a first SOA service and a second SOA service corresponding to the dynamic identification domain controller. The second SOA service provides an upload interface. The dynamic identification domain controller uploads the dynamic object identification result to the vehicle central computing domain controller through the upload interface, so that the first underlying domain controller that subscribes to and calls the second SOA service on the vehicle central computing domain controller obtains the dynamic object identification result. The first SOA service is obtained by service encapsulation based on the atomic capability configured in the first underlying domain controller that subscribes to and calls the second SOA service. The atomic capability is the minimum control unit obtained by decoupling the perception action of the environmental perception device within the control domain of the dynamic identification domain controller. The dynamic object identification result is obtained by identifying and labeling each dynamic object in the field of view.

[0007] Optionally, the vehicle central computing domain controller is used to:

[0008] Obtaining the interface design corresponding to the atomic capability in the first underlying domain controller that subscribes to and calls the second SOA service and obtaining the service architecture in the vehicle central computing domain controller;

[0009] Mapping the interface design corresponding to the atomic capability into a structure identical to a calling function in the service architecture, wherein the structure includes service description information and field information;

[0010] The mapped service description information and field information are encapsulated to obtain the first SOA service corresponding to the atomic capability.

[0011] Optionally, the environment perception device in the control domain of the dynamic identification domain controller is communicatively connected with the dynamic identification domain controller via a CAN bus;

[0012] The vehicle central computing domain controller is configured with a signal matrix, and the vehicle central computing domain controller and the environmental perception device in the control domain of the dynamic identification domain controller implement the sending of instructions corresponding to the first SOA service through the signal matrix.

[0013] Optionally, the vehicle central computing domain controller is connected to the environmental perception device in the control domain of the dynamic identification domain controller via a CAN bus communication, and the signal matrix is ​​used to convert the first SOA service provided by the vehicle central computing domain controller into a CAN message.

[0014] Optionally, the dynamic object recognition result includes the number of the dynamic objects in the current field of view and at least one of the following information of each of the dynamic objects: motion trajectory information, object attribute information, and motion state information.

[0015] According to a second aspect of an embodiment of the present disclosure, a transmission method for dynamic object recognition is provided, the method being applied to the dynamic recognition domain controller in the first aspect, the transmission method comprising:

[0016] According to the preset update frequency, the dynamic object recognition result is uploaded to the vehicle central computing domain controller through the upload interface provided by the second SOA service corresponding to the dynamic identification domain controller in the vehicle central computing domain controller, and the vehicle central computing domain controller publishes the dynamic object recognition result on the Ethernet by broadcasting, so that the first bottom domain controller that subscribes to and calls the second SOA service obtains the dynamic object recognition result, which is obtained by identifying and marking each dynamic object in the field of view;

[0017] Among them, the vehicle central computing domain controller is configured with a first SOA service corresponding to the first underlying domain controller that subscribes to and calls the second SOA service. The first SOA service is obtained by service encapsulation based on the atomic capability configured in the first underlying domain controller that subscribes to and calls the second SOA service. The atomic capability is the minimum control unit obtained by decoupling the perception action of the environmental perception device within the control domain of the dynamic identification domain controller.

[0018] According to a third aspect of an embodiment of the present disclosure, a transmission method for dynamic object recognition is provided, the method being applied to the vehicle central computing domain controller in the first aspect, the transmission method comprising:

[0019] Receiving a dynamic object recognition result uploaded by the dynamic recognition domain controller according to a preset update frequency, wherein the dynamic object recognition result is uploaded through an upload interface provided by a second SOA service corresponding to the dynamic recognition domain controller in the vehicle central computing domain controller, and the dynamic object recognition result is obtained by identifying and marking each dynamic object in the field of view;

[0020] Publishing the dynamic object recognition result on the Ethernet by broadcasting, so that the first bottom domain controller that subscribes to and calls the second SOA service obtains the dynamic object recognition result;

[0021] Receive instructions uploaded by the first underlying domain controller that subscribes to and calls the second SOA service through the upload interface provided by the corresponding first SOA service, and send the instructions corresponding to the first SOA service to the environmental perception device within the control domain of the dynamic identification domain controller, the first SOA service is obtained by service encapsulation based on the atomic capabilities configured in the first underlying domain controller that subscribes to and calls the second SOA service, and the atomic capabilities are the minimum control units obtained by decoupling the perception actions possessed by the environmental perception device within the control domain of the dynamic identification domain controller.

