System architecture, transmission method, vehicle, medium and chip for road sign recognition

Abstract

The present disclosure relates to a system architecture, a transmission method, a vehicle, a medium and a chip for road sign recognition, belonging to the field of vehicle communication. The system architecture comprises: a whole vehicle central computing domain controller, a plurality of vehicle-mounted control devices connected with the whole vehicle central computing domain controller through Ethernet; a road sign recognition service providing a calling interface for calling; the whole vehicle central computing domain controller is used for checking the calling parameters sent by a first vehicle-mounted control device to the road sign recognition service, and forwarding the calling parameters to a road sign recognition domain controller if the checking is passed, and forwarding the return parameters sent by the road sign recognition service in response to the calling parameters to the first vehicle-mounted control device, so that the first vehicle-mounted control device obtains the road sign recognition result in the return parameters. The safety of the road sign recognition result transmission under the service-oriented architecture is effectively ensured, and the acquisition of illegal road sign recognition results is avoided.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle traffic, and in particular to a system architecture, transmission method, vehicle, medium and chip for road sign recognition. Background Technology

[0002] In related technologies, vehicle software development typically uses CAN signals to achieve communication between vehicle function development and system software components. However, considering the large amount of data generated in intelligent driving vehicles and the inability of CAN bus bandwidth to support it, SOA (Service-Oriented Architecture) is gradually becoming an industry trend. However, how to ensure the data security performance of road sign recognition based on the service-oriented architecture remains an urgent problem to be solved. Summary of the Invention

[0003] To overcome the problems existing in related technologies, this disclosure provides a system architecture, transmission method, vehicle, medium and chip for road sign recognition.

[0004] According to a first aspect of the present disclosure, a system architecture for road sign recognition is provided, applied to a vehicle, the system architecture comprising:

[0005] The vehicle central computing domain controller includes multiple vehicle control devices connected to the vehicle central computing domain controller via Ethernet. The vehicle control devices include a road sign recognition domain controller and a first vehicle control device.

[0006] The road sign recognition domain controller is configured with a road sign recognition service. The road sign recognition service provides a calling interface for the vehicle central computing domain controller and the vehicle control device to call. The vehicle central computing domain controller is used to verify the calling parameters sent by the first vehicle control device to the road sign recognition service, and forward them to the road sign recognition domain controller if the verification is successful. It also forwards the return parameters sent by the road sign recognition service in response to the calling parameters to the first vehicle control device, so that the first vehicle control device can obtain the road sign recognition result in the return parameters.

[0007] Optionally, the road sign recognition domain controller is configured with a first software component, which is used to recognize road images to obtain road sign recognition signals describing the road images. The road sign recognition domain controller publishes the first software component as the road sign recognition service, so that the vehicle control device can obtain the road sign recognition result corresponding to the road sign recognition signal by calling the first service.

[0008] Optionally, the road sign recognition domain controller is further configured with the second software component, which is used to convert the unstructured road sign recognition signal into the structured road sign recognition result, so that the road sign recognition domain controller generates the return parameter based on the road sign recognition result.

[0009] Optionally, the structured road sign recognition result is tree data, and the road sign recognition result includes multiple nodes.

[0010] Optionally, the root node of the plurality of nodes includes at least one of a road arrow node, a road stop line node, and a pedestrian crossing node. The road arrow node includes at least one of an arrow type node and a road arrow relative distance node. The road stop line node includes at least one of a stop line detection node and a stop line distance node. The pedestrian crossing node includes at least one of a sidewalk color node, a sidewalk color node, and a sidewalk length node.

[0011] Optionally, the vehicle central computing domain controller and the plurality of vehicle control devices communicate based on the SOME / IP protocol.

[0012] According to a second aspect of the present disclosure, a transmission method for road sign recognition is provided. The method is applied to a road sign recognition domain controller according to a first aspect of the present disclosure. The road sign recognition domain controller is configured with a road sign recognition service, and the road sign recognition service provides a calling interface for use by the vehicle central computing domain controller and the on-board control device. The transmission method includes:

[0013] The system receives the call parameters sent by the first onboard control device for the road sign recognition service, forwarded by the vehicle's central computing domain controller.

