Power-down control methods, automatic driving systems, devices and storage media

Abstract

This invention relates to the field of autonomous driving control, and discloses a power-down control method, an autonomous driving system, a device, and a storage medium. The method includes: determining the operating state based on the current vehicle data of the autonomous vehicle, determining the module to be powered down based on the operating state, generating a corresponding power-down command, sending the power-down command to the module to be powered down, generating a power-off signal based on the state of the module to be powered down, shutting down the power supply to the module based on the power-off signal, updating the power supply connection of the power management device, and shutting down the power supply of the control device. Based on the characteristic requirements of the onboard autonomous driving computing unit, this invention controls the power state of different modules at different times through an MCU triggered by an ignition shutdown signal, and associates the timing requirements of each ARM module and x86 module through the MCU, thus satisfying the power-down timing and functional requirements of the entire autonomous driving system and improving power-down control efficiency.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving control, and more particularly to a power-down control method, an autonomous driving system, a device, and a storage medium. Background Technology

[0002] In autonomous vehicles, power control for the autonomous driving system is generally achieved through PMU (Phase Measurement Unit) chips and CPLD (Complex Programmable Logic Device) technology. However, PMU power management chips have drawbacks such as the inability to control power-down timing and the need to select different numbers of PMU chip pins for different power output scenarios. Existing CPLD technology mostly implements power-down design through delay circuits, but this method suffers from problems such as easy data loss, disordered power-down timing, and inability to promptly respond to and resolve error information. Therefore, there is an urgent need to provide a solution that can improve the accuracy of stitching together multi-frame point clouds. Summary of the Invention

[0003] The main objective of this invention is to solve the problems of data loss, chaotic power-down timing, and inability to use CPLD to control the power-down timing of power management devices in existing power-down design schemes.

[0004] The first aspect of this invention provides a power-down control method applied to an autonomous driving system. The power-down control method includes: acquiring current vehicle data of the autonomous driving vehicle and determining the operating state of the autonomous driving vehicle based on the vehicle data, wherein the vehicle data includes the power supply signal of the ignition system and the driving data of the autonomous driving vehicle, and the operating state includes a stationary state and a driving state; determining a module to be powered down based on the operating state and generating a corresponding power-down command; sending the power-down command to the module to be powered down and generating a power-off signal based on the state of the module to be powered down; turning off the power supply of the module to be powered down based on the power-off signal, updating the power supply connection of the power management device, and turning off the power supply of the control device.

[0005] Optionally, in a first implementation of the first aspect of the present invention, the step of acquiring the current vehicle data of the autonomous vehicle and determining the operating state of the autonomous vehicle based on the vehicle data includes: acquiring the power supply signal of the ignition system of the autonomous vehicle, wherein the power supply signal includes an ignition signal and an engine shutdown signal; if the power supply signal is an engine shutdown signal, then acquiring the vehicle speed in the driving data of the autonomous vehicle; if the vehicle speed of the autonomous vehicle is a preset stationary value, then confirming that the operating state of the autonomous vehicle is a stationary state; if the vehicle speed of the autonomous vehicle is not a preset stationary value, then confirming that the operating state of the autonomous vehicle is a driving state; if the power supply signal is an ignition signal, then confirming that the operating state of the autonomous vehicle is a stationary state.

[0006] Optionally, in a second implementation of the first aspect of the present invention, the step of determining the module to be powered down based on the working state and generating a corresponding power-down command includes: when the working state is a driving state, acquiring the road conditions in the driving data of the autonomous vehicle, determining the module to be powered down based on the road conditions, and generating a corresponding power-down command; when the working state is a stationary state, determining the logic device where the operating system is located as the module to be powered down, generating a corresponding power-down command, and issuing a corresponding soft shutdown command to the logic device where the operating system is located.

[0007] Optionally, in a third implementation of the first aspect of the present invention, the step of sending the power-down command to the module to be powered down and generating a power-off signal based on the state of the module to be powered down includes: sending the power-down command to the logic device where the operating system is located via a network, and polling the state information of the logic device, wherein the state information of the logic device includes a standby state and an enabled state; when the state information is enabled, sending the power-down command to the logic device where the operating system is located via a serial port; when the state information is powered off, performing a soft shutdown on the operating system, updating the state of the logic device where the operating system is located to a standby state, generating a power-off signal based on the state information, and sending it to the logic device where the operating system is located.

[0008] Optionally, in the fourth implementation of the first aspect of the present invention, after sending a power-down command to the logic device where the operating system is located via the serial port when the status information is in the enabled state, the method further includes: polling the status information of the logic device where the operating system is located, and performing a logic device fault recording operation when the status information is in the enabled state.

