Automatic driving domain controller running method and device, terminal equipment and storage medium

Abstract

The application discloses an automatic driving domain controller running method and device, terminal equipment and a storage medium. The automatic driving domain controller running method comprises the following steps: connecting a mainboard and an extension board in response to a combined function request; controlling the mainboard to run a first type of function module, and controlling the extension board to run a second type of function module. According to the application, the function modules are divided, the first type of function module is configured on the mainboard, and the second type of function module is configured on the extension board. As a result, the low-configured vehicle model can be configured with the first type of function module of the mainboard, the high-configured vehicle model can additionally add the second type of function module of the extension board on the basis of the mainboard, and the automatic driving domain controller can flexibly adapt to the configuration requirements of different vehicle models, the technical problem of high development cost of the automatic driving domain controller can be solved, and the platform management of the automatic driving domain controller can be effectively realized.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to an autonomous driving domain controller operation method, apparatus, terminal device and storage medium. Background Technology

[0002] During vehicle design, different models are equipped with varying levels of autonomous driving and parking assistance functions based on their feature configurations. Higher-feature models feature advanced autonomous driving and parking assistance functions, while lower-feature models only have basic driver assistance and parking assistance functions.

[0003] However, the same model may have high-end and low-end versions during the design process. The current design has development cost issues: on the one hand, if the high-end and low-end versions share the same domain controller hardware solution, it will increase the hardware cost of the low-end version; on the other hand, if the high-end and low-end versions use different domain controller hardware solutions, two sets of vehicle wiring harnesses need to be prepared, and the number of experimental verifications will increase.

[0004] Therefore, a new technological solution is needed to reduce the development cost of autonomous driving domain controllers and achieve platform-based management. Summary of the Invention

[0005] The main purpose of this application is to provide an autonomous driving domain controller operation method, device, terminal equipment and storage medium, which aims to solve the technical problem of development cost of autonomous driving domain controller and effectively realize platform-based management of autonomous driving domain controller.

[0006] To achieve the above objectives, this application provides an autonomous driving domain controller operation method. The autonomous driving domain controller operation method is applied to an autonomous driving domain controller, which includes a motherboard and an expansion board. The motherboard is configured with a first type of functional module, and the expansion board is configured with a second type of functional module. The autonomous driving domain controller operation method includes:

[0007] In response to a combined function request, the motherboard and the expansion board are connected;

[0008] Control the motherboard to run the first type of functional module, and control the expansion board to run the second type of functional module.

[0009] Optionally, the motherboard includes a first circuit board interface, and the expansion board includes a second circuit board interface.

[0010] The step of connecting the motherboard and the expansion board includes:

[0011] The motherboard and the expansion board are connected based on the first circuit board interface and the second circuit board interface.

[0012] Optionally, the motherboard includes a microcontroller unit, the motherboard includes a first chip, the expansion board includes a second chip, and the steps of controlling the motherboard to run the first type of functional module and controlling the expansion board to run the second type of functional module include:

[0013] Based on the microcontroller unit, the first chip is controlled to run the first type of functional module, and the second chip is controlled to run the second type of functional module.

[0014] Optionally, the motherboard further includes a first camera interface, and the step of controlling the first chip to operate the first type of functional module includes:

[0015] First video data is acquired through the first camera interface;

[0016] The first video data is transmitted to the first chip to control the first chip to run the first type of functional module based on the first video data;

[0017] Optionally, the expansion board further includes a second camera interface, and the step of controlling the second chip to operate the second type of functional module includes:

[0018] Second video data is acquired through the second camera interface;

[0019] The second video data is transmitted to the second chip to control the second chip to run the second type of functional module based on the second video data.

[0020] Optionally, the microcontroller unit includes at least one of the following functional modules: a perception fusion functional module, a local path planning functional module, a behavior decision functional module, a lateral control functional module, a longitudinal control functional module, a parking control functional module, a communication functional module, a diagnostic functional module, and an Ethernet switch functional module; the first type of functional module includes at least one of a forward vision perception functional module and a surround vision perception functional module; the second type of functional module includes at least one of a side vision perception functional module, a rear vision perception functional module, a global path planning functional module, and a memory mapping functional module.