[0022] 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 dynamic identification domain controller and a first underlying domain controller;

[0023] Among them, the dynamic identification 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, the first underlying domain controller is configured to subscribe to and call the dynamic object identification results uploaded by the dynamic identification domain controller through the Ethernet and upload the instructions for the environmental perception device within the control domain of the dynamic identification domain controller through the upload interface provided by the first SOA service configured by the vehicle central computing domain controller, the first SOA service is obtained by service encapsulation based on the atomic capabilities configured in the first underlying domain controller that subscribes to and calls the second SOA service, and the atomic capabilities are the minimum control unit obtained by decoupling the perception actions of the environmental perception device within the control domain of the dynamic identification domain controller.

[0024] 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.

[0025] According to a sixth aspect of an embodiment of the present disclosure, a chip is provided, including 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.

[0026] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0027] The first SOA service and the second SOA service corresponding to the dynamic identification domain controller are configured in the vehicle central computing domain controller, and the second SOA service provides an upload interface. The dynamic identification domain controller uploads the dynamic object identification result to the vehicle central computing domain controller through the upload interface, so that the first bottom-level domain controller that subscribes to and calls the second SOA service on the vehicle central computing domain controller obtains the dynamic object identification result. The dynamic object identification result is uploaded through the SOA service configured in the vehicle central computing domain controller, which is not limited by the large memory occupied by the dynamic object identification result, and can meet the big data transmission requirements of the cockpit SR road perception system. In addition, the first SOA service is obtained by encapsulating the service according to the atomic capability configured in the first bottom-level domain controller that subscribes to and calls the second SOA service. The atomic capability is the minimum control unit obtained by decoupling the perception action of the environmental perception device in the control domain of the dynamic identification domain controller. The first bottom-level domain controller calls the SOA service configured in the vehicle central computing domain controller, so that the first bottom-level domain controller can control the vehicle actuator in the control domain of the dynamic identification domain controller according to the atomic capability, thereby improving the flexibility and convenience of intelligent driving.

[0028] 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

[0029] 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.

[0030] Figure 1 The invention is a block diagram showing a system architecture for dynamic object recognition according to an exemplary embodiment.

[0031] Figure 2 The figure is a schematic diagram of a data structure of a dynamic object recognition result according to an exemplary embodiment.

[0032] Figure 3 It is a schematic diagram of a functional block diagram of a vehicle showing an exemplary embodiment.

[0033] Figure 4 The diagram is a block diagram of a domain controller according to an exemplary embodiment. DETAILED DESCRIPTION

[0034] 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.

[0035] 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.

[0036] Figure 1 is a schematic diagram of a system architecture for dynamic object recognition according to an exemplary embodiment. Figure 1 As shown, the system architecture is applied to a vehicle, and the system architecture includes:

[0037] 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 dynamic identification domain controller 120 and a first underlying domain controller 130;

[0038] 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.

[0039] 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.

[0040] It is worth noting that the control domain of each underlying domain controller includes corresponding vehicle actuators. For example, the control domain of the dynamic identification domain controller 120 includes an environmental perception device, which may include a camera, a lidar, and a millimeter-wave radar. The camera is used to collect environmental images in the vehicle's driving environment, and the lidar and millimeter-wave radar are used to collect characteristic information such as the position and speed of dynamic objects in the vehicle's driving environment.

[0041] 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 110VCCD through the CAN bus. For example, the environment perception device in the control domain of the dynamic identification domain controller 120 is connected to the dynamic identification domain controller 120 through the CAN bus, and is connected to the vehicle central computing domain controller 110VCCD through the CAN bus.

