Power-on control method, device, equipment and storage medium for autonomous driving system

Abstract

This invention relates to the field of autonomous driving control, and discloses a power-on control method, apparatus, device, and storage medium for an autonomous driving system. The method includes: powering on the acquisition module and control module of the autonomous driving system based on an ignition signal; determining the next working state of the control module based on environmental data surrounding the vehicle and the power-on state of the control module; determining the power-on strategy for each functional unit in the control module according to the working state, generating a corresponding power-on command sequence, and powering it on sequentially; and after power-on, powering on the image processing module of the autonomous driving system to process the environmental data. This invention, by determining the working state of the control module at the next moment after powering on the acquisition module and control module, thereby determining the power-on strategy for each functional unit in the control module and executing the power-on operation, achieves control over the different power states of each unit of the autonomous driving control module at different times based on the needs of the autonomous vehicle.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving control, and in particular to a power-on control method, apparatus, device, and storage medium for an autonomous driving system. Background Technology

[0002] As a crucial component of autonomous vehicles, the structure of the autonomous driving system's electrical system is becoming increasingly complex with the development of autonomous vehicles. Current technology can only control the autonomous driving system as a whole, making it difficult to control the individual units within the autonomous driving control module to be in different power states at different times according to the different needs of autonomous vehicles.

[0003] Furthermore, controlling the various functional units of the autonomous driving control module to operate in different power states at different times, based on the needs of autonomous vehicles, places high demands on the reliability of the power supply. Among these, power-on sequence control is a crucial technology in the power supply system, directly impacting the reliability of the power supply to the autonomous driving system. If the power-on sequence of the power supply to each functional unit in the autonomous driving system is not properly controlled, it can lead to system data loss or even damage to circuit components, causing system failure. Summary of the Invention

[0004] The main objective of this invention is to solve the technical problem that existing technologies cannot control the various functional units of the autonomous driving control module to be in different power states at different times based on the different needs of autonomous vehicles.

[0005] The first aspect of the present invention provides a power-on control method for an autonomous driving system, the power-on control method comprising: detecting whether an ignition signal exists in the autonomous driving vehicle; if so, generating a first power-on command to power on a data acquisition module and an autonomous driving control module in the autonomous driving system; acquiring environmental data of the vehicle's surroundings currently acquired by the data acquisition module, and the power-on state of the autonomous driving control module; determining the operating state of the autonomous driving control module at the next moment based on the environmental data and the power-on state; determining a power-on strategy for each functional unit in the autonomous driving control module according to the operating state, and generating a corresponding power-on command sequence based on the power-on strategy; sequentially powering on each functional unit in the autonomous driving control module based on the power-on command sequence; and after each functional unit has been powered on, powering on an image processing module in the autonomous driving system to process the environmental data.

[0006] Optionally, in a first implementation of the first aspect of the present invention, determining the working state of the autonomous driving control module at the next moment based on the environmental data and the power-on state includes: determining whether the autonomous driving vehicle is located in an obstacle area based on the environmental data, and determining whether the power-on state is a completed state; if it is located in an obstacle area and is in a completed state, then obtaining the current driving speed of the autonomous driving vehicle and the minimum distance between the autonomous driving vehicle and the obstacle area; calculating the predicted driving trajectory of the autonomous driving vehicle based on the driving speed and the minimum distance, and determining the working state of the autonomous driving control module at the next moment based on the predicted driving trajectory; if it is not located in an obstacle area and is in a completed state, then determining that the autonomous driving control module is in a vehicle start-up state at the next moment.

[0007] Optionally, in a second implementation of the first aspect of the present invention, the step of determining the power-on strategy of each functional unit in the autonomous driving control module according to the working state, and generating a corresponding power-on command sequence based on the power-on strategy, includes: matching the functional unit to be powered on from a preset correspondence table between working states and functional units according to the working state; generating a corresponding power-on strategy based on the working parameters and timing of the functional unit to be powered on; and generating a corresponding power-on command sequence based on the power-on strategy.