[0021] Optionally, the motherboard includes a wiring harness interface for the expansion board to interact with the vehicle via the wiring harness interface of the motherboard.

[0022] Optionally, the autonomous driving domain controller operation method further includes:

[0023] The adjustment function module is obtained and written into the expansion board.

[0024] This application also proposes an autonomous driving domain controller operating device. The autonomous driving domain controller is applied to an autonomous driving domain controller, which includes a motherboard and an expansion board. The motherboard is configured with a first type of functional module, and the expansion board is configured with a second type of functional module. The autonomous driving domain controller operating device includes:

[0025] A connection module for connecting the motherboard and the expansion board in response to a combined function request;

[0026] The control module is used to control the motherboard to run the first type of functional module and to control the expansion board to run the second type of functional module.

[0027] This application also proposes a terminal device, which includes a memory, a processor, and an autonomous driving domain controller runtime program stored in the memory and executable on the processor. When the autonomous driving domain controller runtime program is executed by the processor, it implements the steps of the autonomous driving domain controller operation method as described above.

[0028] This application also proposes a computer-readable storage medium storing an autonomous driving domain controller runtime program, which, when executed by a processor, implements the steps of the autonomous driving domain controller operation method as described above.

[0029] The autonomous driving domain controller operation method, apparatus, terminal device, and storage medium proposed in this application connect the motherboard and the expansion board in response to a combined function request; control the motherboard to run the first type of functional module, and control the expansion board to run the second type of functional module. Based on the solution of this application, by dividing the functional modules, configuring the first type of functional module on the motherboard and the second type of functional module on the expansion board, low-end models can be configured with the first type of functional module on the motherboard, while high-end models can add the second type of functional module on the expansion board in addition to the motherboard. This allows the autonomous driving domain controller to flexibly adapt to the configuration requirements of different models, solves the technical problem of high development cost of autonomous driving domain controllers, and effectively realizes the platform-based management of autonomous driving domain controllers. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the functional modules of the terminal equipment to which the autonomous driving domain controller operating device belongs in this application;

[0031] Figure 2 This is a flowchart illustrating a first exemplary embodiment of the autonomous driving domain controller operation method of this application;

[0032] Figure 3This is a flowchart illustrating a second exemplary embodiment of the autonomous driving domain controller operation method of this application;

[0033] Figure 4 This is a diagram of the mainboard architecture and expansion board architecture of the autonomous driving domain controller operation method of this application.

[0034] Figure 5 This is a flowchart illustrating a third exemplary embodiment of the autonomous driving domain controller operation method of this application;

[0035] Figure 6 This is a hardware architecture diagram of the autonomous driving domain controller in the autonomous driving domain controller operation method of this application;

[0036] Figure 7 This is a schematic diagram of the first type of functional module and the second type of functional module of the autonomous driving domain controller operation method of this application;

[0037] Figure 8 This is a functional schematic diagram of the microcontroller unit in the autonomous driving domain controller operation method of this application;

[0038] Figure 9 This is a flowchart illustrating the fourth exemplary embodiment of the autonomous driving domain controller operation method of this application.

[0039] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0040] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0041] The main solution of this application embodiment is: in response to a combined function request, connecting the motherboard and the expansion board; controlling the motherboard to run the first type of functional module, and controlling the expansion board to run the second type of functional module. Based on this application solution, by dividing the functional modules, configuring the first type of functional module on the motherboard and the second type of functional module on the expansion board, low-end models can be configured with the first type of functional module on the motherboard, while high-end models can add the second type of functional module on the expansion board in addition to the motherboard. This allows the autonomous driving domain controller to flexibly adapt to the configuration requirements of different models, solves the technical problem of high development cost of autonomous driving domain controllers, and effectively realizes the platform-based management of autonomous driving domain controllers.

[0042] Specifically, refer to Figure 1 , Figure 1This is a functional module diagram of the terminal device to which the autonomous driving domain controller operating device belongs in this application belongs. The autonomous driving domain controller operating device can be a device independent of the terminal device, capable of operating the autonomous driving domain controller, and can be carried on the terminal device in hardware or software form. The terminal device can be a smart mobile terminal with data processing capabilities, such as a vehicle, or a fixed terminal device or server with data processing capabilities.