[0042] The vehicle central computing domain controller 110 is configured with a first SOA service and a second SOA service corresponding to the dynamic identification domain controller 120. The second SOA service provides an upload interface. The dynamic identification domain controller 120 uploads the dynamic object identification result to the vehicle central computing domain controller 110 through the upload interface, so that the first underlying domain controller 130 that subscribes to and calls the second SOA service on the vehicle central computing domain controller 110 obtains the dynamic object identification result. The first SOA service is obtained by service encapsulation based on the atomic capability configured in the first underlying domain controller 130 that subscribes to and calls the second SOA service. The atomic capability is the minimum control unit obtained by decoupling the perception action of the environmental perception device in the control domain of the dynamic identification domain controller 120. The dynamic object identification result is obtained by identifying and labeling each dynamic object in the field of view.

[0043] 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.

[0044] In the disclosed embodiment, the dynamic identification domain controller 120 is connected to the environmental perception device in its control domain via the CAN bus, and the vehicle central computing domain controller 110 is also connected to the environmental perception device in the control domain of the dynamic identification domain controller 120 via the CAN bus. The dynamic identification domain controller 120 and the vehicle central computing domain controller 110 are connected via Ethernet, and the first bottom-level domain controller 130 and the vehicle central computing domain controller 110 are also connected via Ethernet.

[0045] It can be understood that when the first bottom-level domain controller 130 calls the dynamic object recognition result, the vehicle central computing domain controller 110 sends the dynamic object recognition result to the first bottom-level domain controller 130 in the form of an SOA message. In addition, the first bottom-level domain controller 130 can configure the atomic capability of the minimum control unit obtained by decoupling the perception action of the environmental perception device in the control domain of the dynamic identification domain controller 120, and then generate a control instruction according to the configured atomic capability, and send the control instruction to the vehicle central computing domain controller 110 in the form of an SOA message by calling the function call interface of the first SOA service. The vehicle central computing domain controller 110 converts the SOA message into a CAN message through the signal matrix, and sends it to the environmental perception device in the control domain of the dynamic identification domain controller 120, so as to realize the control of the vehicle actuator in the non-domain controller by the first bottom-level domain controller 130. For example, the first bottom-level domain controller 130 is configured with the atomic capability of "turning on the image acquisition device" for the image acquisition device in the environmental perception device.

[0046] It can be explained that the dynamic object recognition result is obtained by the dynamic recognition domain controller 120 obtaining the information of each dynamic object in the field of view perceived by the environmental perception device through the CAN bus, and identifying and marking the dynamic object according to the information of the dynamic object, and by calling the upload interface provided by the second SOA service, the dynamic object recognition result is also reported to the vehicle central computing domain controller 110 in the form of an SOA message.

[0047] The above system architecture is configured with a first SOA service and a second SOA service corresponding to the dynamic identification domain controller in the vehicle central computing domain controller. The second SOA service provides an upload interface. The dynamic identification domain controller uploads the dynamic object identification result to the vehicle central computing domain controller through the upload interface, so that the first bottom-level domain controller that subscribes to and calls the second SOA service on the vehicle central computing domain controller obtains the dynamic object identification result. The dynamic object identification result is uploaded through the SOA service configured in the vehicle central computing domain controller, which is not limited by the large memory occupied by the dynamic object identification result, and can meet the big data transmission requirements of the cockpit SR road perception system. In addition, the first SOA service is obtained by service encapsulation based on the atomic capability configured in the first bottom-level domain controller that subscribes to and calls the second SOA service. The atomic capability is the minimum control unit obtained by decoupling the perception action of the environmental perception device in the control domain of the dynamic identification domain controller. The first bottom-level domain controller calls the SOA service configured in the vehicle central computing domain controller, so that the first bottom-level domain controller can control the vehicle actuator in the control domain of the dynamic identification domain controller according to the atomic capability, thereby improving the flexibility and convenience of intelligent driving.