[0014] The system sends return parameters to the vehicle central computing domain controller according to the calling parameters, so that the vehicle central computing domain controller forwards the return parameters to the first vehicle control device.

[0015] According to a third aspect of the present disclosure, a transmission method for road sign recognition is provided, the method being applied to a vehicle central computing domain controller according to a first aspect of the present disclosure, the transmission method comprising:

[0016] The call parameters sent by the first vehicle control device for the road sign recognition service are forwarded to the road sign recognition domain controller;

[0017] The road sign recognition service forwards the return parameters sent in response to the call parameters to the first vehicle control device, so that the first vehicle control device can obtain the road sign recognition result in the return parameters.

[0018] According to a fourth aspect of the present disclosure, a vehicle is provided, including a vehicle central computing domain controller and a plurality of vehicle control devices connected to the vehicle central computing domain controller via Ethernet, the vehicle control devices including a road sign recognition domain controller; wherein the road sign recognition domain controller is configured to perform the method described in the second aspect of the present disclosure, and the vehicle central computing domain controller is configured to perform the method described in the third aspect of the present disclosure.

[0019] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided that stores computer program instructions thereon, which, when executed by a processor, implement the steps of the method described in the second or third aspect of the present disclosure.

[0020] According to a sixth aspect of the present disclosure, a chip is provided, including a processor and an interface; the processor is configured to read instructions to execute the methods of the second or third aspect of the present disclosure.

[0021] The technical solutions provided by the embodiments of this disclosure can include the following beneficial effects: by forwarding the service call parameters and service return parameters of cross-domain services through the vehicle central computing domain controller, and verifying the service call parameters, the service call parameters are forwarded only if the verification passes, which effectively ensures the security of the transmission of road sign recognition results under the service-oriented architecture, thereby avoiding the illegal acquisition of road sign recognition results.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0024] Figure 1 This is a schematic diagram illustrating a system architecture for road sign recognition according to an exemplary embodiment.

[0025] Figure 2 This is a flowchart illustrating a transmission method for road sign recognition according to an exemplary embodiment.

[0026] Figure 3 This is another flowchart illustrating a transmission method for road sign recognition according to an exemplary embodiment.

[0027] Figure 4 This is a schematic diagram of a vehicle according to an exemplary embodiment.

[0028] Figure 5 This is a functional block diagram of a vehicle according to an exemplary embodiment.

[0029] Figure 6 This is a block diagram illustrating a domain controller according to an exemplary embodiment. Detailed Implementation

[0030] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0031] Figure 1 This is a schematic diagram illustrating a system architecture for road sign recognition according to an exemplary embodiment. This system architecture can be applied to vehicles, such as... Figure 1 As shown, the system architecture includes:

[0032] The vehicle central computing domain controller 110 is connected to the vehicle central computing domain controller 110 via Ethernet to multiple vehicle control devices 120, the vehicle control devices 120 including a road sign recognition domain controller 130 and a first vehicle control device 140.

[0033] The road sign recognition domain controller 130 is configured with a road sign recognition service. The road sign recognition service provides a calling interface for the vehicle central computing domain controller 110 and the vehicle control device 120 to call. The vehicle central computing domain controller 110 is used to verify the calling parameters sent by the first vehicle control device 140 to the road sign recognition service, and forward them to the road sign recognition domain controller 130 if the verification is successful. It also forwards the return parameters sent by the road sign recognition service in response to the calling parameters to the first vehicle control device 140, so that the first vehicle control device 140 can obtain the road sign recognition result in the return parameters.

[0034] The first vehicle-mounted device may be other domain control devices, such as TBOX, vehicle central control screen, etc., and this disclosure does not limit it.

[0035] Optionally, the vehicle central computing domain controller 110 and multiple vehicle control devices 120 communicate based on the SOME / IP protocol.

[0036] It is worth noting that multiple vehicle control devices 120 are connected to the vehicle central computing domain controller 110 via Ethernet, forming a local area network (LAN) between the vehicle control devices 120 and the LAN. The LAN can be considered a gateway within this LAN. When vehicle devices need to access data or perform cross-domain control, they must use cross-domain service parameters and other information from the LAN to enable communication between the vehicle control devices 120. Furthermore, upon receiving a cross-domain service call, the LAN can verify the call parameters to determine their validity before forwarding them.