[0043] In this embodiment, the terminal device to which the autonomous driving domain controller operating device belongs includes at least an output module 110, a processor 120, a memory 130, and a communication module 140.

[0044] The memory 130 stores the operating system and the autonomous driving domain controller runtime program. The autonomous driving domain controller runtime device can store information such as the motherboard and expansion board connected in response to combined function requests, the first type of functional modules controlling the operation of the motherboard, and the second type of functional modules controlling the operation of the expansion board in the memory 130. The output module 110 can be an in-vehicle display screen, etc. The communication module 140 can include CAN bus, Ethernet, and LIN bus, etc., and communicates with external devices or servers through the communication module 140.

[0045] When the autonomous driving domain controller runtime program in memory 130 is executed by the processor, it performs the following steps:

[0046] The autonomous driving domain controller operation method is applied to an autonomous driving domain controller, which includes a motherboard and an expansion board. The motherboard is configured with a first type of functional module, and the expansion board is configured with a second type of functional module. The autonomous driving domain controller operation method includes:

[0047] In response to a combined function request, the motherboard and the expansion board are connected;

[0048] Control the motherboard to run the first type of functional module, and control the expansion board to run the second type of functional module.

[0049] Furthermore, when the autonomous driving domain controller runtime program in memory 130 is executed by the processor, it also performs the following steps:

[0050] The motherboard and the expansion board are connected based on the first circuit board interface and the second circuit board interface.

[0051] Furthermore, when the autonomous driving domain controller runtime program in memory 130 is executed by the processor, it also performs the following steps:

[0052] Based on the microcontroller unit, the first chip is controlled to run the first type of functional module, and the second chip is controlled to run the second type of functional module.

[0053] Furthermore, when the autonomous driving domain controller runtime program in memory 130 is executed by the processor, it also performs the following steps:

[0054] First video data is acquired through the first camera interface;

[0055] The first video data is transmitted to the first chip to control the first chip to run the first type of functional module based on the first video data;

[0056] Furthermore, when the autonomous driving domain controller runtime program in memory 130 is executed by the processor, it also performs the following steps:

[0057] Second video data is acquired through the second camera interface;

[0058] The second video data is transmitted to the second chip to control the second chip to run the second type of functional module based on the second video data.

[0059] Furthermore, when the autonomous driving domain controller runtime program in memory 130 is executed by the processor, it also performs the following steps:

[0060] The adjustment function module is obtained and written into the expansion board.

[0061] This embodiment, through the above-described scheme, specifically connects the motherboard and the expansion board in response to a combined function request; controls the motherboard to run the first type of functional module, and controls the expansion board to run the second type of functional module. Based on this application's scheme, by dividing the functional modules, configuring the first type of functional module on the motherboard and the second type of functional module on the expansion board, low-end models can be configured with the first type of functional module on the motherboard, while high-end models can add the second type of functional module on the expansion board in addition to the motherboard. This allows the autonomous driving domain controller to flexibly adapt to the configuration requirements of different models, solving the technical problem of high development costs for autonomous driving domain controllers and effectively realizing platform-based management of autonomous driving domain controllers.

[0062] Based on, but not limited to, the terminal device architecture described above, this application proposes method embodiments.

[0063] Reference Figure 2 , Figure 2 This is a flowchart illustrating a first exemplary embodiment of the autonomous driving domain controller operation method of this application. The autonomous driving domain controller operation method is applied to an autonomous driving domain controller, which includes a motherboard and an expansion board. The motherboard is configured with a first type of functional module, and the expansion board is configured with a second type of functional module. The autonomous driving domain controller operation method includes:

[0064] Step S210: In response to the combined function request, connect the motherboard and the expansion board;

[0065] This embodiment mainly enables the operation of autonomous driving domain controllers, especially autonomous driving domain controllers, and effectively realizes platform-based management of autonomous driving domain controllers.