[0048] Optionally, the vehicle central computing domain controller 110 is used to:

[0049] Obtain the interface design corresponding to the atomic capability in the first underlying domain controller 130 that subscribes to and calls the second SOA service and obtain the service architecture in the vehicle central computing domain controller 110;

[0050] The interface design corresponding to the atomic capability is designed in the outline design stage of the software development of the first bottom-level domain controller 130. The atomic capability module is divided according to the requirements of the atomic capability, and the service module of the first SOA service is divided according to the atomic capability module in the vehicle central computing domain controller 110, and then the connection between the atomic capability module and the service module is realized by defining the interface. The interface can be understood as the prototype of the function, including the function name, parameter list and return value, etc.

[0051] Among them, the service architecture in the vehicle central computing domain controller 110 is actually a SOA service architecture, which can abstract different atomic capabilities of the dynamic identification domain controller 120 and different first bottom-level domain controllers 130 into services.

[0052] Mapping the interface design corresponding to the atomic capability into a structure identical to a calling function in the service architecture, wherein the structure includes service description information and field information;

[0053] In the disclosed embodiment, the interface design corresponding to the atomic capability is mapped to the same structure as the calling function in the service architecture, so as to connect the service and the atomic capability through the interface definition, and thereby complete the functional association. Among them, the service description information can refer to the description of the atomic capability, and the field information can be understood as the prototype of the functional function. When a new atomic capability requirement arises, it is not necessary to implement it from scratch. It is only necessary to orchestrate and assemble the existing services to match the functions corresponding to the new atomic capability, so as to achieve service reuse and orchestration.

[0054] The mapped service description information and field information are encapsulated to obtain the first SOA service corresponding to the atomic capability.

[0055] In the disclosed embodiment, the mapped service description information and field information are packaged, and the attributes and operations of the packaged information are defined, wherein the attributes are determined by the field information, and the operations are determined by the service description information. After the definition is completed, files related to the service are generated, and then the service-related files are compiled and stub classes are generated, and the compiled service files and stub classes are further deployed and corresponding function call interfaces are generated, so that programs that call the function call interfaces can be written in the dynamic identification domain controller 120 and different first bottom-level domain controllers 130.

[0056] Optionally, the environment perception device in the control domain of the dynamic identification domain controller 120 is communicatively connected with the dynamic identification domain controller 120 via a CAN bus;

[0057] The vehicle central computing domain controller 110 is configured with a signal matrix, and the vehicle central computing domain controller 110 and the environmental perception device in the control domain of the dynamic identification domain controller 120 implement the sending of instructions corresponding to the first SOA service through the signal matrix.

[0058] In the disclosed embodiment, the vehicle central computing domain controller 110 converts the SOA service into a CAN message through a signal matrix based on the control instruction obtained by the first underlying domain controller 130 calling the first SOA service, and sends it to the environment perception device in the control domain of the dynamic identification domain controller 120. The environment perception device uploads the perceived environmental information of the CAN message type to the CAN bus, and converts the CAN message into an SOA service through the signal matrix. The vehicle central computing domain controller 110 returns the SOA service to the corresponding first underlying domain controller 130.

[0059] Optionally, the vehicle central computing domain controller 110 is connected to the environmental perception device in the control domain of the dynamic identification domain controller 120 via a CAN bus communication, and the signal matrix is ​​used to convert the first SOA service provided by the vehicle central computing domain controller 110 into a CAN message.

[0060] Optionally, the dynamic object recognition result includes the number of the dynamic objects in the current field of view and at least one of the following information of each of the dynamic objects: motion trajectory information, object attribute information, and motion state information.

[0061] See also Figure 2 As shown, the sending time and updating frequency of the current dynamic object recognition result can also be recorded in the dynamic object recognition result, and an identification number can be provided for each dynamic object, wherein the identification number is unique, and the same dynamic object has an identification number. For example, when the dynamic object moves from the left rear of the vehicle to the left front of the vehicle, the identification number of the dynamic object will not change. Of course, it is understandable that if the dynamic object disappears from the field of view of the vehicle and then reappears in the field of view of the vehicle, the identification number of the dynamic object may change.