[0009] Optionally, in a fifth implementation of the first aspect of the present invention, the step of shutting down the power supply of the module to be powered off based on the power-off signal, updating the power supply connection of the power management device, and shutting down the power supply of the control device includes: sending the power-off signal to the module to be powered off, cutting off all power supply lines of the module to be powered off, and shutting down the DC power supply of the module to be powered off; obtaining the current state of the power management device, sending a standby signal to the power management device, setting the state of the power management device to a low-power state, updating the power supply connection of the power management device, and shutting down the power supply of the control device.

[0010] Optionally, in a sixth implementation of the first aspect of the present invention, after turning off the power to the module to be powered off based on the power-off signal, the method further includes: disabling the vehicle bus module, the network switch module, and the camera module, and turning off the power to the vehicle bus module, the network switch module, and the camera module.

[0011] A second aspect of the present invention provides an autonomous driving system, the autonomous driving system comprising a control device, a power management device, and a logic device containing an operating system, all electrically connected to each other. The control device comprises: a determining module, configured to acquire current vehicle data of the autonomous driving vehicle and determine the operating state of the autonomous driving vehicle based on the vehicle data, wherein the vehicle data includes the power supply signal of the ignition system and the driving data of the autonomous driving vehicle, and the operating state includes a stationary state and a driving state; a generating module, configured to determine a module to be powered down based on the operating state and generate a corresponding power-down command; a sending module, configured to send the power-down command to the module to be powered down and generate a power-off signal based on the state of the module to be powered down; and a shut-down module, configured to shut down the power supply of the module to be powered down based on the power-off signal, update the power supply connection of the power management device, and shut down the power supply of the control device.

[0012] Optionally, in a first implementation of the second aspect of the present invention, the determining module includes:

[0013] The acquisition unit is used to acquire the power supply signal of the ignition system of the autonomous vehicle, wherein the power supply signal includes an ignition signal and an engine shutdown signal.

[0014] The first judgment unit is used to obtain the vehicle speed in the driving data of the autonomous vehicle if the power supply signal is a shutdown signal; if the vehicle speed of the autonomous vehicle is a preset stationary value, it is confirmed that the working state of the autonomous vehicle is stationary; if the vehicle speed of the autonomous vehicle is not a preset stationary value, it is confirmed that the working state of the autonomous vehicle is driving.

[0015] The second determination unit is used to confirm that the working state of the autonomous vehicle is stationary if the power supply signal is an ignition signal.

[0016] Optionally, in a second implementation of the second aspect of the present invention, the generation module includes:

[0017] The first generation unit is used to acquire road conditions from the driving data of the autonomous vehicle when the working state is driving state, determine the module to be powered down according to the road conditions, and generate the corresponding power-down command.

[0018] The second generation unit is used to determine that the logic device where the operating system is located is a module to be powered down when the working state is a static state, and to generate a corresponding power-down command and issue a corresponding soft shutdown command to the logic device where the operating system is located.

[0019] Optionally, in a third implementation of the second aspect of the present invention, the sending module includes:

[0020] A polling unit is used to send the power-down command to the logic device where the operating system is located via the network, and to poll the status information of the logic device, wherein the status information of the logic device includes standby state and enabled state;

[0021] The first issuing unit is used to issue a power-down command to the logic device where the operating system is located via a serial port when the status information is in the enabled state.

[0022] The second sending unit is used to perform a soft shutdown of the operating system when the status information is in the power-off state, update the status of the logic device where the operating system is located to the standby state, generate a power-off signal based on the status information, and send it to the logic device where the operating system is located.

[0023] Optionally, in a fourth implementation of the second aspect of the present invention, the first issuing unit is further configured to: poll the status information of the logic device where the operating system is located, and perform a logic device fault recording operation when the status information is in an enabled state.

[0024] Optionally, in a fifth implementation of the second aspect of the present invention, the closing module includes:

[0025] The disconnection unit is used to send the power-off signal to the module to be powered off, and disconnect all power supply lines of the module to be powered off, and shut off the DC power supply of the module to be powered off;

[0026] The update unit is used to obtain the current state of the power management device, send a standby signal to the power management device, set the state of the power management device to a low power state, update the power supply connection of the power management device, and turn off the power of the control device.

[0027] Optionally, in a sixth implementation of the second aspect of the present invention, the disconnection unit is further configured to: disable the vehicle bus module, the network switch module, and the camera module, and turn off the power supply to the vehicle bus module, the network switch module, and the camera module.

[0028] A third aspect of the present invention provides a computer device including a memory and at least one processor, the memory storing instructions; the at least one processor invokes the instructions in the memory to cause the computer device to perform the steps of the power-down control method as described above.