[0008] Optionally, in a third implementation of the first aspect of the present invention, the step of generating a corresponding power-on strategy based on the working parameters and timing of the functional unit to be powered on includes: obtaining the position information of each circuit unit in the functional unit to be powered on and a preset power-on time interval; and generating a corresponding power-on strategy using the position information and the power-on time interval.

[0009] Optionally, in a fourth implementation of the first aspect of the present invention, the step of sequentially powering on each functional unit in the autonomous driving control module based on the power-on command sequence includes: parsing the time points of valid signals in the power-on command sequence, and adjusting the power supply timing in the autonomous driving system based on each of the time points to obtain the power-on timing of the functional unit to be powered on; and sequentially powering on the functional unit to be powered on based on the power-on timing.

[0010] Optionally, in a fifth implementation of the first aspect of the present invention, the step of sequentially powering on the functional units to be powered on based on the power-on timing sequence includes: converting the level of each valid signal point in the power-on timing sequence into the valid level value of the corresponding functional unit through a plurality of transformer components to obtain a binary string; and controlling the on / off state of the power supply pins of the functional units to be powered on based on the binary string to realize the power-on operation.

[0011] Optionally, in a sixth implementation of the first aspect of the present invention, the power-on control method of the autonomous driving system further includes: real-time monitoring of the actual control timing of the power-on operation performed on the functional unit to be powered on according to the power-on timing sequence, and comparing and analyzing the control timing sequence with the power-on timing sequence; if the comparison is consistent, the power-on result is recorded; if the comparison is inconsistent, the inconsistent functional units are extracted, their error information is recorded, and feedback is provided.

[0012] A second aspect of the present invention provides a power-on control device for an autonomous driving system, comprising: a detection module for detecting whether an ignition signal exists in the autonomous driving vehicle; a determination module for generating a first power-on command to power on a data acquisition module and an autonomous driving control module in the autonomous driving system if such a signal is present; an acquisition module for acquiring environmental data of the vehicle's surroundings currently acquired by the acquisition module, and the power-on status of the autonomous driving control module; a determination module for determining the operating state of the autonomous driving control module at the next moment based on the environmental data and the power-on status; a generation module for determining a power-on strategy for each functional unit in the autonomous driving control module according to the operating state, and generating a corresponding power-on command sequence based on the power-on strategy; a power-on module for sequentially powering on each functional unit in the autonomous driving control module based on the power-on command sequence; and a processing module for powering on an image processing module in the autonomous driving system to process the environmental data after each functional unit has been powered on.

[0013] Optionally, in a first implementation of the second aspect of the present invention, the first power-on module includes: a first determining unit, configured to determine whether the autonomous vehicle is located in an obstacle area based on the environmental data, and to determine whether the power-on state is a completed state; an acquiring unit, configured to acquire the current driving speed of the autonomous vehicle and the minimum distance between the autonomous vehicle and the obstacle area if the vehicle is located in an obstacle area and is in a completed state; a calculating unit, configured to calculate the predicted driving trajectory of the autonomous vehicle based on the driving speed and the minimum distance, and to determine the working state of the autonomous driving control module at the next moment based on the predicted driving trajectory; and a second determining unit, configured to determine that the autonomous driving control module is in a vehicle start-up state at the next moment if the vehicle is not located in an obstacle area and is in a completed state.

[0014] Optionally, in a second implementation of the second aspect of the present invention, the generation module includes: a matching unit, configured to match the functional unit to be powered on from a preset correspondence table between the working state and each functional unit according to the working state; a first generation unit, configured to generate a corresponding power-on strategy based on the working parameters and timing of the functional unit to be powered on; and a second generation unit, configured to generate a corresponding power-on instruction sequence based on the power-on strategy.

[0015] Optionally, in a third implementation of the second aspect of the present invention, the generation module is further configured to: obtain the position information of each circuit unit in the functional unit to be powered on and a preset power-on time interval; and generate a corresponding power-on strategy using the position information and the power-on time interval.

[0016] Optionally, in a fourth implementation of the second aspect of the present invention, the second power-on module includes: a parsing unit, configured to parse the time points of valid signals in the power-on command sequence, and adjust the power supply timing of the autonomous driving system based on each time point to obtain the power-on timing of the functional unit to be powered on; and a control unit, configured to sequentially power on the functional unit to be powered on based on the power-on timing.