[0062] Among them, the object attribute information may include object category and object attribute information. The object category may be car, truck, bus, undefined vehicle, pedestrian, motorcycle, bicycle, animal, general on-road object on pedestrian street, cone; the object attribute information may include the height, horizontal size, and vertical size of the dynamic object.

[0063] In an embodiment of the present disclosure, when the dynamic object is a vehicle, the object attribute information may also include vehicle braking status, vehicle turn signal status, and vehicle direction, wherein the vehicle turn signal status includes flashing left turn signal, flashing right turn signal, and no flashing turn signal.

[0064] In the disclosed embodiment, the motion trajectory information may include the number of predicted trajectories, the number of trajectory points in each predicted trajectory, the horizontal coordinate and the vertical coordinate of each trajectory point, and the time when the dynamic object reaches any trajectory point.

[0065] In the embodiment of the present disclosure, the motion state information may include the horizontal coordinate and the vertical coordinate of the center point of the dynamic object, the horizontal speed and the vertical speed, and the horizontal acceleration and the vertical acceleration.

[0066] In the above technical solution, the dynamic object recognition results uploaded through the SOA service include the number of dynamic objects, which is not limited by the size of the CAN bus signal list, can meet the real-time requirements of intelligent driving, and the motion trajectory information, object attribute information, and motion status information of the dynamic objects can all be uploaded.

[0067] Based on the same inventive concept, the embodiment of the present disclosure further provides a transmission method for dynamic object recognition, the method is applied to the dynamic recognition domain controller in the aforementioned embodiment, and the transmission method includes:

[0068] According to the preset update frequency, the dynamic object recognition result is uploaded to the vehicle central computing domain controller through the upload interface provided by the second SOA service corresponding to the dynamic identification domain controller in the vehicle central computing domain controller, and the vehicle central computing domain controller publishes the dynamic object recognition result on the Ethernet by broadcasting, so that the first bottom domain controller that subscribes to and calls the second SOA service obtains the dynamic object recognition result, which is obtained by identifying and marking each dynamic object in the field of view;

[0069] In the disclosed embodiment, after obtaining the dynamic object recognition result, the dynamic recognition domain controller calls the upload interface provided by the second SOA service according to the preset update frequency to upload the dynamic object recognition result to the vehicle central computing domain controller.

[0070] Among them, the vehicle central computing domain controller is configured with a first SOA service corresponding to the first underlying domain controller that subscribes to and calls the second SOA service. The first SOA service is obtained by service encapsulation based on the atomic capability configured in the first underlying domain controller that subscribes to and calls the second SOA service. The atomic capability is the minimum control unit obtained by decoupling the perception action of the environmental perception device within the control domain of the dynamic identification domain controller.

[0071] The embodiment of the present disclosure further provides a transmission method for dynamic object recognition, the method being applied to the vehicle central computing domain controller in the first aspect, the transmission method comprising:

[0072] Receiving a dynamic object recognition result uploaded by the dynamic recognition domain controller according to a preset update frequency, wherein the dynamic object recognition result is uploaded through an upload interface provided by a second SOA service corresponding to the dynamic recognition domain controller in the vehicle central computing domain controller, and the dynamic object recognition result is obtained by identifying and marking each dynamic object in the field of view;

[0073] Publishing the dynamic object recognition result on the Ethernet by broadcasting, so that the first bottom domain controller that subscribes to and calls the second SOA service obtains the dynamic object recognition result;

[0074] Receive instructions uploaded by the first underlying domain controller that subscribes to and calls the second SOA service through the upload interface provided by the corresponding first SOA service, and send the instructions corresponding to the first SOA service to the environmental perception device within the control domain of the dynamic identification domain controller, the first SOA service is obtained by service encapsulation based on the atomic capabilities configured in the first underlying domain controller that subscribes to and calls the second SOA service, and the atomic capabilities are the minimum control units obtained by decoupling the perception actions possessed by the environmental perception device within the control domain of the dynamic identification domain controller.