[0029] A fourth aspect of the present invention provides a computer-readable storage medium storing instructions that, when executed by a processor, implement the steps of the power-down control method as described above.

[0030] The technical solution provided by this invention proposes a power-down control method, an autonomous driving system, equipment, and storage medium. The method includes determining the operating state of the autonomous vehicle based on its current vehicle data, identifying the module to be powered down based on the operating state, generating a corresponding power-down command, sending the power-down command to the module to be powered down, generating a power-off signal based on the state of the module to be powered down, shutting down the power supply to the module based on the power-off signal, updating the power supply connection of the power management device, and shutting down the power supply of the control device. Based on the characteristics and requirements of the onboard autonomous driving computing unit, this invention uses an MCU triggered by an ignition shutdown signal to control the power state of different modules at different times. By associating the timing requirements of each ARM module and x86 module with the MCU, the power-down timing and functional requirements of the entire autonomous driving system are met, improving power-down control efficiency. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the first embodiment of the power-down control method provided by the present invention;

[0032] Figure 2 A schematic diagram of a second embodiment of the power-down control method provided by the present invention;

[0033] Figure 3 This is a signal diagram of the power-down control method provided in an embodiment of the present invention;

[0034] Figure 4 A flowchart illustrating the power-down control method provided in an embodiment of the present invention;

[0035] Figure 5 A schematic diagram of an autonomous driving system provided in an embodiment of the present invention;

[0036] Figure 6 This is another structural schematic diagram of an autonomous driving system provided in an embodiment of the present invention;

[0037] Figure 7 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0038] To address the issue of chaotic power-down timing in existing power-down control methods, this application determines the operating state based on the current vehicle data of the autonomous vehicle, identifies the modules to be powered down based on the operating state, generates corresponding power-down commands, sends these commands to the modules to be powered down, generates a power-off signal based on the state of the modules to be powered down, shuts down the power supply to the modules to be powered down based on the power-off signal, updates the power supply connection of the power management device, and shuts down the power supply of the control device. By using an MCU triggered by the ignition shutdown signal to control the power states of different modules at different times, and by associating the timing requirements of each ARM module and x86 module through the MCU, the power-down timing and functional requirements of the entire autonomous driving system are met, improving power-down control efficiency.

[0039] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” or “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0040] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 1 The first embodiment of the power-down control method provided by this invention is illustrated in the schematic diagram. This method is mainly applied to the control device in an autonomous driving system to realize the power-down control of various modules of the vehicle. The autonomous driving system includes a power management device, a control device, and logic devices. The control device is connected to the power management device through a serial peripheral interface bus, and the control device is connected to the logic devices through a serial port bus. The method specifically includes the following steps:

[0041] 101. Obtain the current vehicle data of the autonomous vehicle and determine the working status of the autonomous vehicle based on the vehicle data.

[0042] The vehicle data includes the power supply signal of the ignition system and the driving data of the autonomous vehicle. The operating states include a stationary state and a driving state. The operating system is selected from one of the following: QNX operating system, Linux operating system, Unix operating system, VxWorks operating system, or Windows operating system.

[0043] The control unit can be woken up via network or other means. When the key is pressed to unlock, open the door, or press the start button, the wake-up signal is forwarded through the gateway to the VCU (Vehicle Control Unit) and wakes it up. After being woken up, the VCU controls the low-voltage relay box to activate other ECUs (Electronic Control Units). The ECU (Electronic Control Unit) is powered on and woken up by sending network management messages. After the ECU starts and completes its self-test, it can operate normally if there are no problems, and then high voltage is applied. During the low-voltage power-down process, when the start button is switched to the OFF position, the high-voltage power supply is disconnected first. Each ECU in the vehicle begins to stop sending network management messages, then application messages, and enters the sleep power-down process. Finally, the power management module is controlled to disconnect the power supply. For the power-down process based on the vehicle controller, when the vehicle controller detects that the key is OFF, it first stops sending network management messages, waits for all other nodes in the local area network to stop sending network management messages, and then stops sending application messages together, synchronously entering the power-down sleep state. When the vehicle is in sleep mode, the low-voltage constant power of most electronic control units is disconnected through the low-voltage relay box to ensure that the dark current is small when the vehicle is stationary, the energy consumption is minimized, and the low-voltage battery discharge time is extended.