[0066] This application's embodiments take into account that during vehicle design, different configurations may use the same or different domain controller hardware: using the same domain controller hardware can reduce costs but cannot meet the functional requirements of high- and low-configuration models, while using different domain controller hardware increases design costs and vehicle wiring harness complexity; simultaneously, when implementing autonomous driving functions, upgrading from L2 assisted driving to L2.5+ autonomous driving solutions also faces issues of hardware sharing and cost control. In this context, by combining function requests, the vehicle system or developers can send requests to the autonomous driving domain controller, including the functions required for high- and low-configuration models and different levels of autonomous driving functions.

[0067] Specifically, the motherboard can be a motherboard PCB, which can be configured with first-type functional modules to meet the basic driver assistance functions of high- and low-end vehicle models; the expansion board can be an expansion board PCB, which can be configured with second-type functional modules to implement advanced autonomous driving functions. By controlling the operation of the motherboard and expansion board, the domain controller can flexibly meet the needs of different vehicle models and functional configurations, realizing customized functional combinations. This avoids the cost waste caused by using different domain controller hardware solutions for high- and low-end vehicle models, and also enables hardware sharing from L2 driver assistance to L2.5+ autonomous driving solutions. This improves the utilization efficiency of hardware resources, reduces the need for hardware changes and replacements, and thus reduces overall design and manufacturing costs.

[0068] Step S220: Control the motherboard to run the first type of functional module and control the expansion board to run the second type of functional module.

[0069] Specifically, the first category of functional modules refers to those found in lower-spec vehicle models, and can include driver assistance functions and parking assistance functions. For example, highway driving assistance systems and automatic parking are examples of this category, providing basic automated driving assistance features.

[0070] The second category of functional modules refers to those found in higher-spec vehicle models. These can include advanced autonomous driving functions and more sophisticated parking assistance features. Examples include automatic navigation-assisted driving, automatic lane changing, memory parking, and automatic parking. These modules provide more advanced and complex autonomous driving capabilities, enabling vehicles to achieve autonomous driving and advanced driver assistance in a wider range of scenarios.

[0071] It should be noted that the classification of the first and second types of functional modules is based on different vehicle configurations and is not a fixed category. Different vehicle models may have different combinations of functions. Depending on the configuration, the autonomous driving domain controller may only be configured with the first type of functional modules, or it may be configured with both the first and second types of functional modules. That is, the autonomous driving domain controller may include a single motherboard, or it may include a motherboard and expansion boards.

[0072] For example, based on vehicle configuration and user needs, the domain controller can configure the operation of the mainboard and expansion board according to the combination of function requests, thereby activating the corresponding function modules. If it is a basic function request (adapted to low-end models), the corresponding first type of module is run by controlling the mainboard. If it is a combined function request (adapted to high-end models), the first type of function module and the second type of function module are run simultaneously by controlling the mainboard and expansion board respectively. Therefore, the autonomous driving domain controller needs to ensure the connection between the mainboard and expansion board so that the function modules can communicate and cooperate with the vehicle to achieve data sharing and transmission.

[0073] This embodiment, through the above-described solution, specifically connects the motherboard and the expansion board in response to a combined function request; controls the motherboard to run the first type of functional module, and controls the expansion board to run the second type of functional module. Based on this application's solution, by dividing the functional modules, configuring the first type of functional module on the motherboard and the second type of functional module on the expansion board, low-end models can be configured with the first type of functional module on the motherboard, while high-end models can add the second type of functional module on the expansion board in addition to the motherboard. This allows the autonomous driving domain controller to flexibly adapt to the configuration requirements of different vehicle models, solving the technical problem of high development costs for autonomous driving domain controllers and avoiding cost waste.

[0074] Reference Figure 3 , Figure 3 This is a flowchart illustrating a second exemplary embodiment of the autonomous driving domain controller operation method of this application. Based on the above... Figure 2 In the illustrated embodiment, the motherboard includes a first circuit board interface, and the expansion board includes a second circuit board interface. Step S210, in response to a combination function request, connects the motherboard and the expansion board, including:

[0075] Step S310: In response to the combined function request, the motherboard and the expansion board are connected based on the first circuit board interface and the second circuit board interface.

[0076] Reference Figure 4 , Figure 4 This is a diagram of the mainboard architecture and expansion board architecture of the autonomous driving domain controller operation method of this application. The mainboard PCB may include a PCB interface, a first chip, a microcontroller unit (MCU), a surround-view camera interface, a front-facing camera interface, and CAN / LIN / ETH / IO interfaces; the expansion board PCB may include a PCB interface, a second chip, a side-view camera interface, and a rear-facing camera interface.

