Resource regulation system, method, and vehicle for autonomous driving

Abstract

The application provides an automatic driving resource regulation system, method and vehicle. First, a perception fusion module fuses first sensor data sent by a first sensor driving module and second sensor data sent by a second sensor driving module to obtain fusion data, and sends the fusion data to a regulation and control module and a management control module. The regulation and control module plans a trajectory and makes a driving decision based on the received fusion data to obtain a regulation and control result, and sends the regulation and control result to the management control module. The management control module determines a current automatic driving scene state of the vehicle based on the fusion data and the regulation and control result. According to the automatic driving scene state, adjustment instructions are sent to the first sensor driving module and the second sensor driving module to adjust the perception frequency of the corresponding sensors. In this way, the amount of data of the sensors is controlled based on the current scene state of the vehicle, so that the limited computing resources in the vehicle can reliably cope with complex automatic driving task challenges.

Description

Technical Field

[0001] This invention relates to the field of resource scheduling technology for autonomous driving systems, and in particular to a resource adjustment system, method, and vehicle for autonomous driving. Background Technology

[0002] In related technologies, to improve the safety and reliability of autonomous driving systems, the types and numbers of sensors used are increasing, especially large-scale sensors such as cameras and LiDAR. However, the power consumption of the domain controller in the vehicle limits the system's maximum computing power. Therefore, it is urgent to solve the problem of effectively transmitting and processing data under limited computing power. Summary of the Invention

[0003] The purpose of this invention is to provide a resource adjustment system, method, and vehicle for autonomous driving, so as to ensure the reliability of the autonomous driving system function under limited system resources, and reduce the amount of system transmission and improve data processing efficiency.

[0004] In a first aspect, the present invention provides a resource adjustment system for autonomous driving, the system comprising an integrated unit and a microcontroller unit connected in communication; wherein the integrated unit includes a first sensor driving module, a perception fusion module, a planning and control module, and a management and control module, and the microcontroller unit includes a second sensor driving module; the perception fusion module is used to receive first sensor data sent by the first sensor driving module and second sensor data sent by the second sensor driving module, and fuse the received first sensor data and second sensor data to obtain fused data, and send the fused data to the planning and control module; the planning and control module is used to perform trajectory planning and driving decisions on the received fused data to obtain planning and control results, and send the planning and control results to the management and control module; the management and control module is used to determine the current autonomous driving scenario state of the vehicle based on the fused data and the planning and control results; and send a first adjustment command to the first sensor driving module and a second adjustment command to the second sensor driving module according to the autonomous driving scenario state.

[0005] In an optional implementation, the first sensor driving module is used to adjust the sensing frequency of the first sensor, which is communicatively connected to the first sensor driving module, based on a first adjustment command; the second sensor driving module is used to adjust the sensing frequency of the second sensor, which is communicatively connected to the second sensor driving module, based on a second adjustment command.

[0006] In an optional implementation, the first sensor includes a lidar and multiple cameras; the second sensor includes a millimeter-wave radar.

[0007] In an optional implementation, the fused data includes lane line information and target information around the vehicle, as well as the vehicle's driving status information; the planning and control module includes a prediction module, a planning and decision module, and a control module connected in sequence; the prediction module is used to receive the fused data sent by the perception fusion module, and based on the information contained in the fused data, determine the estimated state data of the vehicle at the next moment from the current moment, and send the estimated state data to the planning and decision module; the planning and decision module is used to perform trajectory planning based on the estimated state data, obtain the planned trajectory, and send the planned trajectory to the control module; the control module is used to determine the planning result based on the received planned trajectory, and send the planning result to the management and control module.

[0008] In an optional implementation, the planning and control module is also communicatively connected to the microcontroller unit; the planning and control module is used to send the obtained planned trajectory to the microcontroller unit so that the microcontroller unit controls the vehicle to drive according to the planned trajectory.

[0009] In an optional implementation, the integrated unit further includes a map module and a positioning module; the positioning module is used to acquire the vehicle's positioning information and send the positioning information to the map module; the map module is used to determine the location information containing the vehicle's location on the map based on the positioning information, and send the location information to the perception fusion module and the planning and control module.

[0010] In an optional implementation, the aforementioned perception fusion module is further configured to filter the fused data based on location information to obtain the final fused data, and send the final fused data to the planning and control module and the management and control module; the planning and control module is further configured to process the final fused data in conjunction with location information to obtain the final planning and control result, and send the final planning and control result to the management and control module; the management and control module is further configured to determine the current autonomous driving scenario state of the vehicle based on the final fused data and the final planning and control result.