[0044] The power-down method described in this solution is applicable to low-voltage electrical devices. When the vehicle controller issues a power-down command, each high-voltage actuator follows a safe and reasonable power-down sequence, or achieves reasonable power-down of each module by delaying power-down. This solution can not only be used to disconnect power to modules in an autonomous vehicle after the vehicle has stopped, but also during vehicle operation when road conditions are good, allowing some modules in the autonomous vehicle to be powered down, thereby saving battery power and extending battery life.

[0045] When the control unit of an autonomous vehicle determines that the vehicle is in an emergency after calculating and analyzing the vehicle's driving and road conditions, it can initiate an emergency power-off. Specifically, the emergency power-off signal is obtained through the BDC (Body Domain Controller). After the BDC receives this signal, it is sent to the controller area network bus through the vehicle gateway, so that the engine control module (ECM) and keyless entry system (PEPS) can both receive the signal. This allows the vehicle's engine to shut down and the power to be switched off, or the power supply can be directly switched off. Alternatively, the vehicle can be powered off by sending a door lock command after the user has finished driving and left the vehicle, providing another quick way to power off the vehicle.

[0046] 102. Determine the module to be powered down based on its working status and generate the corresponding power-down command.

[0047] When a vehicle is in motion, multiple signals can be used to determine which modules need to be powered down, such as the status of the vehicle's air conditioning system, the seatbelt locking status signal, the weight sensor signal in the driver's seat, the in-vehicle monitoring video signal, the vehicle speed signal, the vehicle gear signal, and the door status signal. For example, when the interior temperature reaches a preset temperature, the vehicle's air conditioning system is identified as the module to be powered down. Similarly, if at least one of the following conditions is met—the driver's seat is unoccupied, the vehicle is stationary, all doors are closed, or the gear is in park or neutral—the vehicle can be determined to meet the power-down conditions, and each system or unit can be identified as the module to be powered down.

[0048] During the normal power-down process, when the key signal, hard-wired signal off, or network wake-up signal is detected as stopped, the vehicle controller immediately requests the domain controller to leave the operating mode, and the power devices rapidly reduce power. Subsequently, the vehicle controller requests the DC / DC converter (Direct Current-Direct Current transformer) to leave the operating mode, and then requests the battery management system to disconnect the high-voltage relay. After the battery management system responds, the vehicle controller disconnects the high-voltage interlock system circuit and the low-voltage relay, and each node enters the power-down sleep process. During the emergency power-down process, if a serious fault occurs such as insulation resistance below the threshold, high-voltage interlock disconnection, or motor controller overcurrent, the vehicle controller will initiate an emergency high-voltage power-down process. First, it requests the DC / DC converter to leave the operating mode, the domain controller enters fault mode, and then the vehicle controller requests the battery management system to disconnect the high-voltage relay and the high-voltage interlock system circuit, requesting the power supply to enter emergency discharge mode. The domain controller completes residual discharge within a specified time. If the key is in the off state, each node enters the sleep state.

[0049] 103. Send the power-down command to the module to be powered down, and generate a power-off signal based on the status of the module to be powered down.

[0050] After the control device sends a power-down command to the module to be powered down, it receives feedback signals from the module. The feedback signals include the power-down status of the module to be powered down and the module call status during vehicle operation. The power-down status of the module to be powered down indicates whether the module to be powered down has performed a power-down operation based on the power-down command. The module call status during vehicle operation indicates that the data receiving device of the autonomous vehicle has received a call request from the user for the module to be powered down. When the feedback signal indicates no module call status and the power-down is normal, a power-off signal is generated for the module to be powered down, instructing the module to perform a power-down operation.

[0051] 104. Based on the power failure signal, shut down the power supply of the module to be powered down, update the power supply connection of the power management device, and shut down the power supply of the control device.

[0052] In this embodiment, the autonomous vehicle is not allowed to disconnect the high voltage when it is traveling at high speed. When the power-off condition is met, the control device sends a power-off command to each controller, first disconnects the high voltage, the inverter actively discharges, and discharges the bus voltage to below the preset voltage value within a preset time. Finally, the hard-wired high-level wake-up source is disconnected.

[0053] This solution controls the power status of different modules at different times through a control device triggered by the ignition shutdown signal, and designs the power-down sequence of different modules when they are powered off. While realizing power-down, it protects the vehicle data from being damaged. At the same time, it further improves battery efficiency by powering down different modules at different times during driving.

[0054] Please see Figure 2 A schematic diagram of the second embodiment of the power-down control method provided by the present invention is shown. The method specifically includes the following steps:

[0055] 201. Obtain the power supply signal of the ignition system of the autonomous vehicle.