[0037] Alternatively, the service call parameters can be obtained by the first vehicle control device 140 receiving parameter information sent by the remote device. After obtaining the road sign recognition result in the returned parameters, the first vehicle control device 140 can send the road sign recognition result to the remote device, which may be, for example, a mobile phone or a server.

[0038] In this embodiment of the disclosure, the vehicle central computing domain controller 110 forwards the service call parameters and service return parameters of cross-domain services and verifies the service call parameters. The service call parameters are forwarded only if the verification is successful, which effectively ensures the security of the transmission of road sign recognition results under the service-oriented architecture and avoids the illegal acquisition of road sign recognition results.

[0039] In some optional embodiments, the road sign recognition domain controller 130 is configured with a first software component, which is used to recognize road images to obtain road sign recognition signals describing the road images. The road sign recognition domain controller 130 publishes the first software component as the road sign recognition service, so that the vehicle control device 120 can obtain the road sign recognition result corresponding to the road sign recognition signal by calling the first service.

[0040] It is worth noting that each domain controller can be configured with a traditional platform AutoSAR component, and the application layer of the domain controller can be configured with software components that implement the atomic capabilities of the actuators under each domain controller. For example, this first software component can be used to identify road signs based on road images collected by the vehicle-mounted sensing device.

[0041] After the road sign recognition domain controller 130 publishes the first software component as a road sign recognition service, the road sign recognition service can provide calling interfaces and / or subscription structures to various nodes in the Ethernet LAN, so that the vehicle control device 120 in the Ethernet LAN can call the service to realize the function corresponding to the first software component.

[0042] By adopting the above scheme, the road sign recognition domain controller 130 publishes the first software component as a road sign recognition service, which enables other vehicle control devices 120 in the vehicle to call the service through the vehicle central computing domain controller 110 to obtain the road sign recognition result. By encapsulating cross-controller functions in the service, each control device only needs to focus on its own business-related data and logic, effectively reducing the coupling of the vehicle function development software.

[0043] In some alternative embodiments, the road sign recognition domain controller 130 is further configured with the second software component, which is used to convert the unstructured road sign recognition signal into the structured road sign recognition result, so that the road sign recognition domain controller 130 generates the return parameter based on the road sign recognition result.

[0044] Specifically, the second software component can fill the corresponding data of the road sign recognition signals corresponding to multiple scattered CAN signals into the return parameter upload interface according to the data structure specified by the return parameter upload interface, thereby obtaining the structured road sign recognition result, and thus realizing the process of converting signals into service parameters.

[0045] By adopting the above scheme and configuring the second software component, the conversion between signal and service parameters is realized, enabling the road sign recognition domain controller 130 to transmit the return parameters of its road sign recognition service via Ethernet, thereby avoiding the problems of complex design and signal quantity expansion limitations of traditional CAN communication.

[0046] In some alternative embodiments, the structured road sign recognition result is tree data, and the road sign recognition result includes multiple nodes.

[0047] Specifically, the road sign recognition result can be data in JSON object format or other data formats, and this disclosure does not make any specific limitations on it.

[0048] By adopting the above scheme and using a tree-structured road sign recognition result, the vehicle control device 120 can more conveniently filter the road sign recognition result and obtain the required data, thus ensuring the efficiency of data processing.

[0049] Specifically, the root node of the plurality of nodes includes at least one of a road arrow node, a road stop line node, and a pedestrian crossing node. The road arrow node includes at least one of an arrow type node and a road arrow relative distance node. The road stop line node includes at least one of a stop line detection node and a stop line distance node. The pedestrian crossing node includes at least one of a sidewalk color node, a sidewalk color node, and a sidewalk length node.

[0050] The root node can also include a data transmission time node, and the road stop line node can include a confidence level node, and so on.

[0051] Figure 2 This is a flowchart illustrating a transmission method for road sign recognition according to an exemplary embodiment. The method can be applied to the road sign recognition domain controller 130 in the first aspect of this disclosure. The road sign recognition domain controller is configured with a road sign recognition service, which provides an interface for invocation by the vehicle central computing domain controller and the on-board control device. The transmission method includes:

[0052] S201. Receive the call parameters sent by the first on-board control device for the road sign recognition service, which have passed verification and are forwarded by the vehicle central computing domain controller.