[0011] In an optional implementation, the microcontroller unit is connected to the integrated unit via Ethernet.

[0012] In a second aspect, the present invention provides a resource adjustment method for autonomous driving, which is applied to the resource adjustment system for autonomous driving described in the first aspect. The method includes: receiving first sensor data sent by a first sensor driving module and second sensor data sent by a second sensor driving module via a perception fusion module, fusing the received first sensor data and second sensor data to obtain fused data, and sending the fused data to a planning and control module and a management control module; performing trajectory planning and driving decisions on the received fused data via the planning and control module to obtain planning and control results, and sending the planning and control results to the management control module; determining the current autonomous driving scenario state of the vehicle based on the fused data and the planning and control results via the management control module; sending a first adjustment command to the first sensor driving module and a second adjustment command to the second sensor driving module according to the autonomous driving scenario state; adjusting the perception frequency of the first sensor communicatively connected to the first sensor driving module based on the first adjustment command via the first sensor driving module; and adjusting the perception frequency of the second sensor communicatively connected to the second sensor driving module based on the second adjustment command via the second sensor driving module.

[0013] Thirdly, the present invention provides a vehicle, the vehicle comprising a first sensor, a second sensor, and an autonomous driving resource adjustment system as described in any of the foregoing embodiments.

[0014] The embodiments of the present invention bring the following beneficial effects:

[0015] This invention provides a resource adjustment system, method, and vehicle for autonomous driving. First, a perception fusion module fuses first sensor data received from a first sensor driving module and second sensor data received from a second sensor driving module to obtain fused data. This fused data is then sent to a planning and control module and a management control module. The planning and control module performs trajectory planning and driving decisions on the received fused data to obtain planning and control results, which are then sent to the management control module. Based on the fused data and the planning and control results, the management control module determines the current autonomous driving scenario state of the vehicle. According to the autonomous driving scenario state, it sends adjustment commands to the first and second sensor driving modules to adjust the perception frequency of the corresponding sensors. This approach controls the amount of sensor data based on the vehicle's current scenario state, enabling the vehicle's limited computing resources to reliably handle complex autonomous driving tasks. Simultaneously, this approach reduces the amount of data that the system needs to transmit, reduces data transmission latency, and improves resource utilization.

[0016] Other features and advantages of the invention will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the techniques described above.

[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of a resource adjustment system for autonomous driving provided in an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of another resource adjustment system for autonomous driving provided in an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of another resource adjustment system for autonomous driving provided in an embodiment of the present invention;

[0022] Figure 4 A flowchart of a resource adjustment system for autonomous driving provided in an embodiment of the present invention;

[0023] Figure 5 This is a structural schematic diagram of a vehicle provided in an embodiment of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0026] To improve the safety and reliability of autonomous driving systems, the types and numbers of sensors used are increasing, especially large-scale sensors such as cameras and LiDAR. However, the power consumption of typical domain controllers limits the system's maximum computing power. Therefore, how to efficiently transmit and process data under limited computing power has become a key technology in autonomous driving systems. Current technologies do not provide real-time adjustments to sensor data; using controllers with higher computing power increases system power consumption, while using controllers with lower computing power cannot meet the data processing bandwidth requirements of autonomous driving functions.

[0027] Based on this, embodiments of the present invention provide a resource adjustment system, method, and vehicle for autonomous driving. This method is applied in autonomous driving scenarios, especially in driving scenarios where the amount of data is dynamically adjusted according to the autonomous driving scenario on a system platform with limited computing resources.

[0028] To facilitate understanding of the embodiments of the present invention, a resource adjustment system for autonomous driving disclosed in the embodiments of the present invention will be described first, such as... Figure 1 As shown, the system includes an integrated unit 10 and a microcontroller unit 11 that are interconnected. The integrated unit 10 includes a first sensor driving module 100, a perception fusion module 101, a planning and control module 102, and a management and control module 103. The microcontroller unit 11 includes a second sensor driving module 110. The fusion module 101 is connected to the first sensor driving module 100, the planning and control module 102, the management and control module 103, and the second sensor driving module 110. The management and control module is also connected to the first sensor driving module 100, the planning and control module 102, and the second sensor driving module 110.

