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

Abstract

The present disclosure relates to a system architecture, transmission method, vehicle, medium and chip for static object recognition, including: a whole vehicle central computing domain controller, a static recognition domain controller and a first bottom-level domain controller; the whole vehicle central computing domain controller is configured with a first and a second SOA service, the first SOA service includes atomic and composite services, the atomic service is a minimum perception unit obtained by decoupling the perception action of an environmental perception device within the control domain of the static recognition domain controller, and the function call interface of the composite service is generated by combining the function call interfaces of multiple atomic services; the static recognition domain controller uploads the static object recognition result to the whole vehicle central computing domain controller through the upload interface provided by the second SOA service, so that the first bottom-level domain controller subscribed to the second SOA service on the whole vehicle central computing domain controller can obtain the static object recognition result and call the first SOA service to send a control instruction to the environmental perception device.

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 static object recognition. Background Art

[0002] In the field of intelligent driving technology, in order to realize the control of vehicle actuators in control domains other than the domain controllers by different domain controllers, since the domain controllers are all connected to the CAN bus, it is usually realized through the CAN bus. However, due to the limitation of the CAN bus bandwidth, the CAN message transmission may not be timely. In addition, in the process of developing new functions, it is necessary to know the original CAN message address to prevent the duplication of CAN message addresses. Understanding the existing CAN message addresses is a lot of work for engineers, which affects the progress of vehicle function development. Summary of the invention

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

[0004] According to a first aspect of an embodiment of the present disclosure, a system architecture for static 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 static 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 static identification domain controller. The first SOA service includes an atomic service and a composite service. The atomic service is the smallest perception unit obtained by decoupling the perception action of the environment perception device in the control domain of the static identification domain controller. The function call interface corresponding to each composite service is generated by orderly combining and encapsulating the function call interfaces of multiple atomic services.

[0007] The second SOA service provides an upload interface, and the static identification domain controller uploads the static object identification result to the vehicle central computing domain controller through the upload interface, so that the first underlying domain controller that subscribes to the second SOA service on the vehicle central computing domain controller can obtain the static object identification result, and call the first SOA service to send control instructions to the environmental perception device in the control domain of the static identification domain controller. The static object identification result is obtained by identifying static objects in different directions.

[0008] Optionally, the static identification domain controller is communicatively connected to the environmental perception device via a CAN bus, the first SOA service in the vehicle central computing domain controller is configured corresponding to the environmental perception device, and the vehicle central computing domain controller provides a function call interface of the first SOA service to the first underlying domain controller, so that the first underlying domain controller can control the environmental perception device according to the function call interface provided by the first SOA service.

[0009] Optionally, the first SOA service includes a parsing and encapsulation service;

[0010] The atomic service is used to generate an atomic description of the minimum perception action of the environment perception device;

[0011] The combination service is used to generate a combined description of the perception action of the environment perception device;

[0012] The parsing and encapsulation service is used to assign domain numbers to the atomic services, and determine the ordered combination order of the atomic services in the composite service based on the atomic description and the combination description; and generate a composite service storage table corresponding to the composite service based on the ordered combination order; write the domain numbers of the atomic services into the composite service storage table based on the ordered combination order; and encapsulate and generate the function call interface of the composite service based on the function call interface of the atomic service corresponding to each domain number in the composite service storage table.

[0013] Optionally, the parsing and encapsulation service is specifically used for:

[0014] Deserialize the function call interface of the atomic service corresponding to each of the domain numbers in the composite service storage table, and reconstruct the function call interface of the atomic service, wherein the function call interface of the atomic service is data serialized in the atomic service;

[0015] The reconstructed function call interface of the atomic service is encapsulated to generate the function call interface of the composite service.

[0016] Optionally, the static object recognition result is obtained by identifying the center point coordinates and relative movement speeds of the static objects in different orientations.

[0017] According to a second aspect of an embodiment of the present disclosure, a transmission method for static object recognition is provided, the method being applied to a static recognition domain controller of the system architecture described in any one of the first aspects, the transmission method comprising:

[0018] The static 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 static recognition domain controller in the vehicle central computing domain controller, and the vehicle central computing domain controller publishes the static 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 static object recognition result, and the static object recognition result is obtained by identifying static objects in different directions;

[0019] Among them, the vehicle central computing domain controller is configured with a first SOA service, which includes atomic services and composite services. The atomic service is the smallest perception unit obtained by decoupling the perception actions of the environmental perception device within the control domain of the static identification domain controller. The function call interface corresponding to each composite service is generated by orderly combining and encapsulating the function call interfaces of multiple atomic services.