[0056] The power supply signals include ignition signals and shutdown signals. The ignition signal is used to indicate that the vehicle is powered on, for example, ignition ON (IGN ON). The shutdown signal is used to indicate that the vehicle is powered off, for example, ignition OFF (IGN OFF). In this solution, the control device is triggered by the shutdown signal. The system-on-a-chip (SoC) includes startup, running, and shutdown states, while the controller includes standby, hibernation, wake-up, and operating states. For autonomous driving systems, state switching based on power supply signals is as follows: In operating state, if the controller receives a network sleep state signal and vehicle power-off information, it enters standby state. In hibernation state, if the controller receives a power control command carrying power-on information or any local area network (LAN) bus signal, it enters standby state. When the operating system enters shutdown mode, the SoC completes power-off and notifies the controller, which then enters standby state. In standby state, if the controller receives a network sleep state signal, it switches from standby to hibernation state. In hibernation state, if the controller detects a vehicle power-on signal or any other LAN bus signal, it enters standby state. In standby state, if the controller receives a SoC power-on completion signal or detects a vehicle power-on signal, it enters operating state. In operating state, if the controller detects a vehicle power-off signal and a network sleep state signal, it enters standby state.

[0057] 202. Determine the operating status of the autonomous vehicle based on the power supply signal and vehicle driving data.

[0058] If the power supply signal is an ignition off signal, the power control system detects the current vehicle speed and obtains the vehicle speed from the driving data of the autonomous vehicle. If the vehicle speed is the preset stationary value, the autonomous vehicle is confirmed to be in a stationary state. If the vehicle speed is not the preset stationary value, the autonomous vehicle is confirmed to be in a driving state. If the power supply signal is an ignition signal, the autonomous vehicle is confirmed to be in a stationary state.

[0059] 203. Determine the module to be powered down based on its working status and generate the corresponding power-down command.

[0060] When the operating state is driving, the system acquires the road conditions from the driving data of the autonomous vehicle, determines the module to be powered down based on the road conditions, and generates the corresponding power-down command. When the operating state is stationary, the system determines the logic device where the operating system is located as the module to be powered down, generates the corresponding power-down command, and issues the corresponding soft shutdown command to the logic device where the operating system is located.

[0061] 204. When the working state is static, the power-down command is sent to the logic device where the operating system is located via the network, and the status information of the logic device is polled.

[0062] The status information of the logic device includes standby status and enabled status. When the status information is enabled, a power-down command is sent to the logic device where the operating system is located via the serial port, and the status information of the logic device where the operating system is located is polled. When the status information is enabled, the logic device fault recording operation is performed.

[0063] 205. When the status information is "power off", perform a soft shutdown on the operating system, update the status of the logic device where the operating system is located to "standby", generate a power-off signal based on the status information, and send it to the logic device where the operating system is located.

[0064] 206. Send a power-off signal to the module to be powered off, cut off all power supply lines of the module to be powered off, shut off the DC power supply of the module to be powered off, and shut off the power supply of the control device through the power management device.

[0065] Obtain the current status of the power management device, send a standby signal to the power management device, set the status of the power management device to low power state, update the power supply connection of the power management device, and turn off the power of the control device.

[0066] Please see Figure 3 The diagram illustrates the signal characteristics of the power-down control method provided in this embodiment of the invention. The power management device acts as the main power supply, providing power to the logic unit and the control device. The control device monitors the state of the logic unit and issues different commands to control the power management device to supply power to the logic unit and the control device under different states. Please refer to... Figure 4The flowchart of the power-off control method provided in this embodiment of the invention shows that the MCU (Micro Controller Unit) is used to control the electrical connection between the power supply and the electrical appliances, realizing the power-on and power-off of the appliances. The PMIC (Power Management IC) is used to manage the power devices in the host system and is mainly used to provide power. The CPLD (Complex Programmable Logic Device) hosts the operating system and is used to carry the various functional modules of the autonomous driving system. IGN (Ignition) is the power supply system for the ignition switch, which is the power supply for the engine. When the power supply signal is ON, it indicates that the vehicle is started; when the power supply signal is OFF, the vehicle is turned off and stopped. The GPU (Graphics Processing Unit) is used to process the camera data acquired by the camera module of the autonomous vehicle, including images and videos. SATA (Serial Advanced Technology Attachment) is a computer bus responsible for data transmission between the motherboard and large-capacity storage devices. The vehicle CAN (Controller Area) is used for data transmission between the motherboard and the large-capacity storage devices. The Network (Controller Area Network) module is used for communication between modules. A network switch is a device that expands the network, providing more connection ports for subnets. The PMIC communicates with the MCU via the SPI bus, and the MCU communicates with the x86 CPLD via a serial bus. The MCU sends a power-down command to the CPLD based on the ignition shutdown signal. The CPLD performs a soft shutdown operation based on the power-down command and updates its current state to standby. The MCU obtains the current state information of the CPLD and sends a power-off signal to the CPLD to turn off its power. The MCU sends a standby signal to the PMIC via the serial peripheral interface bus. The PMIC enters a low-power state based on the standby signal and turns off the MCU's power. Specifically, when the MCU is in normal power supply mode, it obtains the power supply signal of the ignition system. When the power supply signal is an ignition shutdown signal, the MCU obtains the vehicle's current speed based on the ignition shutdown signal and sends a power-down command to the CPLD via the network when the speed is 0. When the power supply signal is an ignition signal, the MCU maintains its current normal power supply state. After issuing a power-down command, the MCU polls the CPLD's power-off status. When the CPLD is in the power-off state, the MCU triggers a power-off signal and sends it to the CPLD, shutting down all power supplies to the CPLD, as well as the GPU and SATA power supplies. When the status information indicates a power-on state, the MCU sends a power-down command to the CPLD via the serial bus and polls the CPLD's power-off status again. When the CPLD is in the power-on state, a CPLD fault recording operation is performed.After the MCU shuts down the CPLD power supply via the power-off signal, it disables the vehicle bus module, network switch module, and camera module, sets the PMIC to standby mode, puts the PMIC into standby mode (low power mode), and shuts down the MCU power supply, thus completing the MCU power-down timing operation.