[0017] Optionally, in a fifth implementation of the second aspect of the present invention, the second power-on module is further configured to: convert the level of each valid signal point in the power-on sequence into the valid level value of the corresponding functional unit through a plurality of transformer components to obtain a binary string; and control the on / off state of the power supply pin of the functional unit to be powered on based on the binary string to realize the power-on operation.

[0018] Optionally, in a sixth implementation of the second aspect of the present invention, the power-on control device of the autonomous driving system is further configured to: monitor in real time the actual control timing of the power-on operation performed on the functional unit to be powered on according to the power-on timing sequence, and compare and analyze the control timing with the power-on timing sequence; if the comparison is consistent, record the power-on result; if the comparison is inconsistent, extract the inconsistent functional units, record their error information and provide feedback.

[0019] A third aspect of the present invention provides an electronic device, comprising: a memory and at least one processor, wherein the memory stores instructions, and the memory and the at least one processor are interconnected via a circuit; the at least one processor invokes the instructions in the memory to cause the electronic device to execute the power-on control method of the above-described autonomous driving system.

[0020] A fourth aspect of the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the power-on control method of the above-described autonomous driving system.

[0021] In the technical solution of the present invention, after powering on each acquisition module and control module of the autonomous vehicle, the present invention determines the working state of the control module at the next moment, thereby determining the power-on strategy of each functional unit in the control module, and executing the power-on operation, thereby realizing the control of each functional unit in the autonomous driving control module to be in different power states at different times based on the needs of the autonomous vehicle. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the first embodiment of the power-on control method for an autonomous driving system in this invention.

[0023] Figure 2 This is a schematic diagram of a second embodiment of the power-on control method for an autonomous driving system according to the present invention;

[0024] Figure 3 This is an overall flowchart of the power-on control method for the autonomous driving system in an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of one embodiment of the power-on control device for an autonomous driving system according to the present invention;

[0026] Figure 5 This is a schematic diagram of another embodiment of the power-on control device for the autonomous driving system in this invention.

[0027] Figure 6 This is a schematic diagram of one embodiment of the electronic device in this invention. Detailed Implementation

[0028] This invention determines the power-on strategy for each functional unit in the autonomous driving control module by powering on each acquisition module and control module of the autonomous driving vehicle, and then executes the power-on operation, thereby realizing the control of each functional unit in the autonomous driving control module to be in different power states at different times based on the needs of the autonomous driving vehicle.

[0029] 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, system, product, or apparatus 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 apparatus.

[0030] 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-on control method for an autonomous driving system in this invention includes:

[0031] 101. Detect whether the autonomous vehicle has an ignition signal;

[0032] The ignition signal can be of the type ANBus ignition signal message, ignition signal level, or power supply voltage, and different types of ignition signals correspond to different ignition signal acquisition methods. After receiving the network data packet according to the preset ignition signal acquisition method, the autonomous vehicle parses the network data packet according to the preset acquisition method, identifies the ignition signal based on the autonomous vehicle's own parameter information and the result of parsing the network data packet, and determines whether the ignition signal meets preset conditions. If it does, it is determined that the autonomous vehicle has an ignition signal.

[0033] 102. If so, generate the first power-on command to power on the data acquisition module and the autonomous driving control module in the autonomous driving system;

[0034] After detecting the ignition signal, a preset first power-on strategy for the autonomous driving system is obtained. This first power-on strategy includes the specific operating parameters of each acquisition module in the autonomous driving system, the specific operating parameters of the autonomous driving module, and the preset power-on timing and power-on completion conditions for each acquisition module and the autonomous driving module. Based on the specific operating parameters and power-on timing, a first power-on command is generated. The first power-on command is used to power on each acquisition module and control module until each acquisition module and control module can work stably. Then, it is determined whether the corresponding power-on completion conditions are met.

[0035] The power-on sequence of each data acquisition module and the autonomous driving module can be determined by random numbers, or it can be customized, etc. The specific method for determining the power-on sequence can be set according to the requirements and is not limited to what is described above.