[0020] According to a third aspect of an embodiment of the present disclosure, a transmission method for static object recognition is provided, the method being applied to a vehicle central computing domain controller of the system architecture described in any one of the first aspects, the transmission method comprising:

[0021] Receiving a static object recognition result uploaded by a static recognition domain controller, wherein the static object recognition result is uploaded through an upload interface provided by a second SOA service corresponding to the static recognition domain controller in the vehicle central computing domain controller, and the static object recognition result is obtained by recognizing static objects in different positions;

[0022] Publishing the static object identification result on the Ethernet by broadcasting, so that the first bottom domain controller that subscribes to and calls the second SOA service obtains the static object identification result; and

[0023] The first underlying domain controller that receives the subscription and calls the second SOA service uploads control instructions through the upload interface provided by the first SOA service, wherein the control instructions are used to control the environmental perception device in the control domain of the static identification domain controller, and the first SOA service includes atomic services and composite services, and the atomic service is the smallest perception unit obtained by decoupling the perception actions of the environmental perception device in the control domain of the static identification domain controller, and the function call interface corresponding to each composite service is generated by orderly combining and encapsulating the function call interfaces of multiple atomic services.

[0024] According to a fourth aspect of an embodiment of the present disclosure, a vehicle is provided, the 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 controller comprising a static identification domain controller and a first underlying domain controller;

[0025] Among them, the static 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, and the first underlying domain controller is configured to subscribe to and call the static object identification results uploaded by the static identification domain controller through the Ethernet and the upload interface provided by the first SOA service configured by the vehicle central computing domain controller to upload instructions for the environmental perception device within the control domain of the static identification domain controller. The first SOA service includes atomic services and composite services. The atomic service is the smallest perception unit obtained by decoupling the perception actions of the environmental perception device within the control domain of the static identification domain controller. The function call interface corresponding to each composite service is generated by orderly combining and encapsulating multiple function call interfaces of the atomic services.

[0026] 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.

[0027] According to a sixth aspect of an embodiment of the present disclosure, a chip is provided, comprising a processor and an interface; the processor is used to read instructions to execute the method described in the second aspect or the third aspect.

[0028] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0029] The first SOA service and the second SOA service corresponding to the static identification domain controller are configured in the vehicle central computing domain controller. The first SOA service includes atomic services and composite services. The atomic service is the smallest perception unit obtained by decoupling the perception action of the environmental perception device in the control domain of the static identification domain controller. The function call interface corresponding to each composite service is generated by orderly combining the function call interfaces of multiple atomic services. In the process of developing new functions, only the smallest perception unit needs to be developed. Multiple functions can be orderly combined through the atomic services corresponding to the smallest perception unit, which reduces the development workload and avoids affecting the progress of vehicle function development. The second SOA service provides an upload interface. The static identification domain controller uploads the static object recognition result to the vehicle central computing domain controller through the upload interface, so that the first bottom domain controller subscribed to the second SOA service on the vehicle central computing domain controller can obtain the static object recognition result, and call the first SOA service to send control instructions to the environmental perception device in the control domain of the static identification domain controller. Through SOA service calls, different domain controllers can control the vehicle actuators in the control domain of non-domain controllers, avoiding the limitation of CAN bus bandwidth.

[0030] 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

[0031] 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.

[0032] Figure 1 The invention is a block diagram showing a system architecture for static object recognition according to an exemplary embodiment.

[0033] Figure 2 The figure is a schematic diagram of a data structure of a static object recognition result according to an exemplary embodiment.

[0034] Figure 3 It is a schematic diagram of a functional block diagram of a vehicle showing an exemplary embodiment.

[0035] Figure 4 The diagram is a block diagram of a domain controller according to an exemplary embodiment. DETAILED DESCRIPTION

[0036] 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.

[0037] 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.

[0038] Figure 1 is a schematic block diagram of a system architecture for static object recognition according to an exemplary embodiment, wherein the system architecture is applied to a vehicle, such as Figure 1 As shown, the system architecture includes:

[0039] 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 static identification domain controller 120 and a first underlying domain controller 130;

[0040] 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.

[0041] 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.