[0053] S202. Send return parameters to the vehicle central computing domain controller according to the calling parameters, so that the vehicle central computing domain controller forwards the return parameters to the first vehicle control device.

[0054] Optionally, the road sign recognition domain controller is configured with a first software component, and the method includes:

[0055] The first software component is used to identify road images to obtain road sign recognition signals that describe the road images;

[0056] The first software component is published as the road sign recognition service, so that the vehicle control device can obtain the road sign recognition result corresponding to the road sign recognition signal by calling the first service.

[0057] Optionally, the road sign recognition domain controller is further configured with the second software component, and the method includes:

[0058] The second software component converts the unstructured road sign recognition signal into a structured road sign recognition result, so that the road sign recognition domain controller generates the return parameter based on the road sign recognition result.

[0059] Optionally, the structured road sign recognition result is tree data, and the road sign recognition result includes multiple nodes.

[0060] Optionally, the root node of the plurality of nodes includes at least one of a road arrow node, a road stop line node, and a pedestrian crossing node. The road arrow node includes at least one of an arrow type node and a road arrow relative distance node. The road stop line node includes at least one of a stop line detection node and a stop line distance node. The pedestrian crossing node includes at least one of a sidewalk color node, a sidewalk color node, and a sidewalk length node.

[0061] Optionally, the vehicle central computing domain controller and the plurality of vehicle control devices communicate based on the SOME / IP protocol.

[0062] Figure 3 This is an exemplary embodiment illustrating a transmission method for road sign recognition, characterized in that the method is applied to the vehicle central computing domain controller 110 in the first aspect of this disclosure, the transmission method comprising:

[0063] S301. Verify the call parameters sent by the first vehicle control device for the road sign recognition service, and forward them to the road sign recognition domain controller if the verification is successful.

[0064] S302. The road sign recognition service forwards the return parameters sent in response to the call parameters to the first vehicle control device, so that the first vehicle control device can obtain the road sign recognition result in the return parameters.

[0065] Optionally, the road sign recognition domain controller is configured with a first software component, which is used to recognize road images to obtain road sign recognition signals describing the road images. The road sign recognition domain controller publishes the first software component as the road sign recognition service, so that the vehicle control device can obtain the road sign recognition result corresponding to the road sign recognition signal by calling the first service.

[0066] Optionally, the road sign recognition domain controller is further configured with the second software component, which is used to convert the unstructured road sign recognition signal into the structured road sign recognition result, so that the road sign recognition domain controller generates the return parameter based on the road sign recognition result.

[0067] Optionally, the structured road sign recognition result is tree data, and the road sign recognition result includes multiple nodes.

[0068] Optionally, the root node of the plurality of nodes includes at least one of a road arrow node, a road stop line node, and a pedestrian crossing node. The road arrow node includes at least one of an arrow type node and a road arrow relative distance node. The road stop line node includes at least one of a stop line detection node and a stop line distance node. The pedestrian crossing node includes at least one of a sidewalk color node, a sidewalk color node, and a sidewalk length node.

[0069] Optionally, the vehicle central computing domain controller and the plurality of vehicle control devices communicate based on the SOME / IP protocol.

[0070] Figure 4 This is a schematic diagram of a vehicle according to an exemplary embodiment, such as... Figure 4 As shown, the vehicle 400 includes a central computing domain controller 110 and multiple on-board control devices 120 connected to the central computing domain controller 110 via Ethernet. The on-board control devices include a road sign recognition domain controller 130; wherein the road sign recognition domain controller 130 is configured as follows: Figure 2 The transmission method for road sign recognition shown herein, wherein the vehicle central computing domain controller 110 is configured to perform, as follows Figure 3 The transmission method shown is used for road sign recognition.

[0071] See Figure 5 , Figure 5 This is a functional block diagram illustrating another vehicle as shown in an exemplary embodiment. Vehicle 500 can be configured for fully or partially autonomous driving modes. For example, vehicle 500 can acquire environmental information about its surroundings through perception system 520, and derive an autonomous driving strategy based on the analysis of the surrounding environmental information to achieve fully autonomous driving, or present the analysis results to the user to achieve partial autonomous driving.