[0029] In practical implementation, the aforementioned integrated unit can be a System on Chip (SOC). A SOC is typically a dedicated integrated circuit containing a complete system and embedded software, enabling the entire design process from defining system functions to software and hardware partitioning. The aforementioned Microcontroller Unit (MCU), also known as a single-chip microcomputer or microcontroller, is a chip that integrates a central processing unit (CPU) with appropriately reduced frequency and specifications, along with peripheral interfaces such as memory, counters, USB (Universal Serial Bus), A / D (Analog / Digital) converter, UART (Universal Asynchronous Receiver / Transmitter), and PLC (Programmable Logic Controller) onto a single chip, forming a chip-level computer for different control combinations in various applications.

[0030] Specifically, the microcontroller unit 11 is connected to the integrated unit 10 via Ethernet, meaning that the microcontroller unit 11 and the integrated unit 10 interact with each other via Ethernet.

[0031] The aforementioned perception fusion module 101 receives first sensor data sent by the first sensor driving module 100 and second sensor data sent by the second sensor driving module 110, fuses the received first sensor data and second sensor data to obtain fused data, and sends the fused data to the planning and control module 102 and the management and control module 103. This fused data typically includes lane line information and target information around the vehicle (the target information includes the position of obstacles, the position and speed of pedestrians, the position and speed of surrounding vehicles, etc.), as well as the vehicle's driving status information (i.e., the vehicle's speed, acceleration, etc.).

[0032] In a specific implementation, the first sensor driving module 100 is connected to the first sensor on the vehicle, and the second sensor driving module 110 is connected to the second sensor on the vehicle. The first sensor data obtained by the first sensor can be sent to the perception fusion module 102 through the first sensor driving module 100; similarly, the second sensor data obtained by the second sensor can be sent to the perception fusion module 102 through the second sensor driving module 110. The first sensor and the second sensor can be configured according to research and development needs.

[0033] For example, such as Figure 2 The image shows another resource adjustment system for autonomous driving provided by an embodiment of the present invention. Figure 2The first sensor in the system includes lidar (…). Figure 2 The system includes multiple lidar units located on the top, left, and right sides of the vehicle, as well as multiple cameras. Figure 2 The system includes four cameras, located at the front, left, right, and rear of the vehicle; the second sensor includes millimeter-wave radar. Figure 2 The millimeter-wave radar in the vehicle also includes multiple radars, located at the front, left, and right sides of the vehicle. Figure 2 The lidar and multiple cameras in the system can be connected to the first sensor driver module 100 via a bus. The first sensor driver module 100 includes a laser driver connected to the lidar and a camera driver connected to the cameras. This bus can be GMSL (Gigabit Multimedia Serial Link) or Ethernet, etc. The millimeter-wave radar can be connected to the second sensor driver module 110 via a CAN (Controller Area Network) bus. The second sensor driver module 110 includes a millimeter-wave driver connected to the millimeter-wave radar. The millimeter-wave signal sensed by the millimeter-wave radar is processed by the millimeter-wave driver and then forwarded to the sensing fusion module of the integrated unit via Ethernet. Figure 2 In this context, perception fusion is equivalent to perception fusion module 101, planning and control is equivalent to planning and control module 102, and scene management and sensor control are equivalent to management and control module 103.

[0034] The aforementioned planning and control module 102 is used to perform trajectory planning and driving decisions on the received fused data, obtain planning and control results, and send the planning and control results to the management and control module 103. The planning and control results may include the planned trajectory and vehicle status information, etc. The planned trajectory usually includes multiple location points, as well as the speed and acceleration corresponding to each location point.

[0035] Based on the fused data and regulatory results, the aforementioned management and control module 103 determines the current autonomous driving scenario state of the vehicle; and sends a first adjustment command to the first sensor drive module 100 and a second adjustment command to the second sensor drive module 110 according to the autonomous driving scenario state.

[0036] The first sensor driving module 100 is used to adjust the sensing frequency of the first sensor that is communicatively connected to the first sensor driving module based on the first adjustment command; the second sensor driving module 110 is used to adjust the sensing frequency of the second sensor that is communicatively connected to the second sensor driving module based on the second adjustment command.