[0036] 103. Acquire the environmental data around the vehicle currently collected by the acquisition module, as well as the power-on status of the autonomous driving control module;

[0037] The system uses a data acquisition module to obtain the current location, orientation, and obstacle information of the autonomous vehicle. It also acquires the current signal of the autonomous driving control module over a certain period of time. By checking whether the current signal is stable and comparing it with the preset target current signal, the system determines the power-on status of the autonomous driving control module based on the analysis results.

[0038] 104. Determine the operating state of the autonomous driving control module at the next moment based on environmental data and power-on status;

[0039] Based on the current location, orientation, and obstacle information of the autonomous vehicle, determine whether the autonomous vehicle is in an obstacle area and whether the power-on state is complete. If it is in an obstacle area and in a complete state, obtain the current driving speed of the autonomous vehicle and the minimum distance between the autonomous vehicle and the obstacle area. Calculate the predicted driving trajectory of the autonomous vehicle based on the driving speed and the minimum distance, and determine the working state of the autonomous driving control module at the next moment based on the predicted driving trajectory. If it is not in an obstacle area and in a complete state, determine that the autonomous driving control module is in the vehicle start-up state at the next moment.

[0040] Furthermore, if the current signal is stable and its parameters are consistent with the target current signal, then the power-on status of the autonomous driving control module is determined to be complete. The predicted driving trajectory of the autonomous vehicle may be one of the following: going straight, stopping, or turning.

[0041] Furthermore, if the autonomous driving control module is in an incomplete state, the various parameter information of the autonomous driving control module is checked, abnormal parameter information is extracted, abnormal units in the autonomous driving control module are identified based on the abnormal parameter information, and alarm information is generated and output by the abnormal unit and abnormal parameter information.

[0042] 105. Determine the power-on strategy for each functional unit in the automatic driving control module according to the working status, and generate the corresponding power-on command sequence based on the power-on strategy;

[0043] Based on the working state of the autonomous driving control module at the next moment, determine the functional units that match the working state, obtain the position information, power-on time interval and working parameter information of each functional unit, and obtain the position information, power-on time interval and working parameter information of each functional unit contained in each functional unit, generate the power-on strategy of each functional unit in the autonomous driving control module, and generate the corresponding power-on command sequence based on the power-on strategy.

[0044] 106. Power on each functional unit in the autonomous driving control module sequentially based on the power-on command sequence;

[0045] The power-on command sequence is parsed to obtain a random duration corresponding to each of the multiple functional units. When the power-on completion condition of each functional unit is determined to be completed, the multiple functional units are controlled to wait for their respective random durations before powering on.

[0046] 107. After all functional units are powered on, power on the image processing module of the autonomous driving system to process the environmental data.

[0047] The system polls the current power-on status of each functional unit in the control module, checks whether the current signal of the functional unit is stable and whether the current signal reaches the preset current signal threshold. If the current signal is stable and reaches the preset current signal threshold, the system powers on the image processing module in the autonomous driving system and processes the environmental data collected by the acquisition module through the image processing module after power-on.

[0048] Furthermore, the actual control timing of the functional units to be powered on is monitored in real time according to the power-on sequence, and the control timing is compared and analyzed with the power-on sequence; if the comparison is consistent, the power-on result is recorded; if the comparison is inconsistent, the inconsistent functional units are extracted, their error information is recorded and feedback is provided.

[0049] In this embodiment of the invention, after powering on each acquisition module and control module of the autonomous vehicle, the working state of the control module at the next moment is determined, thereby determining the power-on strategy of each functional unit in the control module and executing the power-on operation. This realizes the control of each functional unit in the autonomous driving control module to be in different power states at different times based on the needs of the autonomous vehicle.

[0050] Please see Figure 2 and Figure 3 The second embodiment of the power-on control method for an autonomous driving system in this invention is applied to... Figure 3 The power-on control methods for the autonomous driving system, as shown in the provided overall flowchart, include:

[0051] 201. Detect whether the autonomous vehicle has an ignition signal;

[0052] The system determines whether to detect IGN (ignition signal) based on DC-IN (direct current input line). If IGN is detected to be high, all functional modules of the autonomous vehicle's MCU (microcontroller unit), PMIC (power management chip), and CPLD (complex programmable logic device) are activated.