[0072] Vehicle 500 may include various subsystems, such as an infotainment system 510, a perception system 520, a decision control system 530, a drive system 540, and a computing platform 550. Optionally, vehicle 500 may include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of vehicle 500 may be interconnected via wired or wireless means.

[0073] In some embodiments, the infotainment system 510 may include a communication system 511, an entertainment system 512, and a navigation system 513.

[0074] Communication system 511 may include a wireless communication system that can communicate wirelessly with one or more devices, either directly or via a communication network. For example, the wireless communication system may 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 may utilize WiFi or a wireless local area network (WLAN) to communicate. In some embodiments, the wireless communication system may utilize an infrared link, Bluetooth, or ZigBee to communicate directly with devices. Other wireless protocols, such as various vehicle communication systems, may also be used. For example, the wireless communication system may include one or more dedicated short-range communications (DSRC) devices that can enable public and / or private data communication between vehicles and / or roadside stations.

[0075] The entertainment system 512 may include a display device, a microphone, and speakers, allowing users to listen to the radio and play music in the vehicle; or connect their mobile phones to the vehicle and project their screens onto the display device, which may be touch-sensitive, allowing users to operate the system by touching the screen.

[0076] In some cases, the user's voice signal can be acquired through a microphone, and based on the analysis of the voice signal, the user can control certain aspects of the vehicle 500, such as adjusting the interior temperature. In other cases, music can be played to the user through the audio system.

[0077] The navigation system 513 may include map services provided by a map provider to provide navigation for the vehicle 500. The navigation system 513 can be used in conjunction with the vehicle's global positioning system 521 and inertial measurement unit 522. The map services provided by the map provider can be two-dimensional maps or high-precision maps.

[0078] The perception system 520 may include several sensors for sensing information about the environment surrounding the vehicle 500. For example, the perception system 520 may include a global positioning system 521 (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU) 522, a lidar 523, a millimeter-wave radar 524, an ultrasonic radar 525, and a camera device 526. The perception system 520 may also include sensors from the internal systems of the monitored vehicle 500 (e.g., an in-vehicle air quality monitor, fuel gauge, 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, orientation, speed, etc.). This detection and identification is a critical function for the safe operation of the vehicle 500.

[0079] The Global Positioning System 521 is used to estimate the geographical location of vehicle 500.

[0080] The inertial measurement unit 522 is used to sense changes in the pose of the vehicle 500 based on inertial acceleration. In some embodiments, the inertial measurement unit 522 may be a combination of an accelerometer and a gyroscope.

[0081] The lidar 523 uses lasers to sense objects in the environment in which the vehicle 500 is located. In some embodiments, the lidar 523 may include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components.

[0082] Millimeter-wave radar 524 uses radio signals to sense objects in the surrounding environment of vehicle 500. In some embodiments, in addition to sensing objects, millimeter-wave radar 524 can also be used to sense the speed and / or direction of travel of objects.

[0083] The ultrasonic radar 525 can use ultrasonic signals to sense objects around the vehicle 500.

[0084] The camera device 526 is used to capture image information of the surrounding environment of the vehicle 500. The camera device 526 may include a monocular camera, a binocular camera, a structured light camera, and a panoramic camera, etc. The image information acquired by the camera device 526 may include still images or video stream information.

[0085] The decision control system 530 includes a computing system 531 that analyzes and makes decisions based on information acquired by the perception system 520. The decision control system 530 also includes a vehicle controller 532 that controls the power system of the vehicle 500, as well as a steering system 533, a throttle 534, and a braking system 535 for controlling the vehicle 500.

[0086] The computing system 531 is operable to process and analyze various information acquired by the perception system 520 to identify targets, objects, and / or features in the environment surrounding the vehicle 500. Targets may include pedestrians or animals, and objects and / or features may include traffic signals, road boundaries, and obstacles. The computing system 531 may use object recognition algorithms, Structure from Motion (SFM) algorithms, video tracking, and other techniques. In some embodiments, the computing system 531 may be used to map the environment, track objects, estimate object speeds, etc. The computing system 531 can analyze the acquired information and derive a control strategy for the vehicle.

[0087] The vehicle controller 532 can be used to coordinate the control of the vehicle's power battery and engine 541 to improve the power performance of the vehicle 500.