[0037] In its implementation, the aforementioned management and control module 103 has at least two functions: scene management and determination, and control of the sensors included in the vehicle. The management and control module 103 can construct the current autonomous driving scene state of the vehicle based on the received fused data and control results. For example, it could be a straight-following scene, a lane-changing scene, or other scenes. The management and control module 103 can also feed back control signals to each sensor driver based on the determined autonomous driving scene state to dynamically adjust the sensor's sensing frequency. For example, it can increase or decrease the frequency of certain sensors, or increase or decrease the amount of data per frame from certain sensors.

[0038] In practical implementation, for some trigger-based sensors (such as certain trigger-synchronized cameras), the trigger frequency can be dynamically changed, thereby changing the frequency of image data; for some periodic sensors (such as mechanical LiDAR), the data frequency can be adjusted by driving and adjusting the hardware rotation speed.

[0039] This invention provides a resource adjustment system for autonomous driving. First, a perception fusion module fuses first sensor data received from a first sensor driving module and second sensor data received from a second sensor driving module to obtain fused data. This fused data is then sent to a planning and control module and a management control module. The planning and control module performs trajectory planning and driving decisions on the received fused data to obtain planning and control results, which are then sent to the management control module. Based on the fused data and the planning and control results, the management control module determines the current autonomous driving scenario state of the vehicle. According to the autonomous driving scenario state, it sends adjustment commands to the first and second sensor driving modules to adjust the perception frequency of the corresponding sensors. This method controls the amount of sensor data based on the current scenario state of the vehicle, enabling the vehicle's limited computing resources to reliably cope with complex autonomous driving tasks. Simultaneously, this method reduces the amount of data that the system needs to transmit, reduces data transmission latency, and improves resource utilization.

[0040] This invention also provides another resource adjustment system for autonomous driving, which is implemented based on the system provided in the above embodiments, such as... Figure 3 As shown, the system includes an integrated unit 10 and a microcontroller unit 11 that are interconnected. The integrated unit 10 includes a first sensor driving module 100, a perception fusion module 101, a planning and control module 102, and a management and control module 103. The microcontroller unit 11 includes a second sensor driving module 110.

[0041] Specifically, the fused data generated by the perception fusion module 101 includes lane line information and target information around the vehicle, as well as the vehicle's driving status information; that is, the fused data includes some scene information around the vehicle, such as how many vehicles are in front of the vehicle, how many vehicles are beside the vehicle, and the speed and acceleration of each vehicle. This fused data can be stored in tabular form, including lane line information, target information, and vehicle status information.

[0042] The aforementioned planning and control module 102 includes a prediction module, a planning and decision module, and a control module connected in sequence. The prediction module receives fused data sent by the perception fusion module 101 and, based on the information contained in the fused data, determines the estimated state data of the vehicle at the next moment from the current moment, and sends the estimated state data to the planning and decision module. The planning and decision module performs trajectory planning based on the estimated state data to obtain a planned trajectory (this planned path can determine whether the vehicle will go straight, accelerate, or decelerate), and sends the planned trajectory to the control module. The control module determines the planning result based on the received planned trajectory and sends the planning result to the management and control module 103.

[0043] Furthermore, the aforementioned planning and control module 102 is also communicatively connected to the microcontroller unit 11; the planning and control module 102 is used to send the obtained planned trajectory to the microcontroller unit 11 so that the microcontroller unit 11 controls the vehicle to drive according to the planned trajectory.

[0044] In a specific implementation, the integrated unit 10 further includes a map module 30 and a positioning module 31. The positioning module 31 acquires the vehicle's positioning information and sends it to the map module 30. The map module 30 determines the location information, including the vehicle's position on the map, based on the positioning information and sends this location information to the perception fusion module 101 and the planning and control module 102. The positioning information may include the vehicle's current latitude and longitude. Based on this latitude and longitude, the vehicle's position on the map can be determined, and the map information within a specified radius centered on the vehicle's position is defined as the vehicle's location information on the map.

[0045] The aforementioned perception fusion module 101 is also used to filter the fused data according to the location information (that is, to filter out the data in the fused data that exceeds the range of the location information in order to reduce data redundancy) to obtain the final fused data, and send the final fused data to the planning and control module and the management and control module; the planning and control module is also used to process the final fused data in combination with the location information to obtain the final planning and control result, and send the final planning and control result to the management and control module 103.

[0046] The aforementioned management and control module 103 is also used to determine the current autonomous driving scenario state of the vehicle based on the final fused data and the final control results. Then, based on the determined autonomous driving scenario state, it sends a first adjustment command to the first sensor driving module and a second adjustment command to the second sensor driving module to control the frequency or magnitude of data transmitted by the corresponding sensors, thereby meeting the data requirements of the autonomous driving function.