[0067] This solution determines the working status of the autonomous vehicle based on the current vehicle data, identifies the modules to be powered off based on the working status, generates corresponding power-off commands, sends the power-off commands to the modules to be powered off, generates a power-off signal based on the status of the modules to be powered off, shuts off the power to the modules to be powered off based on the power-off signal, updates the power supply connection of the power management device, and shuts off the power to the control device, thus realizing the design of the autonomous driving power-off sequence.

[0068] The above describes the power-down control method in the embodiments of the present invention. The following describes the autonomous driving system in the embodiments of the present invention in detail from the perspective of modular functional entities. Please refer to [link / reference]. Figure 5 A schematic diagram of an autonomous driving system provided in this embodiment of the invention. The autonomous driving system includes a control device 510, a power management device 520, and a logic device 530 containing an operating system, all electrically connected to each other. The control device 510 includes:

[0069] The determination module 511 is used to acquire the current vehicle data of the autonomous vehicle and determine the working state of the autonomous vehicle based on the vehicle data. The vehicle data includes the power supply signal of the ignition system and the driving data of the autonomous vehicle. The working state includes a stationary state and a driving state.

[0070] The generation module 512 is used to determine the module to be powered off based on the working state and generate the corresponding power-off command;

[0071] The sending module 513 is used to send the power-down command to the module to be powered down, and generate a power-off signal based on the state of the module to be powered down;

[0072] The shutdown module 514 is used to shut down the power supply of the module to be powered off based on the power failure signal, update the power supply connection of the power management device, and shut down the power supply of the control device.

[0073] This solution uses an MCU triggered by an engine shutdown signal to control the power status of different modules at different times, and uses the MCU to associate the timing requirements of each ARM module and X86 module, thus meeting the power-down timing and functional requirements of the entire autonomous driving system.

[0074] Please see Figure 6Another schematic diagram of an autonomous driving system provided in this embodiment of the invention. The autonomous driving system includes a control device 610, a power management device 620, and a logic device 630 where the operating system is located, all electrically connected to each other. The control device 610 includes:

[0075] The determination module 611 is used to acquire the current vehicle data of the autonomous vehicle and determine the working state of the autonomous vehicle based on the vehicle data. The vehicle data includes the power supply signal of the ignition system and the driving data of the autonomous vehicle. The working state includes a stationary state and a driving state.

[0076] The generation module 612 is used to determine the module to be powered off based on the working state and generate the corresponding power-off command;

[0077] The sending module 613 is used to send the power-down command to the module to be powered down, and generate a power-off signal based on the state of the module to be powered down;

[0078] The shutdown module 614 is used to shut down the power supply of the module to be powered off based on the power failure signal, update the power supply connection of the power management device, and shut down the power supply of the control device.

[0079] In this embodiment, the determining module 611 includes:

[0080] The acquisition unit 6111 is used to acquire the power supply signal of the ignition system of the autonomous vehicle, wherein the power supply signal includes an ignition signal and an engine shutdown signal.

[0081] The first judgment unit 6112 is used to obtain the vehicle speed in the driving data of the autonomous vehicle if the power supply signal is a shutdown signal; if the vehicle speed of the autonomous vehicle is a preset stationary value, then confirm that the working state of the autonomous vehicle is stationary; if the vehicle speed of the autonomous vehicle is not a preset stationary value, then confirm that the working state of the autonomous vehicle is driving.