[0088] The steering system 533 is operable to adjust the forward direction of the vehicle 500. For example, in one embodiment, it can be a steering wheel system.

[0089] Throttle 534 is used to control the operating speed of engine 541 and thus the speed of vehicle 500.

[0090] Braking system 535 is used to control the deceleration of vehicle 500. Braking system 535 can use friction to slow down wheel 544. In some embodiments, braking system 535 can convert the kinetic energy of wheel 544 into electric current. Braking system 535 may also take other forms to slow down the rotational speed of wheel 544 to control the speed of vehicle 500.

[0091] The drive system 540 may include components that provide powered motion to the vehicle 500. In one embodiment, the drive system 540 may include an engine 541, an energy source 542, a transmission system 543, and wheels 544. The engine 541 may be an internal combustion engine, an electric motor, an air-compressed engine, or other types of engine combinations, 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-compressed engine. The engine 541 converts the energy source 542 into mechanical energy.

[0092] Examples of energy sources 542 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy source 542 may also provide energy to other systems of vehicle 500.

[0093] The drivetrain 543 transmits mechanical power from the engine 541 to the wheels 544. The drivetrain 543 may include a gearbox, a differential, and a drive shaft. In one embodiment, the drivetrain 543 may also include other components, such as a clutch. The drive shaft may include one or more axles that can be coupled to one or more wheels 544.

[0094] Some or all of the functions of vehicle 500 are controlled by computing platform 550. Computing platform 550 may include at least one processor 551, which can execute instructions 553 stored in a non-transitory computer-readable medium such as memory 552. In some embodiments, computing platform 550 may also be multiple computing devices that control individual components or subsystems of vehicle 500 in a distributed manner.

[0095] Processor 551 can be any conventional processor, such as a commercially available CPU. Alternatively, processor 551 may also include a graphics processing unit (GPU), a field-programmable gate array (FPGA), a system-on-a-chip (SoC), an application-specific integrated circuit (ASIC), or a combination thereof. Although Figure 5 The processor, memory, and other components of a computer within the same block are functionally illustrated; however, those skilled in the art will understand 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 enclosure. For example, memory may be a hard disk drive or other storage media located in an enclosure different from that of the computer. Therefore, references to a processor or computer will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Unlike using a single processor to perform the steps described herein, some components, such as steering and deceleration components, may each have their own processor, which performs calculations only related to the component's specific function.

[0096] In this embodiment of the disclosure, the processor 551 can execute the above-described transmission method for road sign recognition.

[0097] In various aspects described herein, processor 551 may be located remotely from the vehicle and communicate wirelessly with the vehicle. In other aspects, some of the processes described herein are executed on a processor located within the vehicle, while others are executed by a remote processor, including taking the necessary steps to perform a single operation.

[0098] In some embodiments, memory 552 may contain instructions 553 (e.g., program logic) that can be executed by processor 551 to perform various functions of vehicle 500. Memory 552 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 510, perception system 520, decision control system 530, and drive system 540.

[0099] In addition to instruction 553, memory 552 may also store data such as road maps, route information, vehicle position, direction, speed, and other vehicle data, as well as other information. This information can be used by vehicle 500 and computing platform 550 during operation of vehicle 500 in autonomous, semi-autonomous, and / or manual modes.

[0100] The computing platform 550 can control the functions of the vehicle 500 based on inputs received from various subsystems, such as the drive system 540, the perception system 520, and the decision control system 530. For example, the computing platform 550 can utilize inputs from the decision control system 530 to control the steering system 533 to avoid obstacles detected by the perception system 520. In some embodiments, the computing platform 550 is operable to provide control over many aspects of the vehicle 500 and its subsystems.

[0101] Optionally, one or more of these components may be installed separately from or associated with the vehicle 500. For example, the first memory 552 may exist partially or completely separately from the vehicle 500. The components may be communicatively coupled together in a wired and / or wireless manner.

[0102] Optionally, the components described above are merely examples. In actual applications, components in each of the above modules may be added or removed as needed. Figure 5 This should not be construed as a limitation on the embodiments disclosed herein.