[0077] Specifically, a combined function request can be based on the current vehicle's needs and configuration, selecting an appropriate combination of functional modules to meet specific requirements. This can include, but is not limited to, different levels of autonomous driving functions, driver assistance functions, and other vehicle control-related functions. The first circuit board interface is located in the mainboard and is used to connect to the expansion board; the second circuit board interface is located in the expansion board and is used to connect to the mainboard.

[0078] When the autonomous driving domain controller responds to a combined function request, it first needs to connect the main board and the expansion board via the first and second circuit board interfaces. After connecting the main board and the expansion board, data interaction and functional coordination are performed; that is, the expansion board can interact with the vehicle via the wiring harness interface in the main board.

[0079] Furthermore, the motherboard includes a wiring harness interface, which is used by the expansion board to interact with the vehicle via the wiring harness interface of the motherboard.

[0080] Specifically, refer to Figure 4 The motherboard may also include a wiring harness interface, which can be a CAN / LIN / ETH / IO interface. This interface is used for data interaction between the motherboard and the vehicle, and also for expansion boards to interact with the vehicle via the motherboard. Through this wiring harness interface, data and signals can be transmitted between the motherboard and the vehicle, and between the expansion boards and the vehicle. This reduces the number of experimental certifications required for both Type I and Type II functional modules, thereby reducing unnecessary duplication of research and development and testing. It avoids the need for independent design and verification at each level, reducing R&D investment and time costs.

[0081] This embodiment, through the above-described solution, specifically connects the first circuit board interface and the second circuit board interface, that is, connects the motherboard and the expansion board together, thereby enabling the combination and collaborative operation of functional modules. This allows different types of functional modules to work together to meet the specific needs and configurations of the vehicle; through the wiring harness interface, data interaction and the combination of functional modules are achieved. This allows for a single design to adapt to hardware solutions for multiple levels of autonomous driving, reducing R&D investment, improving efficiency, and saving hardware costs.

[0082] Reference Figure 5 , Figure 5 This is a flowchart illustrating a third exemplary embodiment of the autonomous driving domain controller operation method of this application. Based on the above... Figure 2 In the illustrated embodiment, the motherboard includes a microcontroller unit, the motherboard includes a first chip, and the expansion board includes a second chip. Step S220 involves controlling the motherboard to run the first type of functional module and controlling the expansion board to run the second type of functional module, including:

[0083] Step S510: Based on the microcontroller unit, control the first chip to run the first type of functional module, and control the second chip to run the second type of functional module.

[0084] Specifically, refer to Figure 6 , Figure 6 This is a hardware architecture diagram of the autonomous driving domain controller in the autonomous driving domain controller operation method of this application. The first chip is a chip in the main board PCB; the second chip is a chip in the expansion board PCB; the main board PCB also includes a microcontroller unit (MCU). The first chip has a data interface, the second chip also has a data interface, and the microcontroller unit has an Ethernet switch; the three communicate primarily via Ethernet.

[0085] The motherboard can be a component of an autonomous driving domain controller, including a microcontroller unit (MCU) and a first chip. The MCU is a key component on the motherboard, responsible for controlling and managing the operation of the entire controller. The first chip is used to support and execute the first type of functional modules.

[0086] The expansion board, as another component of the domain controller, includes a second chip. This chip supports and executes a second type of functional modules, which may be related to higher levels of autonomous driving functionality.

[0087] For example, the microcontroller unit (MCU) sends commands to the first chip via control instructions and signals based on a function request, causing it to run the corresponding first-type functional module. Similarly, the MCU can also send commands to the second chip via control instructions and signals, causing it to run the corresponding second-type functional module. Through MCU-level and chip-level control, that is, through the MCU sending control commands to the chip, the MCU can perform operations such as starting, stopping, and data processing of functional modules, thereby realizing various functions in the autonomous driving system.