[0047] To facilitate understanding of the embodiments of the present invention, the control of the sensor in the following three scenarios is given:

[0048] 1. Straight-going following scenario

[0049] When there is a vehicle ahead, the system automatically follows and cruises; when there is no vehicle ahead, it continues at the maximum speed (e.g., 80 km / h). In this scenario, the autonomous driving system focuses more on data from the sensors ahead (e.g., data from the front camera, laser, millimeter-wave sensors, etc.). Therefore, given limited system resources, the system tries to increase the perception frequency of the front sensors and reduce the perception frequency of the side sensors.

[0050] 2. Lane changing scenario

[0051] When changing lanes to the left or right, vehicles need to pay attention to the road conditions to the front and rear. Therefore, when starting a lateral lane change, the detection frequency of the lateral sensors should be increased as much as possible; after completing the lane change, the detection frequency of the forward sensors should be increased again.

[0052] 3. Other scenarios

[0053] If an autonomous driving system tracks a fast-moving object within a certain range of the vehicle during operation, it will automatically increase the amount of data from all sensors in that direction to sample and predict the state of the target at a faster frequency, and make more accurate decisions and plans.

[0054] The aforementioned resource adjustment system for autonomous driving dynamically adjusts the frequency and magnitude of sensor data based on actual driving scenarios under conditions of limited system resources, meeting the data requirements of autonomous driving functions. Simultaneously, this approach reduces the amount of data that the system needs to transmit, decreases data transmission latency, and effectively utilizes the limited computing resources of the domain controller, thereby ensuring the reliability of the autonomous driving system's functions under limited system resources.

[0055] Regarding the above-described embodiments of the autonomous driving resource adjustment system, this invention provides an autonomous driving resource adjustment method, which is applied to the autonomous driving resource adjustment system provided in the above embodiments; such as Figure 4 As shown, the method includes the following specific steps:

[0056] In step S402, the sensing fusion module receives first sensor data sent by the first sensor driving module and second sensor data sent by the second sensor driving module, fuses the received first sensor data and second sensor data to obtain fused data, and sends the fused data to the planning control module and management control module.

[0057] Step S404: The planning and control module performs trajectory planning and driving decisions on the received fused data to obtain the planning and control results, and then sends the planning and control results to the management and control module.

[0058] Step S406: Based on the aforementioned fused data and control results, the management and control module determines the current autonomous driving scenario state of the vehicle; and sends a first adjustment command to the first sensor drive module and a second adjustment command to the second sensor drive module according to the autonomous driving scenario state.

[0059] Step S408: The sensing frequency of the first sensor, which is communicatively connected to the first sensor driving module, is adjusted based on the first adjustment command by the first sensor driving module.

[0060] Step S410: The sensing frequency of the second sensor, which is communicatively connected to the second sensor driving module, is adjusted based on the second adjustment command by the second sensor driving module.

[0061] The method provided in this embodiment of the invention has the same implementation principle and technical effect as the aforementioned system embodiment. For the sake of brevity, any part not mentioned in the method embodiment can be referred to the corresponding content in the aforementioned system embodiment.

[0062] The aforementioned resource adjustment method for autonomous driving firstly involves a perception fusion module fusing first sensor data received from a first sensor driving module and second sensor data received from a second sensor driving module to obtain fused data. This fused data is then sent to a planning and control module and a management control module. The planning and control module performs trajectory planning and driving decisions on the received fused data to obtain planning and control results, which are then sent to the management control module. Based on the fused data and the planning and control results, the management control module determines the current autonomous driving scenario state of the vehicle. According to the autonomous driving scenario state, it sends adjustment commands to the first and second sensor driving modules to adjust the perception frequency of the corresponding sensors. This approach controls the amount of sensor data based on the current scenario state of the vehicle, enabling the vehicle's limited computing resources to reliably handle complex autonomous driving tasks. Simultaneously, this method reduces the amount of data that the system needs to transmit, decreases data transmission latency, and improves resource utilization.

[0063] Regarding the aforementioned embodiments of the resource adjustment system for autonomous driving, this invention provides a vehicle, such as... Figure 5As shown, the vehicle includes a first sensor 50, a second sensor 51, and an autonomous driving resource regulation system 52.