[0103] Autonomous vehicles traveling on roads, such as vehicle 500 above, can identify objects in their surroundings to determine adjustments to their current speed. These objects can be other vehicles, traffic control equipment, or other types of objects. In some examples, each identified object can be considered independently, and based on the object's individual characteristics, such as its current speed, acceleration, and distance from the vehicle, the speed adjustment the autonomous vehicle should make can be determined.

[0104] Optionally, vehicle 500 or its associated perception and computing devices (e.g., computing system 531, computing platform 550) 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 the others, so all identified objects can be considered together to predict the behavior of a single identified object. Vehicle 500 can adjust its speed based on the predicted behavior of the identified objects. In other words, the autonomous vehicle can determine what steady state the vehicle needs 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 in determining the speed of vehicle 500, such as the lateral position of vehicle 500 in the road, the curvature of the road, the proximity of static and dynamic objects, etc.

[0105] In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device can also provide instructions to modify the steering angle of the vehicle 500 so that the autonomous vehicle follows a given trajectory and / or maintains a safe lateral and longitudinal distance from objects near the autonomous vehicle (e.g., vehicles in adjacent lanes on the road).

[0106] The vehicle 500 can be any type of vehicle, such as a car, truck, motorcycle, bus, boat, airplane, helicopter, recreational vehicle, train, etc. This disclosure does not impose any particular limitation.

[0107] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described transmission method for road sign recognition when executed by the programmable device.

[0108] Figure 6 This is a block diagram illustrating a domain controller according to an exemplary embodiment. (Refer to...) Figure 6 Domain controller 600 can be Figure 1 The road sign recognition domain controller 130 shown can also be a vehicle central computing domain controller 110. This domain controller 600 includes a processing component 622, which further includes one or more processors, and memory resources represented by a second memory 632 for storing instructions, such as application programs, that can be executed by the processing component 622. The application programs stored in the second memory 632 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processing component 622 is configured to execute instructions to perform the aforementioned transmission method for road sign recognition.

[0109] Domain controller 600 may also include a power supply component 626 configured to perform power management of domain controller 600, a wired or wireless network interface 650 configured to connect domain controller 600 to a network, and an input / output interface 658. Domain controller 600 can operate on an operating system, such as Windows Server, stored in a secondary memory 632. TM Mac OS X TM Unix TM Linux TM FreeBSD TM Or similar.

[0110] The domain controller 600 described above can be a standalone electronic device or part of a standalone electronic device. For example, in one embodiment, the domain controller 600 can be an integrated circuit (IC) or a chip, wherein 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), etc. The aforementioned integrated circuit or chip can be used to execute executable instructions (or code) to implement the aforementioned transmission method for road sign recognition. The executable instructions can be stored in the integrated circuit or chip or obtained from other devices or equipment. For example, the integrated circuit or chip includes 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, it implements the above-described transmission method for road sign recognition; or, the integrated circuit or chip can receive the executable instruction through the interface and transmit it to the processor for execution to implement the above-described transmission method for road sign recognition.

[0111] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of this disclosure. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0112] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A system architecture for road sign recognition, characterized in that, Applied to vehicles, the system architecture includes: The vehicle central computing domain controller includes multiple vehicle control devices connected to the vehicle central computing domain controller via Ethernet. The vehicle control devices include a road sign recognition domain controller and a first vehicle control device. The road sign recognition domain controller is configured with a road sign recognition service. The road sign recognition service provides a calling interface for the vehicle central computing domain controller and the vehicle control device to call. The vehicle central computing domain controller is used to verify the calling parameters sent by the first vehicle control device for the road sign recognition service, and forwards them to the road sign recognition domain controller if the verification is successful. The road sign recognition domain controller is configured with a first software component, which is used to recognize road images to obtain road sign recognition signals describing the road images. The road sign recognition domain controller publishes the first software component as the road sign recognition service, so that the vehicle control device can obtain the road sign recognition result corresponding to the road sign recognition signal by calling the road sign recognition service. The road sign recognition domain controller is also configured with a second software component, which is used to convert the unstructured road sign recognition signals corresponding to multiple CAN signals into structured road sign recognition results. The road sign recognition domain controller generates return parameters based on the road sign recognition results and transmits the return parameters to the vehicle central computing domain controller via Ethernet. The vehicle central computing domain controller is further configured to forward the return parameters sent by the road sign recognition service in response to the call parameters to the first vehicle control device, so that the first vehicle control device can obtain the road sign recognition result in the return parameters. Each of the vehicle control devices and the vehicle central computing domain controller constitute a local area network, and the vehicle central computing domain controller is the gateway in the local area network. In the case of cross-domain access to data or cross-domain control by each of the vehicle control devices, the vehicle central computing domain controller is configured to forward the service call parameters and service return parameters of the cross-domain service, and to verify the service call parameters.