[0053] 202. If so, generate the first power-on command to power on the data acquisition module and the autonomous driving control module in the autonomous driving system;

[0054] The first power-on command is generated and parsed to obtain the functional units that are powered on based on the first power-on command. These functional units include: vehicle CAN module, network switch module, camera module and autonomous driving control module.

[0055] 203. Obtain the environmental data around the vehicle currently collected by the acquisition module, as well as the power-on status of the autonomous driving control module;

[0056] The vehicle uses an onboard CAN module, network switch module, and camera module to collect environmental data about the vehicle's current surroundings, determine the current location of the autonomous vehicle and information about surrounding obstacles, and detect whether the power-on status of the autonomous driving control module is "CPLD power ok" (control module has been powered on).

[0057] 204. Determine the operating state of the autonomous driving control module at the next moment based on environmental data and power-on status;

[0058] If the CPLD is in the "power ok" state, based on the current location information of the autonomous vehicle and the information of surrounding obstacles, the possible operating direction of the autonomous vehicle in the next moment is predicted. The operating direction may be at least one of the following: parking in the behavior area, driving along the road, or turning at the intersection.

[0059] 205. Determine the power-on strategy for each functional unit in the automatic driving control module according to the working status, and generate the corresponding power-on command sequence based on the power-on strategy;

[0060] Based on the working status, the system matches the functional unit to be powered on from the preset correspondence table between working status and functional unit; generates the corresponding power-on strategy based on the working parameters and timing of the functional unit to be powered on; and generates the corresponding power-on instruction sequence based on the power-on strategy.

[0061] Furthermore, the position information of each circuit unit in the functional unit to be powered on and the preset power-on time interval are obtained; the corresponding power-on strategy is generated using the position information and the power-on time interval.

[0062] 206. Analyze the time points of valid signals in the power-on command sequence, and adjust the power supply timing of the autonomous driving system based on each time point to obtain the power-on timing of the functional units to be powered on.

[0063] The power-on command sequence is parsed to obtain the effective signal time points of each functional unit in the control module. Based on these effective signal time points, the rationality of the generated power-on strategy is checked. If it is not rational, the power supply timing in the autonomous driving system is adjusted based on each time point to obtain the power-on timing of the functional unit to be powered on. If it is rational, the power-on timing in the power-on strategy is output as the power-on timing of the functional unit to be powered on.

[0064] 207. Based on the power-on sequence, the functional units to be powered on are powered on sequentially;

[0065] The power-on sequence is converted into the effective level value of the corresponding functional unit by several transformer components, resulting in a binary string; the power supply pin of the functional unit to be powered on is controlled based on the binary string to realize the power-on operation.

[0066] For example, an autonomous driving control module contains three functional units. The power-on sequence is determined to be functional unit 1, functional unit 2, and functional unit 3. The power-on sequence of the three functional units is as follows: control functional unit 1 is powered on at the time point of the valid signal. When the power-on completion condition of functional unit 1 is met, control functional unit 2 is powered on at the time point of the valid signal. When the power-on completion condition of functional unit 2 is met, control functional unit 3 is powered on at the time point of the valid signal. When the power-on completion condition of functional unit 3 is met, the power-on process of the autonomous driving control module ends.

[0067] 208. After all functional units are powered on, power on the image processing module of the autonomous driving system to process the environmental data.

[0068] The CPLD detect PWR-EN (CPLD detector pin) polls the current power-on status information of each functional unit. After issuing the power-on completion command, the control module of the autonomous vehicle sends a POWER ON (power-on complete) signal to the autonomous vehicle, turns on the GPU (graphics processing module) power based on the MCU, and boots to the OS (preparing the boot files for the autonomous vehicle system).