[0082] The second judgment unit 6113 is used to confirm that the working state of the autonomous vehicle is stationary if the power supply signal is an ignition signal.

[0083] In this embodiment, the generation module 612 includes:

[0084] The first generation unit 6121 is used to acquire road conditions from the driving data of the autonomous vehicle when the working state is driving state, determine the module to be powered down according to the road conditions, and generate a corresponding power-down command.

[0085] The second generation unit 6122 is used to determine that the logic device where the operating system is located is a module to be powered down when the working state is a static state, and to generate a corresponding power-down command and issue a corresponding soft shutdown command to the logic device where the operating system is located.

[0086] In this embodiment, the sending module 613 includes:

[0087] The polling unit 6131 is used to send the power-down command to the logic device where the operating system is located via the network, and to poll the status information of the logic device, wherein the status information of the logic device includes standby state and enabled state;

[0088] The first issuing unit 6132 is used to issue a power-down command to the logic device where the operating system is located via a serial port when the status information is in the enabled state.

[0089] The second sending unit 6133 is used to perform a soft shutdown on the operating system when the status information is in the power-off state, update the status of the logic device where the operating system is located to the standby state, generate a power-off signal based on the status information, and send it to the logic device where the operating system is located.

[0090] In this embodiment, the first sending unit 6132 is further configured to: poll the status information of the logic device where the operating system is located, and perform a logic device fault recording operation when the status information is in an enabled state.

[0091] In this embodiment, the shut-off module 614 includes:

[0092] The disconnection unit 6141 is used to send the power-off signal to the module to be powered off, and disconnect all power supply lines of the module to be powered off, and shut off the DC power supply of the module to be powered off.

[0093] The update unit 6142 is used to obtain the current state of the power management device, send a standby signal to the power management device, set the state of the power management device to a low power state, update the power supply connection of the power management device, and turn off the power of the control device.

[0094] In this embodiment, the cut-off unit 6141 is further configured to: disable the vehicle bus module, the network switch module, and the camera module, and turn off the power supply to the vehicle bus module, the network switch module, and the camera module.

[0095] This solution determines the working status based on the current vehicle data of the autonomous vehicle, identifies the modules to be powered off based on the working status, generates the corresponding power-off command, sends the power-off command to the modules to be powered off, generates a power-off signal based on the status of the modules to be powered off, shuts off the power to the modules to be powered off based on the power-off signal, updates the power supply connection of the power management device, and shuts off the power to the control device.

[0096] above Figure 5-6 The autonomous driving system in this embodiment of the invention will be described in detail from the perspective of modular functional entities. The computer equipment in this embodiment of the invention will be described in detail from the perspective of hardware processing.

[0097] Figure 7 This is a schematic diagram of a computer device 700 provided in an embodiment of the present invention. The computer device 700 can vary significantly due to different configurations or performance characteristics. It may include one or more central processing units (CPUs) 710 (e.g., one or more processors) and a memory 720, and one or more storage media 730 (e.g., one or more mass storage devices) for storing application programs 733 or data 732. The memory 720 and storage media 730 may be temporary or persistent storage. The program stored in the storage media 730 may include one or more modules (not shown in the diagram), each module including a series of instruction operations on the computer device 700. Furthermore, the processor 710 may be configured to communicate with the storage media 730 and execute the series of instruction operations in the storage media 730 on the computer device 700 to implement the method provided in the above embodiment.

[0098] Computer device 700 may also include one or more power supplies 740, one or more wired or wireless network interfaces 750, one or more input / output interfaces 760, and / or one or more operating devices 731, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will understand that... Figure 7 The computer device structure shown does not constitute a limitation on the computer device provided by the present invention. It may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0099] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when the instructions are executed on a computer, cause the computer to perform the various steps of the power-down control method provided in the above embodiments.

[0100] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described equipment or apparatus / unit can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0101] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0102] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. 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 of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A power down control method applied to an automatic driving system, characterized in that, The power-off control method comprises: acquiring current vehicle data of the autonomous vehicle, and determining a working state of the autonomous vehicle based on the vehicle data, wherein the vehicle data comprises a power supply signal of an ignition system and driving data of the autonomous vehicle, and the working state comprises a static state and a driving state; determining a module to be powered off based on the working state, and generating a corresponding power-off instruction; issuing the power-off instruction to the module to be powered off, and generating a power-off signal based on a state of the module to be powered off; turning off a power supply of the module to be powered off based on the power-off signal, and updating a power supply connection of a power management device and turning off a power supply of a control device; the determining of the module to be powered off based on the working state and the generating of the corresponding power-off instruction comprises: when the working state is the driving state, acquiring a road condition in the driving data of the autonomous vehicle, and determining the module to be powered off according to the road condition and generating the corresponding power-off instruction; and when the working state is the static state, determining a logical device where an operating system is located as the module to be powered off, and generating the corresponding power-off instruction, and issuing a corresponding soft shutdown instruction to the logical device where the operating system is located.