[0042] It is worth noting that the control domain of each underlying domain controller includes corresponding vehicle actuators. For example, the control domain of the static recognition 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.

[0043] In the disclosed embodiment, the corresponding vehicle actuators in the control domain of each underlying domain controller are connected to the underlying domain controller through the CAN bus, and at the same time, the corresponding vehicle actuators in the control domain of each underlying domain controller are 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 static identification domain controller 120 is connected to the static identification domain controller 120 through the CAN bus, and is connected to the vehicle central computing domain controller 110VCCD through the CAN bus.

[0044] The vehicle central computing domain controller 110 is configured with a first SOA service and a second SOA service corresponding to the static identification domain controller 120. The first SOA service includes an atomic service and a composite service. The atomic service is the smallest perception unit obtained by decoupling the perception action of the environmental perception device in the control domain of the static identification domain controller 120. The function call interface corresponding to each composite service is generated by orderly combining and encapsulating the function call interfaces of multiple atomic services.

[0045] Among them, atomic service can also be understood as the indecomposable basic service unit of the perception action possessed by the environmental perception device. After the atomic service is packaged, the corresponding data will be serialized. For example, an atomic service is created, the name of the atomic file to be stored is defined, the function call interface and the atomic description are converted into Python basic strings, and then the strings are written into the atomic file. And it is published through the RPC (Remote Procedure Call) service. In the process of combining service encapsulation, the data serialized atomic service is parsed to deserialize the data serialized atomic service, and the function call interface of multiple atomic services after data parsing is orderly combined and encapsulated.

[0046] The second SOA service provides an upload interface, and the static identification domain controller 120 uploads the static object identification result to the vehicle central computing domain controller 110 through the upload interface, so that the first underlying domain controller 130 subscribed to the second SOA service on the vehicle central computing domain controller 110 can obtain the static object identification result, and call the first SOA service to send control instructions to the environmental perception device in the control domain of the static identification domain controller 120. The static object identification result is obtained by identifying static objects in different directions.

[0047] In the disclosed embodiment, the first bottom-level domain controller 130 can upload control instructions to the vehicle central computing domain controller 110 through the DDS (Data Distribution Service) protocol stack, and call the atomic services and combined services in the vehicle central computing domain controller 110, for example, calling the atomic services and combined services in the vehicle central computing domain controller 110 corresponding to the environmental perception device in the control domain of the static identification domain controller 120. Further, the environmental perception device uploads the perception information to the vehicle central computing domain controller 110, and the vehicle central computing domain controller 110 converts the perception information into the corresponding perception service according to the S2S (Signal 2Service) method. Further, the vehicle central computing domain controller 110 broadcasts the perception service to the first bottom-level domain controller 130 that calls the atomic services and combined services corresponding to the environmental perception device in the control domain of the static identification domain controller 120 through the DDS protocol stack.

[0048] The above system architecture is configured with a first SOA service and a second SOA service corresponding to a static identification domain controller in the central computing domain controller of the whole vehicle. The first SOA service includes an atomic service and a composite service. The atomic service is the smallest perception unit obtained by decoupling the perception action of the environmental perception device in the control domain of the static identification domain controller. The function call interface corresponding to each composite service is generated by orderly combining the function call interfaces of multiple atomic services and encapsulating them. In the process of developing new functions, only the smallest perception unit needs to be developed, and multiple functions can be orderly combined through the atomic services corresponding to the smallest perception unit, which reduces the development workload and avoids affecting the progress of vehicle function development. By configuring the atomic service in the central computing domain controller of the whole vehicle, multiple atomic services can be intelligently aggregated based on vehicle function development, breaking the traditional form of configuring a CAN message address for each function. The second SOA service provides an upload interface, and the static identification domain controller uploads the static object recognition result to the central computing domain controller of the whole vehicle through the upload interface, so that the first underlying domain controller subscribed to the second SOA service on the central computing domain controller of the whole vehicle can obtain the static object recognition result, and call the first SOA service to send control instructions to the environmental perception device in the control domain of the static identification domain controller. Through SOA service calls, different domain controllers can control vehicle actuators in control domains other than their own domain controllers, avoiding the limitation of CAN bus bandwidth.