[0069] In this embodiment of the invention, after powering on each acquisition module and control module of the autonomous vehicle, the working state of the control module at the next moment is determined, thereby identifying the functional units in the control module that need to be powered on. A power-on command sequence is generated for each functional unit to be powered on. After parsing the power-on command sequence to obtain the time point of the valid signal, the power-on timing sequence of the functional units to be powered on is generated. The power-on operation is performed according to the power-on timing sequence, thereby realizing the sequential power-on of each functional unit in the autonomous driving control module and enhancing the reliability of power supply to the autonomous driving system.

[0070] The power-on control method of the autonomous driving system in the embodiments of the present invention has been described above. The power-on control device of the autonomous driving system in the embodiments of the present invention will be described below. Please refer to [link / reference]. Figure 4 One embodiment of the power-on control device for the autonomous driving system in this invention includes:

[0071] Detection module 401 is used to detect whether an ignition signal exists in an autonomous vehicle;

[0072] The first power-on module 402 is used to generate a first power-on command to power on the acquisition module and the autonomous driving control module in the autonomous driving system if the condition is met.

[0073] The acquisition module 403 is used to acquire the environmental data around the vehicle currently collected by the acquisition module, as well as the power-on status of the autonomous driving control module.

[0074] Determining module 404 is used to determine the working state of the autonomous driving control module at the next moment based on the environmental data and the power-on state;

[0075] The generation module 405 is used to determine the power-on strategy of each functional unit in the autonomous driving control module according to the working state, and generate a corresponding power-on command sequence based on the power-on strategy.

[0076] The second power-on module 406 is used to sequentially power on each functional unit in the autonomous driving control module based on the power-on command sequence.

[0077] The processing module 407 is used to power on the image processing module of the autonomous driving system to process the environmental data after each of the functional units has been powered on.

[0078] In this embodiment of the invention, after powering on each acquisition module and control module of the autonomous vehicle, the working state of the control module at the next moment is determined, thereby determining the power-on strategy of each functional unit in the control module and executing the power-on operation. This realizes the control of each functional unit in the autonomous driving control module to be in different power states at different times based on the needs of the autonomous vehicle.

[0079] Please see Figure 5 Another embodiment of the power-on control device for the autonomous driving system in this invention includes:

[0080] Detection module 401 is used to detect whether an ignition signal exists in an autonomous vehicle;

[0081] The first power-on module 402 is used to generate a first power-on command to power on the acquisition module and the autonomous driving control module in the autonomous driving system if the condition is met.

[0082] The acquisition module 403 is used to acquire the environmental data around the vehicle currently collected by the acquisition module, as well as the power-on status of the autonomous driving control module.

[0083] Determining module 404 is used to determine the working state of the autonomous driving control module at the next moment based on the environmental data and the power-on state;

[0084] The generation module 404 is used to determine the power-on strategy of each functional unit in the autonomous driving control module according to the working state, and generate a corresponding power-on command sequence based on the power-on strategy;

[0085] The second power-on module 406 is used to sequentially power on each functional unit in the autonomous driving control module based on the power-on command sequence.

[0086] The processing module 407 is used to power on the image processing module of the autonomous driving system to process the environmental data after each of the functional units has been powered on.

[0087] In this embodiment, the first power-on module 402 includes:

[0088] The first determining unit 4021 is used to determine whether the autonomous vehicle is located in an obstacle area based on the environmental data, and to determine whether the power-on state is a completed state.

[0089] The acquisition unit 4022 is used to acquire the current driving speed of the autonomous vehicle and the minimum distance between the autonomous vehicle and the obstacle area if it is located in an obstacle area and is in a completed state.

[0090] The calculation unit 4023 is used to calculate the predicted driving trajectory of the autonomous vehicle based on the driving speed and the minimum distance, and to determine the working state of the autonomous driving control module at the next moment based on the predicted driving trajectory.

[0091] The second determining unit 4024 is used to determine that the next moment of the autonomous driving control module is the vehicle starting state if it is not located in the obstacle area and is in a completed state.

[0092] In this embodiment, the generation module 405 includes:

[0093] Matching unit 4051 is used to match the functional unit to be powered on from a preset correspondence table between working states and functional units according to the working state.

[0094] The first generation unit 4052 is used to generate a corresponding power-on strategy based on the working parameters and timing of the functional unit to be powered on.