[0075] The disclosed embodiment 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 dynamic identification domain controller and a first underlying domain controller;

[0076] Among them, the dynamic identification domain controller is configured to execute the method described in the aforementioned embodiments, the vehicle central computing domain controller is configured to execute the method described in the aforementioned embodiments, the first underlying domain controller is configured to subscribe to and call the dynamic object identification results uploaded by the dynamic identification domain controller through the Ethernet and upload the instructions for the environmental perception device within the control domain of the dynamic identification domain controller through the upload interface provided by the first SOA service configured by the vehicle central computing domain controller, the first SOA service is obtained by service encapsulation based on the atomic capabilities configured in the first underlying domain controller that subscribes to and calls the second SOA service, and the atomic capabilities are the minimum control unit obtained by decoupling the perception actions of the environmental perception device within the control domain of the dynamic identification domain controller.

[0077] The embodiment of the present disclosure further provides a computer-readable storage medium on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the method described in the above embodiment are implemented.

[0078] The embodiment of the present disclosure also 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.

[0079] In addition to being an independent electronic device, the above-mentioned device can also be a part of an independent electronic device. The device can be configured as a aforementioned underlying domain controller or a vehicle central computing domain controller. 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, system on chip or system-on-chip), 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 dynamic object 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 can be stored in the memory, and when the executable instruction is executed by the processor, the above-mentioned transmission method for dynamic object 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 dynamic object recognition.

[0080] 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. For example, the perception system 320 can be a dynamic recognition domain controller, and obtain an autonomous driving strategy based on the analysis of the surrounding environmental information to achieve fully autonomous driving, or present the analysis result to the user to achieve partially autonomous driving. For example, the analysis result can be a dynamic object recognition result.

[0081] 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.

[0082] In some embodiments, infotainment system 310 may include communication system 311 , entertainment system 312 , and navigation system 313 .

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] The global positioning system 321 is used to estimate the geographic location of the vehicle 300 .

[0089] 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.

[0090] 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.

[0091] 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.

[0092] The ultrasonic radar 325 may sense objects around the vehicle 300 using ultrasonic signals.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] The throttle 334 is used to control the operating speed of the engine 341 and thus the speed of the vehicle 300 .

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] In the embodiment of the present disclosure, the processor 351 may execute the above-mentioned transmission method for dynamic object recognition.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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).

[0115] 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.

[0116] 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 dynamic object recognition when the computer program is executed by the programmable device.

[0117] 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 dynamic identification 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 dynamic object recognition.

[0118] 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.

[0119] 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 dynamic object 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 can be stored in the memory, and when the executable instruction is executed by the processor, the above-mentioned transmission method for dynamic object 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 dynamic object recognition.

[0120] 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.

[0121] 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 dynamic object 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 dynamic identification domain controller and a first underlying domain controller; The vehicle central computing domain controller is configured with a first SOA service and a second SOA service corresponding to the dynamic identification domain controller. The second SOA service provides an upload interface. The dynamic identification domain controller uploads the dynamic object identification result to the vehicle central computing domain controller through the upload interface, so that the first underlying domain controller that subscribes to and calls the second SOA service on the vehicle central computing domain controller obtains the dynamic object identification result. The first SOA service is obtained by service encapsulation based on the atomic capability configured in the first underlying domain controller that subscribes to and calls the second SOA service. The atomic capability is the minimum control unit obtained by decoupling the perception action of the environmental perception device within the control domain of the dynamic identification domain controller. The dynamic object identification result is obtained by identifying and labeling each dynamic object in the field of view.

2. The system architecture according to claim 1, characterized in that: The vehicle central computing domain controller is used for: Obtaining the interface design corresponding to the atomic capability in the first underlying domain controller that subscribes to and calls the second SOA service and obtaining the service architecture in the vehicle central computing domain controller; Mapping the interface design corresponding to the atomic capability into a structure identical to a calling function in the service architecture, wherein the structure includes service description information and field information; The mapped service description information and field information are encapsulated to obtain a first SOA service corresponding to the atomic capability.