[0088] Furthermore, the motherboard also includes a first camera interface, and the step of controlling the first chip to run the first type of functional module includes:

[0089] First video data is acquired through the first camera interface; the first video data is transmitted to the first chip to control the first chip to run the first type of functional module based on the first video data;

[0090] Specifically, refer to Figure 4 The motherboard may also include a first camera interface. The first camera interface may include a surround-view camera interface and a front-facing camera interface. The surround-view camera interface can be used to connect four surround-view cameras and transmit the video data from the four surround-view cameras to the first chip; the front-facing camera interface can be used to connect one front-facing camera and transmit the video data from the one front-facing camera to the first chip.

[0091] Furthermore, the expansion board also includes a second camera interface, and the step of controlling the second chip to operate the second type of functional module includes:

[0092] The second video data is acquired through the second camera interface; the second video data is transmitted to the second chip to control the second chip to run the second type of functional module based on the second video data.

[0093] Specifically, refer to Figure 4 The expansion board may also include a second camera interface. The second camera interface may include a side-view camera interface and a rear-view camera interface. The side-view camera interface can be used to connect four side-view cameras and transmit the video data of the four side-view cameras to the second chip; the rear-view camera interface can be used to connect one rear-view camera and transmit the video data of the one rear-view camera to the second chip.

[0094] For example, through the camera interfaces on the motherboard and expansion board, the domain controller can acquire video data from different cameras and transmit this data to the corresponding chips. Thus, the first chip on the motherboard can run a first type of functional module based on the first video data, while the second chip on the expansion board can run a second type of functional module based on the second video data. By analyzing and processing the video data, the domain controller can receive and process video data from multiple cameras, enabling control of different functional modules and providing more comprehensive and accurate information for the autonomous driving system.

[0095] Furthermore, the first type of functional module includes at least one of a forward visual perception functional module and a surround visual perception functional module.

[0096] Specifically, refer to Figure 7 , Figure 7 This diagram illustrates the first and second type of functional modules in the autonomous driving domain controller operation method of this application. The forward vision perception module and the surround vision perception module, which primarily involve perceiving the area in front of and around the vehicle, are located relatively close to the microcontroller unit and are therefore assigned to the mainboard for faster acquisition and processing of image data.

[0097] Furthermore, the second type of functional modules includes at least one of the following: a side-view visual perception functional module, a back-view visual perception functional module, a global path planning functional module, and a memory mapping functional module.

[0098] Reference Figure 7 Since the side-view vision perception module, the rear-view vision perception module, the global path planning module, and the memory mapping module generally require more computing and storage resources, and the data transmission between them and the microcontroller unit may be relatively small, allocating them on the expansion board can achieve better division of labor and resource management.

[0099] The microcontroller unit includes at least one of the following: a perception fusion function module, a local path planning function module, a behavior decision function module, a lateral control function module, a longitudinal control function module, a parking control function module, a communication function module, a diagnostic function module, and an Ethernet switch function module.

[0100] Reference Figure 8 , Figure 8This is a functional diagram of the microcontroller unit in the autonomous driving domain controller operation method of this application. Since core functional modules such as the perception fusion module, local path planning module, behavior decision-making module, lateral control module, and longitudinal control module are key components of the autonomous driving system, and the microcontroller unit typically handles the vehicle's perception, planning, and control tasks, they are assigned to the microcontroller unit. Because parking control usually requires close coordination with the vehicle's lateral and longitudinal control, integrating parking control functions into the microcontroller unit can better achieve precise parking operations. Because the microcontroller unit needs to exchange data and communicate with other systems, and provides diagnostic functions to monitor and identify system faults, communication and diagnostic modules are assigned to the microcontroller unit.

[0101] This embodiment, through the above-described scheme, specifically enables the domain controller to analyze and process video data received from cameras using the chip's computing and processing capabilities, thereby realizing its respective functional modules and enhancing the flexibility of the autonomous driving domain controller. Through the use of camera interfaces, the domain controller can receive and process video data from multiple cameras, providing the autonomous driving system with more comprehensive and accurate information to support related functions and decisions. Furthermore, the allocation scheme of functional modules enables efficient system operation and coordinated work, improving the performance and reliability of the autonomous driving system.