[0064] The vehicle provided in this embodiment of the invention has the same implementation principle and technical effects as the aforementioned system embodiment. For the sake of brevity, any parts not mentioned in the vehicle embodiment can be referred to the corresponding content in the aforementioned system embodiment.

[0065] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0066] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0067] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatically piloted resource regulating system, characterized in that The system comprises an integrated unit and a micro-control unit connected in communication; wherein the integrated unit comprises a first sensor driving module, a perception fusion module, a regulation and control module and a management control module, and the micro-control unit comprises a second sensor driving module; The perception fusion module is configured to receive first sensor data sent by the first sensor driving module and second sensor data sent by the second sensor driving module, fuse the received first sensor data and second sensor data to obtain fusion data, and send the fusion data to the regulation and control module and the management control module; The regulation and control module is configured to perform trajectory planning and driving decision on the received fusion data to obtain regulation and control results, and send the regulation and control results to the management control module; The management control module is configured to determine a current automatic driving scene state of the vehicle based on the fusion data and the regulation and control results, and send a first adjustment instruction to the first sensor driving module and a second adjustment instruction to the second sensor driving module according to the automatic driving scene state.

2. The system of claim 1, wherein The first sensor driving module is configured to adjust a perception frequency of a first sensor connected in communication with the first sensor driving module based on the first adjustment instruction; The second sensor driving module is configured to adjust a perception frequency of a second sensor connected in communication with the second sensor driving module based on the second adjustment instruction.

3. The system of claim 2, wherein, The first sensor comprises a laser radar and a plurality of cameras, and the second sensor comprises a millimeter wave radar.

4. The system of claim 1, wherein, The fusion data comprises lane line information and target information around the vehicle, and driving state information of the vehicle; and the regulation and control module comprises a prediction module, a planning and decision module and a control module connected in sequence; The prediction module is configured to receive the fusion data sent by the perception fusion module, and determine estimated state data of a next time instant of a current time instant of the vehicle based on information contained in the fusion data, and send the estimated state data to the planning and decision module; The planning and decision module is configured to perform trajectory planning on the estimated state data to obtain a planning trajectory, and send the planning trajectory to the control module; The control module is configured to determine a planning result based on the received planning trajectory, and send the planning result to the management control module.

5. The system of claim 4, wherein, The regulation and control module is further connected in communication with the micro-control unit; The regulation and control module is configured to send the obtained planning trajectory to the micro-control unit, so that the micro-control unit controls the vehicle to travel according to the planning trajectory.

6. The system according to any one of claims 1-5, characterized in that, The integrated unit further comprises a map module and a positioning module; The positioning module is configured to obtain positioning information of the vehicle, and send the positioning information to the map module; The map module is configured to determine position information comprising a position of the vehicle in a map according to the positioning information, and send the position information to the perception fusion module and the regulation and control module.

7. The system of claim 6, wherein The perception fusion module is further configured to filter the fusion data according to the position information to obtain final fusion data, and send the final fusion data to the regulation and control module and the management control module. The regulation and control module is further configured to process the final fusion data in combination with the position information to obtain final regulation and control results, and send the final regulation and control results to the management control module. The management control module is further configured to determine a current automatic driving scene state of the vehicle based on the final fusion data and the final regulation and control results.

8. The system of claim 1, wherein, The micro control unit is in communication connection with the integrated unit through Ethernet.

9. An automatic driving resource adjustment method, characterized by, The method is applied to the automatic driving resource regulation system according to any one of claims 1-8; the method comprises: The perception fusion module receives the first sensor data sent by the first sensor driving module and the second sensor data sent by the second sensor driving module, and fuses the received first sensor data and second sensor data to obtain fusion data, and sends the fusion data to the regulation and control module and the management control module; The regulation and control module performs trajectory planning and driving decision on the received fusion data to obtain regulation and control results, and sends the regulation and control results to the management control module; The management control module determines a current automatic driving scene state of the vehicle based on the fusion data and the regulation and control results; and sends a first adjustment instruction to the first sensor driving module and a second adjustment instruction to the second sensor driving module according to the automatic driving scene state; The first sensor driving module adjusts the perception frequency of the first sensor in communication connection with the first sensor driving module based on the first adjustment instruction; The second sensor driving module adjusts the perception frequency of the second sensor in communication connection with the second sensor driving module based on the second adjustment instruction.

10. A vehicle characterized by comprising: The vehicle comprises a first sensor, a second sensor and the automatic driving resource regulation system according to any one of claims 1-8.

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