3. The system architecture according to claim 1, characterized in that: The environment perception device in the control domain of the dynamic identification domain controller is communicatively connected with the dynamic identification domain controller via a CAN bus; The vehicle central computing domain controller is configured with a signal matrix, and the vehicle central computing domain controller and the environmental perception device in the control domain of the dynamic identification domain controller implement the sending of instructions corresponding to the first SOA service through the signal matrix.

4. The system architecture according to claim 3, characterized in that: The vehicle central computing domain controller is connected to the environmental perception device in the control domain of the dynamic identification domain controller via a CAN bus communication, and the signal matrix is ​​used to convert the first SOA service provided by the vehicle central computing domain controller into a CAN message.

5. The system architecture according to any one of claims 1 to 4, characterized in that: The dynamic object recognition result includes the number of the dynamic objects in the current field of view and at least one of the following information of each of the dynamic objects: motion track information, object attribute information, and motion state information.

6. A transmission method for dynamic object recognition, characterized in that: The method is applied to the dynamic identification domain controller in claims 1-5, and the transmission method includes: According to the preset update frequency, the dynamic object recognition result is uploaded to the vehicle central computing domain controller through the upload interface provided by the second SOA service corresponding to the dynamic identification domain controller in the vehicle central computing domain controller, and the vehicle central computing domain controller publishes the dynamic object recognition result on the Ethernet by broadcasting, so that the first bottom domain controller that subscribes to and calls the second SOA service obtains the dynamic object recognition result, which is obtained by identifying and marking each dynamic object in the field of view; Among them, the vehicle central computing domain controller is configured with a first SOA service corresponding to the first underlying domain controller that subscribes to and calls the second SOA service. The first SOA service is obtained by service encapsulation based on the atomic capability configured in the first underlying domain controller that subscribes to and calls the second SOA service. The atomic capability is the minimum control unit obtained by decoupling the perception action of the environmental perception device within the control domain of the dynamic identification domain controller.

7. A transmission method for dynamic object 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 dynamic object recognition result uploaded by the dynamic recognition domain controller according to a preset update frequency, wherein the dynamic object recognition result is uploaded through an upload interface provided by a second SOA service corresponding to the dynamic recognition domain controller in the vehicle central computing domain controller, and the dynamic object recognition result is obtained by identifying and marking each dynamic object in the field of view; Publishing the dynamic object recognition result on the Ethernet by broadcasting, so that the first bottom domain controller that subscribes to and calls the second SOA service obtains the dynamic object recognition result; Receive instructions uploaded by the first underlying domain controller that subscribes to and calls the second SOA service through the upload interface provided by the corresponding first SOA service, and send the instructions corresponding to the first SOA service to the environmental perception device within the control domain of the dynamic identification domain controller, the first SOA service is obtained by service encapsulation based on the atomic capabilities configured in the first underlying domain controller that subscribes to and calls the second SOA service, and the atomic capabilities are the minimum control units obtained by decoupling the perception actions possessed by the environmental perception device within the control domain of the dynamic identification domain controller.

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 dynamic identification domain controller and a first underlying domain controller; Among them, the dynamic identification domain controller is configured to execute the method described in claim 6, the vehicle central computing domain controller is configured to execute the method described in claim 7, the first underlying domain controller is configured to subscribe to and call the dynamic object identification results uploaded by the dynamic identification domain controller through the Ethernet and upload the instructions for the environmental perception device within the control domain of the dynamic identification domain controller through the upload interface provided by the first SOA service configured by the vehicle central computing domain controller, the first SOA service is obtained by service encapsulation based on the atomic capabilities configured in the first underlying domain controller that subscribes to and calls the second SOA service, and the atomic capabilities are the minimum control unit obtained by decoupling the perception actions of the environmental perception device within the control domain of the dynamic identification domain controller.

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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