[0095] The second generation unit 4053 is used to generate a corresponding power-on instruction sequence based on the power-on strategy.

[0096] In this embodiment, the generation module 405 is further configured to:

[0097] Obtain the position information of each circuit unit in the functional unit to be powered on and the preset power-on time interval; generate a corresponding power-on strategy using the position information and the power-on time interval.

[0098] In this embodiment, the second power-on module 406 includes:

[0099] The parsing unit 4061 is used to parse the time points of the valid signals in the power-on command sequence, and adjust the power supply timing of the autonomous driving system based on each time point to obtain the power-on timing of the functional unit to be powered on.

[0100] The control unit 4062 is used to sequentially control the power-on of the functional units to be powered on based on the power-on timing.

[0101] In this embodiment, the second power-on module 406 is further configured to:

[0102] The power-on sequence is converted into the effective level value of the corresponding functional unit by several transformer components, resulting in a binary string; the power supply pin of the functional unit to be powered on is controlled based on the binary string to realize the power-on operation.

[0103] In this embodiment, the power-on control device of the autonomous driving system is further used for:

[0104] The system monitors in real time the actual control timing of the power-on operation performed on the functional unit to be powered on according to the power-on sequence, and compares and analyzes the control timing with the power-on sequence. If the comparison is consistent, the power-on result is recorded. If the comparison is inconsistent, the inconsistent functional units are extracted, their error information is recorded, and feedback is provided.

[0105] In this embodiment of the invention, after powering on each acquisition module and control module of the autonomous vehicle, the working state of the control module at the next moment is determined, thereby determining the power-on strategy of each functional unit in the control module and executing the power-on operation. This realizes the control of each functional unit in the autonomous driving control module to be in different power states at different times based on the needs of the autonomous vehicle.

[0106] above Figure 4 and Figure 5 The power-on control device of the autonomous driving system in this embodiment of the invention will be described in detail from the perspective of modular functional entities. The electronic device in this embodiment of the invention will be described in detail from the perspective of hardware processing.

[0107] Figure 6This is a schematic diagram of the structure of an electronic device 600 provided in an embodiment of the present invention. The electronic device 600 can vary significantly due to differences in configuration or performance, and may include one or more central processing units (CPUs) 610 (e.g., one or more processors) and a memory 620, and one or more storage media 630 (e.g., one or more mass storage devices) for storing application programs 633 or data 632. The memory 620 and storage media 630 can be temporary or persistent storage. The program stored in the storage media 630 may include one or more modules (not shown in the diagram), each module including a series of instruction operations on the electronic device 600. Furthermore, the processor 610 may be configured to communicate with the storage media 630 and execute the series of instruction operations in the storage media 630 on the electronic device 600.

[0108] Electronic device 600 may also include one or more power supplies 640, one or more wired or wireless network interfaces 650, one or more input / output interfaces 660, and / or one or more operating systems 631, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will understand that... Figure 6 The illustrated electronic device structure does not constitute a limitation on electronic devices and may include more or fewer components than illustrated, or combine certain components, or have different component arrangements.

[0109] The present invention also provides a computer-readable storage medium, which can 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 steps of the power-on control method of the autonomous driving system.

[0110] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system, device, or unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0111] 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.

[0112] 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-on control method for an autonomous driving system, characterized in that, The power-on control method includes: Detecting whether an autonomous vehicle has an ignition signal; If so, generate a first power-on command to power on the acquisition module and the autonomous driving control module in the autonomous driving system; The system acquires the environmental data around the vehicle currently collected by the acquisition module, as well as the power-on status of the autonomous driving control module. The operating state of the autonomous driving control module at the next moment is determined based on the environmental data and the power-on status. The power-on strategy of each functional unit in the autonomous driving control module is determined according to the working state, and a corresponding power-on command sequence is generated based on the power-on strategy; Based on the power-on command sequence, each functional unit in the autonomous driving control module is powered on sequentially. After each of the functional units is powered on, the image processing module of the autonomous driving system is powered on to process the environmental data.