[0049] Optionally, the static identification domain controller 120 is communicatively connected to the environmental perception device via a CAN bus, the first SOA service in the vehicle central computing domain controller 110 is configured corresponding to the environmental perception device, and the vehicle central computing domain controller 110 provides a function call interface of the first SOA service to the first underlying domain controller 130, so that the first underlying domain controller 130 can control the environmental perception device according to the function call interface provided by the first SOA service.

[0050] Among them, the environmental perception device in the control domain of the vehicle central computing domain controller 110 and the static recognition domain controller 120 is connected through a CAN bus.

[0051] Optionally, the first SOA service includes a parsing and encapsulation service;

[0052] The atomic service is used to generate an atomic description of the minimum perception action of the environment perception device;

[0053] The combination service is used to generate a combined description of the perception action of the environment perception device;

[0054] Among them, atomic description and combined description are both language descriptions of the functions of the service.

[0055] The parsing and encapsulation service is used to assign domain numbers to the atomic services, and determine the ordered combination order of the atomic services in the composite service based on the atomic description and the combination description; and generate a composite service storage table corresponding to the composite service based on the ordered combination order; write the domain numbers of the atomic services into the composite service storage table based on the ordered combination order; and encapsulate and generate the function call interface of the composite service based on the function call interface of the atomic service corresponding to each domain number in the composite service storage table.

[0056] In the disclosed embodiment, the atomic description of each node is matched from the atomic description according to the combination description. For example, each function in the combination description is taken as a chain combination. Each node in the chain combination needs to be filled with an atomic description, and then the domain number corresponding to the atomic service is filled in the node of the chain combination. The filled chain combination is used as a combination service storage table.

[0057] Optionally, the parsing and encapsulation service is specifically used for:

[0058] Deserialize the function call interface of the atomic service corresponding to each of the domain numbers in the composite service storage table, and reconstruct the function call interface of the atomic service, wherein the function call interface of the atomic service is data serialized in the atomic service;

[0059] It can be understood that the function call interface corresponding to the atomic service is published through RPC after data serialization, so that the atomic service can be used across domain controllers while maintaining its original content, and then the atomic services are combined in an orderly manner. Therefore, the combined service needs to deserialize the function call interface of the atomic service and rebuild the function call interface of the atomic service.

[0060] The reconstructed function call interface of the atomic service is encapsulated to generate the function call interface of the composite service.

[0061] Optionally, the static object recognition result is obtained by identifying the center point coordinates and relative movement speeds of the static objects in different orientations.

[0062] The different directions may include the left front, front, right front, left rear, rear, right rear, left side and right side of the vehicle. The center point coordinates may include the horizontal center point coordinates and the longitudinal center point coordinates. The relative motion speed may include the horizontal relative motion speed and the longitudinal relative motion speed.

[0063] See also Figure 2 The data structure diagram of the static object recognition result shown in the figure may also include the data sending time of the static object recognition result. Further, the static object in each orientation may be divided into the center point coordinates and the relative motion speed. For example, the left front static object may include the center point coordinates of the left front static object and the relative motion speed of the left front static object, and the center point coordinates of the left front static object may include the horizontal center point coordinates and the vertical center point coordinates, and the relative motion speed of the left front static object may include the horizontal relative motion speed and the vertical relative motion speed. Static objects in other orientations are similarly not described here.

[0064] The above technical solution can identify static objects in any direction, and can be quickly uploaded to the vehicle central computing domain controller 110 via Ethernet, so that other domain controllers on the vehicle can obtain static object recognition results from Ethernet.

[0065] The embodiment of the present disclosure further provides a transmission method for static object identification, the method is applied to the static identification domain controller of the system architecture described in any one of the above embodiments, the transmission method includes:

[0066] The static 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 static recognition domain controller in the vehicle central computing domain controller, and the vehicle central computing domain controller publishes the static 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 static object recognition result, and the static object recognition result is obtained by identifying static objects in different directions;

[0067] Among them, the vehicle central computing domain controller is configured with a first SOA service, which includes atomic services and composite services. The atomic service is the smallest perception unit obtained by decoupling the perception actions of the environmental perception device within the control domain of the static identification domain controller. The function call interface corresponding to each composite service is generated by orderly combining and encapsulating the function call interfaces of multiple atomic services.