2. The power down control method of claim 1, wherein, the acquiring of the current vehicle data of the autonomous vehicle and the determining of the working state of the autonomous vehicle based on the vehicle data comprises: acquiring a power supply signal of an ignition system of the autonomous vehicle, wherein the power supply signal comprises an ignition signal and an extinguishing signal; if the power supply signal is the extinguishing signal, acquiring a vehicle speed in the driving data of the autonomous vehicle; if the vehicle speed of the autonomous vehicle is a preset static value, confirming that the working state of the autonomous vehicle is the static state; and if the vehicle speed of the autonomous vehicle is not the preset static value, confirming that the working state of the autonomous vehicle is the driving state; if the power supply signal is the ignition signal, confirming that the working state of the autonomous vehicle is the static state.

3. The power down control method of claim 2, wherein, the issuing of the power-off instruction to the module to be powered off and the generating of the power-off signal based on the state of the module to be powered off comprises: issuing the power-off instruction to the logical device where the operating system is located through a network, and polling state information of the logical device, wherein the state information of the logical device comprises a standby state and an enabled state; when the state information is the enabled state, issuing the power-off instruction to the logical device where the operating system is located through a serial port; when the state information is a shutdown state, performing a soft shutdown on the operating system, updating a state of the logical device where the operating system is located to the standby state, generating a power-off signal based on the state information, and issuing the power-off signal to the logical device where the operating system is located.

4. The power down control method of claim 3, wherein, when the state information is the enabled state, after the issuing of the power-off instruction to the logical device where the operating system is located through the serial port, further comprising: polling the state information of the logical device where the operating system is located, and performing a logical device fault recording operation when the state information is the enabled state.

5. The power down control method of claim 1, wherein, the turning off of the power supply of the module to be powered off based on the power-off signal, and the updating of the power supply connection of the power management device and the turning off of the power supply of the control device comprise: The power-off signal is sent to the module to be powered off, and all power supply lines of the module to be powered off are cut off, and the DC power supply of the module to be powered off is turned off. The current state of the power management device is obtained, and a standby signal is sent to the power management device, the state of the power management device is set to a low-power state, and the power supply connection of the power management device is updated, and the power supply of the control device is turned off.

6. The power down control method of claim 1, wherein, After the power supply of the module to be powered off is turned off based on the power-off signal, the method further comprises: The vehicle-mounted bus module, the network switch module and the camera module are disabled, and the power supply of the vehicle-mounted bus module, the network switch module and the camera module is turned off.

7. An autonomous driving system, characterized by, The automatic driving system comprises a control device, a power management device and a logic device which are electrically connected to each other, and an operating system is arranged on the logic device, and the control device comprises: A determination module is configured to obtain current vehicle data of the automatic driving vehicle, and determine a working state of the automatic driving vehicle based on the vehicle data, wherein the vehicle data comprises a power supply signal of an ignition system and driving data of the automatic driving vehicle, and the working state comprises a stationary state and a driving state. A generation module is configured to determine a module to be powered off based on the working state, and generate a corresponding power-off instruction. A sending module is configured to send the power-off instruction to the module to be powered off, and generate a power-off signal based on the state of the module to be powered off. A closing module is configured to turn off the power supply of the module to be powered off based on the power-off signal, and update the power supply connection of the power management device, and turn off the power supply of the control device. The generation module comprises a first generation unit configured to, when the working state is the driving state, obtain road conditions in the driving data of the automatic driving vehicle, and determine the module to be powered off according to the road conditions, and generate a corresponding power-off instruction; and a second generation unit configured to, when the working state is the stationary state, determine the logic device where the operating system is located as the module to be powered off, and generate a corresponding power-off instruction, and send a corresponding soft shutdown instruction to the logic device where the operating system is located.

8. A computer device, comprising: The computer device comprises a memory and at least one processor, and the memory stores instructions; the at least one processor invokes the instructions in the memory, so that the computer device performs each step of the power-off control method according to any one of claims 1-6.

9. A computer-readable storage medium having stored thereon instructions, the computer-readable storage medium comprising: The instructions are executed by the processor to implement each step of the power-off control method according to any one of claims 1-6.

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