[0102] Reference Figure 9 , Figure 9 This is a flowchart illustrating a fourth exemplary embodiment of the autonomous driving domain controller operation method of this application. Based on the above... Figure 2 The embodiment shown further includes the following method for operating the autonomous driving domain controller:

[0103] Step S910: Obtain the adjustment function module and write it into the expansion board.

[0104] Specifically, considering the development cost of the autonomous driving domain controller, this application adopts a phased development strategy, first implementing the mainboard PCB solution, and then developing the expansion PCB. In this process, acquiring and adjusting functional modules refers to optimizing and updating functional modules according to the needs and configuration differences of different vehicle models. This includes determining the required functional modules for the expansion board based on the high and low configuration requirements of the vehicle model and writing them into the expansion board.

[0105] This embodiment, through the above-described scheme, specifically conducts research and development in stages, and acquires, adjusts, and writes the functional modules of the expansion board at different stages. In other words, by acquiring and adjusting the functional modules and writing them into the expansion board, better results can be achieved in terms of cost, time, and flexibility.

[0106] Furthermore, this application also proposes an autonomous driving domain controller operating device. The autonomous driving domain controller is applied to an autonomous driving domain controller, which includes a motherboard and an expansion board. The motherboard is configured with a first type of functional module, and the expansion board is configured with a second type of functional module. The autonomous driving domain controller operating device includes:

[0107] A connection module for connecting the motherboard and the expansion board in response to a combined function request;

[0108] The control module is used to control the motherboard to run the first type of functional module and to control the expansion board to run the second type of functional module.

[0109] The principle and implementation process of the autonomous driving domain controller in this embodiment are explained in the above embodiments and will not be repeated here.

[0110] Furthermore, this application also proposes a terminal device, which includes a memory, a processor, and an autonomous driving domain controller runtime program stored in the memory and executable on the processor. When the autonomous driving domain controller runtime program is executed by the processor, it implements the steps of the autonomous driving domain controller operation method as described above.

[0111] Since the execution of this autonomous driving domain controller program by the processor adopts all the technical solutions of all the aforementioned embodiments, it has at least all the beneficial effects brought about by all the technical solutions of all the aforementioned embodiments, which will not be repeated here.

[0112] Furthermore, embodiments of this application also propose a computer-readable storage medium storing an autonomous driving domain controller runtime program, which, when executed by a processor, implements the steps of the autonomous driving domain controller operation method as described above.

[0113] Since the execution of this autonomous driving domain controller program by the processor adopts all the technical solutions of all the aforementioned embodiments, it has at least all the beneficial effects brought about by all the technical solutions of all the aforementioned embodiments, which will not be repeated here.

[0114] Compared to existing technologies, the autonomous driving domain controller operation method, apparatus, terminal device, and storage medium proposed in this application connect the motherboard and the expansion board in response to a combined function request; control the motherboard to run the first type of functional module, and control the expansion board to run the second type of functional module. Based on the solution of this application, by dividing the functional modules, configuring the first type of functional module on the motherboard and the second type of functional module on the expansion board, low-end models can be configured with the first type of functional module on the motherboard, while high-end models can add the second type of functional module on the expansion board in addition to the motherboard. This allows the autonomous driving domain controller to flexibly adapt to the configuration requirements of different models, solves the technical problem of high development cost of autonomous driving domain controllers, and effectively realizes platform-based management of autonomous driving domain controllers.

[0115] It should be noted that, in this document, the various embodiments can be combined with each other to form a complete solution. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0116] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0117] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a vehicle, server, controlled terminal, or network device, etc.) to execute the methods of each embodiment of this application.