[0068] The present disclosure also provides a transmission method for static object recognition, which is applied to a vehicle central computing domain controller of the system architecture described in any one of the above embodiments. The transmission method includes:

[0069] Receiving a static object recognition result uploaded by a static recognition domain controller, wherein the static object recognition result is uploaded through an upload interface provided by a second SOA service corresponding to the static recognition domain controller in the vehicle central computing domain controller, and the static object recognition result is obtained by recognizing static objects in different positions;

[0070] Publishing the static object identification result on the Ethernet by broadcasting, so that the first bottom domain controller that subscribes to and calls the second SOA service obtains the static object identification result; and

[0071] The first underlying domain controller that receives the subscription and calls the second SOA service uploads control instructions through the upload interface provided by the first SOA service, wherein the control instructions are used to control the environmental perception device in the control domain of the static identification domain controller, and the first SOA service includes atomic services and composite services, and the atomic service is the smallest perception unit obtained by decoupling the perception actions of the environmental perception device in the control domain of the static identification domain controller, and the function call interface corresponding to each composite service is generated by orderly combining and encapsulating the function call interfaces of multiple atomic services.

[0072] The steps of the above transmission method have been explained in the system architecture and will not be repeated here.

[0073] The embodiment of the present disclosure further provides a vehicle, the 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 static identification domain controller and a first underlying domain controller;

[0074] Among them, the static identification domain controller is configured to execute the transmission method on the static identification domain controller side described in the aforementioned embodiment, the vehicle central computing domain controller is configured to execute the transmission method on the vehicle central computing domain controller side described in the aforementioned embodiment, and the first underlying domain controller is configured to subscribe to and call the static object identification results uploaded by the static identification domain controller through the Ethernet and the upload interface provided by the first SOA service configured by the vehicle central computing domain controller to upload instructions for the environmental perception device within the control domain of the static identification domain controller. The first SOA service includes atomic services and composite services. The atomic service is the smallest perception unit obtained by decoupling the perception actions of the environmental perception device within the control domain of the static identification domain controller. The function call interface corresponding to each composite service is generated by orderly combining and encapsulating the function call interfaces of multiple atomic services.

[0075] The embodiments of the present disclosure further provide 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 aforementioned embodiments are implemented.

[0076] 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.

[0077] In addition to being an independent electronic device, the above-mentioned device can also be a part of an independent electronic device. For example, in one embodiment, the device can be an integrated circuit (IC) or a chip, wherein the integrated circuit can be an IC or a collection of multiple ICs; the chip can include but is not limited to the following types: GPU (Graphics Processing Unit), CPU (Central Processing Unit), FPGA (Field Programmable Gate Array), DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), SOC (System on Chip, SoC), etc. The above-mentioned integrated circuit or chip can be used to execute executable instructions (or codes) to implement the above-mentioned transmission method for static 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 static 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 static object recognition.

[0078] See also Figure 3 , Figure 3 3 is a functional block diagram of a vehicle 300 shown in an exemplary embodiment. The vehicle 300 can be configured in a fully or partially autonomous driving mode. For example, the vehicle 300 can obtain environmental information about its surroundings through the perception system 320, and obtain an autonomous driving strategy based on the analysis of the surrounding environmental information to achieve fully autonomous driving, or present the analysis results to the user to achieve partially autonomous driving.

[0079] 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.

[0080] In some embodiments, infotainment system 310 may include communication system 311 , entertainment system 312 , and navigation system 313 .

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] The global positioning system 321 is used to estimate the geographic location of the vehicle 300 .

[0087] 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.

[0088] 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.

[0089] 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.

[0090] The ultrasonic radar 325 may sense objects around the vehicle 300 using ultrasonic signals.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] The throttle 334 is used to control the operating speed of the engine 341 and thus the speed of the vehicle 300 .

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] In the embodiment of the present disclosure, the processor 351 may execute the above-mentioned transmission method for static object recognition.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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 static objects, etc.

[0112] 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).

[0113] 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.

[0114] 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 static object recognition when the computer program is executed by the programmable device.

[0115] 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 static 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 executable 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 static object recognition.

[0116] 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.

[0117] 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 static 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 static 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 static object recognition.

[0118] 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.

[0119] 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 static 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 static 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 static identification domain controller. The first SOA service includes an atomic service and a composite service. The atomic service is the smallest perception unit obtained by decoupling the perception action of the environment perception device in the control domain of the static identification domain controller. The function call interface corresponding to each composite service is generated by orderly combining and encapsulating the function call interfaces of multiple atomic services. The second SOA service provides an upload interface, and the static identification domain controller uploads the static object identification result to the vehicle central computing domain controller through the upload interface, so that the first underlying domain controller that subscribes to the second SOA service on the vehicle central computing domain controller can obtain the static object identification result, and call the first SOA service to send control instructions to the environmental perception device in the control domain of the static identification domain controller. The static object identification result is obtained by identifying static objects in different directions.