2. The power-on control method for an autonomous driving system according to claim 1, characterized in that, Determining the operating state of the autonomous driving control module at the next moment based on the environmental data and the power-on state includes: Based on the environmental data, determine whether the autonomous vehicle is located in an obstacle area, and determine whether the power-on state is complete; If the vehicle is in an obstacle area and is in a completed state, then obtain the current driving speed of the autonomous vehicle and the minimum distance between the autonomous vehicle and the obstacle area. The predicted driving trajectory of the autonomous vehicle is calculated based on the driving speed and the minimum distance, and the working state of the autonomous driving control module at the next moment is determined based on the predicted driving trajectory. If the vehicle is not located in an obstacle area and is in a completed state, then the next moment for the autonomous driving control module is determined to be the vehicle starting state.

3. The power-on control method for an autonomous driving system according to claim 1, characterized in that, The step of determining the power-on strategy for each functional unit in the autonomous driving control module based on the operating state, and generating a corresponding power-on command sequence based on the power-on strategy, includes: Based on the working status, the functional unit to be powered on is matched from the preset correspondence table between working status and functional unit; Generate corresponding power-on strategies based on the working parameters and timing of the functional units to be powered on. A corresponding power-on command sequence is generated based on the power-on strategy.

4. The power-on control method for an autonomous driving system according to claim 3, characterized in that, The generation of corresponding power-on strategies based on the operating parameters and timing of the functional units to be powered on includes: Obtain the position information of each circuit unit in the functional unit to be powered on and the preset power-on time interval; The corresponding power-on strategy is generated using the location information and the power-on time interval.

5. The power-on control method for an autonomous driving system according to claim 3, characterized in that, The step of sequentially powering on each functional unit in the autonomous driving control module based on the power-on command sequence includes: The timing of valid signals in the power-on command sequence is analyzed, and the power supply timing in the autonomous driving system is adjusted based on each timing point to obtain the power-on timing of the functional unit to be powered on. Based on the power-on timing, the functional units to be powered on are sequentially powered on and controlled.

6. The power-on control method for an autonomous driving system according to claim 5, characterized in that, The step of sequentially powering on the functional units to be powered on based on the power-on timing includes: The voltage levels of each valid signal point in the power-on sequence are converted into valid voltage levels of the corresponding functional units through several transformer components, resulting in a binary string; The power supply pins of the functional unit to be powered on are controlled to be switched on or off based on the binary string, thereby enabling the power-on operation.

7. The power-on control method for an autonomous driving system according to claim 6, characterized in that, The power-on control method for the autonomous driving system further includes: The actual control timing of the power-on operation performed on the functional unit to be powered on according to the power-on sequence is monitored in real time, and the control timing is compared and analyzed with the power-on sequence. If the comparison is consistent, record the power-on result; If the comparison is inconsistent, extract the inconsistent functional units, record the error information on them, and provide feedback.

8. A power-on control device for an autonomous driving system, the power-on control device for the autonomous driving system comprising: The detection module is used to detect whether an ignition signal is present in an autonomous vehicle. The first power-on module is used to generate a first power-on command to power on the acquisition module and the autonomous driving control module of the autonomous driving system if the condition is met. The acquisition module is used to acquire the environmental data around the vehicle currently collected by the acquisition module, as well as the power-on status of the autonomous driving control module. The determination module is used to determine the operating state of the autonomous driving control module at the next moment based on the environmental data and the power-on state. The generation module is used to determine the power-on strategy of each functional unit in the autonomous driving control module according to the working state, and generate a corresponding power-on command sequence based on the power-on strategy; The second power-on module is used to sequentially power on each functional unit in the autonomous driving control module based on the power-on command sequence. The processing module is used to power on the image processing module of the autonomous driving system to process the environmental data after each of the functional units has been powered on.

9. An electronic device, characterized in that, The electronic device includes: a memory and at least one processor, wherein the memory stores instructions, and the memory and the at least one processor are interconnected via a line; The at least one processor invokes the instructions in the memory to cause the electronic device to perform the various steps of the power-on control method of the autonomous driving system as described in any one of claims 1-7.

10. A computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by the processor, it implements each step of the power-on control method for the autonomous driving system as described in any one of claims 1-7.

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