[0118] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for operating an autonomous driving domain controller, characterized in that, The autonomous driving domain controller operation method is applied to an autonomous driving domain controller, which includes a motherboard and an expansion board. The motherboard is configured with a first type of functional module for implementing basic assisted driving of the vehicle, and the expansion board is configured with a second type of functional module for implementing advanced autonomous driving enhancement of the vehicle. The motherboard also integrates a microcontroller unit responsible for autonomous driving cooperative control. The autonomous driving domain controller operation method includes: In response to a combined function request for adapting to high and low trim levels of vehicles, the motherboard and the expansion board are connected via the first circuit board interface of the motherboard and the second circuit board interface of the expansion board; Based on the unified coordination and control of the microcontroller unit, the motherboard is controlled to run the first type of functional modules, and the expansion board is controlled to run the second type of functional modules. The expansion board interacts with the vehicle via the motherboard's wiring harness interface, eliminating the need for separate external wiring harnesses. Furthermore, the wiring harness interface enables data and signal transmission between the motherboard and the vehicle, and between the expansion board and the vehicle, reducing the number of experimental verifications required for the first and second type of functional modules. The microcontroller unit includes at least one of the following: a perception fusion functional module, a local path planning functional module, a behavior decision functional module, a lateral control functional module, a longitudinal control functional module, a parking control functional module, a communication functional module, a diagnostic functional module, and an Ethernet switch functional module. The first type of functional modules includes at least one of a forward-looking visual perception functional module and a surround-view visual perception functional module. The second type of functional modules includes at least one of a side-view visual perception functional module, a rear-view visual perception functional module, a global path planning functional module, and a memory mapping functional module.

2. The autonomous driving domain controller operation method as described in claim 1, characterized in that, The motherboard includes a microcontroller unit, the motherboard includes a first chip, and the expansion board includes a second chip. The steps of controlling the motherboard to run the first type of functional module and controlling the expansion board to run the second type of functional module include: Based on the microcontroller unit, the first chip is controlled to run the first type of functional module, and the second chip is controlled to run the second type of functional module.

3. The autonomous driving domain controller operation method as described in claim 2, characterized in that, The motherboard also includes a first camera interface, and the step of controlling the first chip to operate the first type of functional module includes: First video data is acquired through the first camera interface; The first video data is transmitted to the first chip to control the first chip to run the first type of functional module based on the first video data; The expansion board also includes a second camera interface, and the step of controlling the second chip to operate the second type of functional module includes: Second video data is acquired through the second camera interface; The second video data is transmitted to the second chip to control the second chip to run the second type of functional module based on the second video data.

4. The autonomous driving domain controller operation method as described in claim 1, characterized in that, The autonomous driving domain controller operation method further includes: The adjustment function module is obtained and written into the expansion board.

5. An autonomous driving domain controller operating device, characterized in that, The autonomous driving domain controller is applied to an autonomous driving domain controller, which includes a motherboard and an expansion board. The motherboard is configured with a first type of functional module for implementing basic assisted driving of the vehicle, and the expansion board is configured with a second type of functional module for implementing advanced autonomous driving enhancement of the vehicle. The motherboard also integrates a microcontroller unit responsible for autonomous driving cooperative control. The autonomous driving domain controller operating device includes: A connection module is used to respond to a combined function request for adapting to high and low trim levels of vehicle models, and connect the motherboard and the expansion board through the first circuit board interface of the motherboard and the second circuit board interface of the expansion board; A control module is used for unified coordination and control based on the microcontroller unit, controlling the motherboard to run the first type of functional modules and controlling the expansion board to run the second type of functional modules. The expansion board interacts with the vehicle via the motherboard's wiring harness interface, eliminating the need for separate external wiring harnesses. Data and signal transmission between the motherboard and the vehicle, and between the expansion board and the vehicle, are achieved through the wiring harness interface, reducing the number of experimental verifications required for the first and second type of functional modules. The microcontroller unit includes at least one of the following: a perception fusion functional module, a local path planning functional module, a behavior decision functional module, a lateral control functional module, a longitudinal control functional module, a parking control functional module, a communication functional module, a diagnostic functional module, and an Ethernet switch functional module. The first type of functional modules includes at least one of a forward-looking visual perception functional module and a surround-view visual perception functional module. The second type of functional modules includes at least one of a side-view visual perception functional module, a rear-view visual perception functional module, a global path planning functional module, and a memory mapping functional module.

6. A terminal device, characterized in that, The terminal device includes a memory, a processor, and an autonomous driving domain controller runtime program stored in the memory and executable on the processor. When the autonomous driving domain controller runtime program is executed by the processor, it implements the steps of the autonomous driving domain controller operation method as described in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an autonomous driving domain controller runtime program, which, when executed by a processor, implements the steps of the autonomous driving domain controller operation method as described in any one of claims 1-4.

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