2. The system architecture according to claim 1, characterized in that: The static identification domain controller is communicatively connected to the environmental perception device via a CAN bus, the first SOA service in the vehicle central computing domain controller is configured corresponding to the environmental perception device, and the vehicle central computing domain controller provides a function call interface of the first SOA service to the first underlying domain controller, so that the first underlying domain controller can control the environmental perception device according to the function call interface provided by the first SOA service.

3. The system architecture according to claim 2, characterized in that: The first SOA service includes a parsing and encapsulation service; The atomic service is used to generate an atomic description of the minimum perception action of the environment perception device; The combination service is used to generate a combined description of the perception action of the environment perception device; The parsing and encapsulation service is used to assign domain numbers to the atomic services, and determine the ordered combination order of the atomic services in the composite service based on the atomic description and the combination description; and generate a composite service storage table corresponding to the composite service based on the ordered combination order; write the domain numbers of the atomic services into the composite service storage table based on the ordered combination order; and encapsulate and generate the function call interface of the composite service based on the function call interface of the atomic service corresponding to each domain number in the composite service storage table.

4. The system architecture according to claim 3, characterized in that: The parsing and encapsulation service is specifically used for: Deserialize the function call interface of the atomic service corresponding to each of the domain numbers in the composite service storage table, and reconstruct the function call interface of the atomic service, wherein the function call interface of the atomic service is data serialized in the atomic service; The reconstructed function call interface of the atomic service is encapsulated to generate the function call interface of the composite service.

5. The system architecture according to any one of claims 1 to 4, characterized in that: The static object recognition result is obtained by identifying the center point coordinates and relative movement speeds of static objects in different orientations.

6. A transmission method for static object recognition, characterized in that: The method is applied to a static identification domain controller of the system architecture described in any one of claims 1 to 5, and the transmission method comprises: The static 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 static recognition domain controller in the vehicle central computing domain controller, and the vehicle central computing domain controller publishes the static 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 static object recognition result, and the static object recognition result is obtained by identifying static objects in different directions; Among them, the vehicle central computing domain controller is configured with a first SOA service, which includes atomic services and composite services. The atomic service is the smallest perception unit obtained by decoupling the perception actions of the environmental perception device within the control domain of the static identification domain controller. The function call interface corresponding to each composite service is generated by orderly combining and encapsulating the function call interfaces of multiple atomic services.

7. A transmission method for static object recognition, characterized in that: The method is applied to the vehicle central computing domain controller of the system architecture described in any one of claims 1 to 5, and the transmission method includes: Receiving a static object recognition result uploaded by a static recognition domain controller, wherein the static object recognition result is uploaded through an upload interface provided by a second SOA service corresponding to the static recognition domain controller in the vehicle central computing domain controller, and the static object recognition result is obtained by recognizing static objects in different positions; Publishing the static object identification result on the Ethernet by broadcasting, so that the first bottom domain controller that subscribes to and calls the second SOA service obtains the static object identification result; and The first underlying domain controller that receives the subscription and calls the second SOA service uploads control instructions through the upload interface provided by the first SOA service, wherein the control instructions are used to control the environmental perception device in the control domain of the static identification domain controller, and the first SOA service includes atomic services and composite services, and the atomic service is the smallest perception unit obtained by decoupling the perception actions of the environmental perception device in the control domain of the static identification domain controller, and the function call interface corresponding to each composite service is generated by orderly combining and encapsulating the function call interfaces of multiple atomic services.

8. A vehicle, characterized in that: It 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 controller includes a static identification domain controller and a first underlying domain controller; Among them, the static 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 static object identification results uploaded by the static identification domain controller through the Ethernet and the upload interface provided by the first SOA service configured by the vehicle central computing domain controller, and upload instructions for the environmental perception device within the control domain of the static identification domain controller. The first SOA service includes atomic services and composite services. The atomic service is the smallest perception unit obtained by decoupling the perception actions of the environmental perception device within the control domain of the static identification domain controller. The function call interface corresponding to each composite service is generated by orderly combining and encapsulating the function call interfaces of multiple atomic services.

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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