2. The system architecture according to claim 1, characterized in that, The structured road sign recognition result is tree data, and the road sign recognition result includes multiple nodes.

3. The system architecture according to claim 2, characterized in that, The root node of the plurality of nodes includes at least one of a road arrow node, a road stop line node, and a pedestrian crossing node. The road arrow node includes at least one of an arrow type node and a road arrow relative distance node. The road stop line node includes at least one of a stop line detection node and a stop line distance node. The pedestrian crossing node includes at least one of a sidewalk color node, a sidewalk color node, and a sidewalk length node.

4. The system architecture according to any one of claims 1-3, characterized in that, The vehicle central computing domain controller and the multiple vehicle control devices communicate based on the SOME / IP protocol.

5. A transmission method for road sign recognition, characterized in that, The method is applied to the road sign recognition domain controller in claims 1-4. The road sign recognition domain controller is configured with a road sign recognition service. This service provides a calling interface for the vehicle central computing domain controller and the in-vehicle control device to call. The road sign recognition domain controller is configured with a first software component and a second software component. The road sign recognition domain controller publishes the first software component as the road sign recognition service, enabling the in-vehicle control device to obtain the road sign recognition result corresponding to the road sign recognition signal by calling the road sign recognition service. Each in-vehicle control device and the vehicle central computing domain controller form a local area network (LAN). The vehicle central computing domain controller acts as the gateway in the LAN. In cases where each in-vehicle control device accesses data or performs cross-domain control, the vehicle central computing domain controller forwards the service call parameters and service return parameters of the cross-domain service, and verifies the service call parameters. The transmission method includes: The system receives the call parameters sent by the first onboard control device for the road sign recognition service, forwarded by the vehicle's central computing domain controller. In response to the calling parameters, the first software component identifies the road image to obtain a road sign recognition signal describing the road image; The second software component converts the unstructured road sign recognition signals corresponding to multiple CAN signals into structured road sign recognition results. The return parameters are generated based on the road sign recognition results; The returned parameters are transmitted to the vehicle central computing domain controller via Ethernet, so that the vehicle central computing domain controller forwards the returned parameters to the first vehicle control device.

6. A transmission method for road sign recognition, characterized in that, The method is applied to the vehicle central computing domain controller as described in claims 1-4, wherein the vehicle central computing domain controller and multiple vehicle control devices constitute a local area network (LAN), and the vehicle central computing domain controller is the gateway in the LAN. In the case of cross-domain data access or cross-domain control by the various vehicle control devices, the vehicle central computing domain controller is used to forward service call parameters and service return parameters for cross-domain services, and to verify the service call parameters. The transmission method includes: The call parameters sent by the first vehicle control device for the road sign recognition service are forwarded to the road sign recognition domain controller; The road sign recognition service forwards the return parameters sent in response to the call parameters to the first vehicle control device, so that the first vehicle control device can obtain the road sign recognition result in the return parameters.

7. A vehicle, characterized in that, The system includes a central computing domain controller for the vehicle, and multiple on-board control devices connected to the central computing domain controller via Ethernet. Each on-board control device includes a road sign recognition domain controller. Each on-board control device and the central computing domain controller form a local area network (LAN). The central computing domain controller acts as a gateway within the LAN. In cases where the on-board control devices access data or perform cross-domain control, the central computing domain controller forwards service call parameters and service return parameters for cross-domain services, and verifies the service call parameters. The road sign recognition domain controller is configured to execute the method described in claim 5, and the central computing domain controller is configured to execute the method described in claim 6.

8. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the program instructions are executed by the processor, they implement the steps of the method described in claim 5 or 6.

9. A chip, characterized in that, It includes a processor and an interface; the processor is used to read instructions to execute the method of claim 5 or 6.

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