A time-sharing integrated intelligent driving domain controller for parking and driving.

Abstract

This invention discloses a time-sharing integrated intelligent driving domain controller for driving and parking, comprising a performance calculation unit, a real-time calculation unit, a combined positioning unit, a sensor interface unit, a storage unit, a communication unit, and a debug interface unit. The performance calculation unit schedules tasks according to driving and parking scenarios, running its various software functional modules in a time-sharing manner. The real-time calculation unit interacts with the performance calculation unit, performing sensor data access, vehicle communication, fault diagnosis, and path planning. This invention provides a time-sharing integrated intelligent driving domain controller for driving and parking, addressing the problems of relatively high hardware costs, low computing power utilization, and high management difficulty for OEMs in existing intelligent driving domain controllers. It fully utilizes the computing power of the performance calculation unit and improves computing power utilization through reasonable time-sharing operation of software functional modules, thereby saving hardware costs and reducing development difficulty and cycle time.

Description

Technical Field

[0001] This invention relates to a time-sharing, integrated intelligent driving domain controller for parking and driving, belonging to the field of automotive intelligent driving technology. Background Technology

[0002] Currently, with advancements in chip technology, sensor technology, and deep learning technology, coupled with policy guidance, the automotive industry is undergoing an unprecedented transformation, with connectivity, electrification, intelligence, and sharing becoming the industry's development trends. Among these, research and application in the field of intelligent driving are the most flourishing, with an increasing number of OEMs, Tier 1 and Tier 2 companies, and internet enterprises beginning to invest in the intelligent driving sector.

[0003] The functional path of intelligent driving has evolved from the initial 1R (Automatic Emergency Braking) and ACC (Adaptive Cruise Control) to 1R1V (Smart ACC, Lane Keeping Assist, TJA, etc.) fusion, to 5R1V (Automatic Lane Changing), to 5R6V (Automatic Vehicle Protection) and HWA (Hardware-based Automation), and finally to 1L5R6V12U (Noise, Assist, and Autopilot) and other functions. It can be seen that the number of sensors is constantly increasing, and the corresponding amount of data is also increasing dramatically. The traditional distributed architecture of ECUs makes the data from each sensor relatively isolated, preventing efficient data fusion between different sensors.

[0004] Therefore, vehicle architecture is gradually shifting from a traditional distributed architecture to a domain-centralized architecture. This necessitates a high-performance, high-speed "vehicle brain" capable of receiving and processing data from various sensors, performing perception fusion, path planning, and vehicle control. Intelligent driving domain controllers have emerged in this context.

[0005] However, most current intelligent driving domain controllers on the market are separate controllers for driving and parking functions. For automakers that want both driving and parking functions, this not only increases their hardware costs but also makes installation, deployment, and management more difficult due to the increased number of ECUs. Therefore, intelligent driving domain controllers that integrate driving and parking functions have a promising future. Summary of the Invention

[0006] The technical problem to be solved by this invention is to overcome the shortcomings of the prior art and provide a time-sharing computing integrated intelligent driving domain controller. This invention addresses the problems of relatively high hardware costs, low computing power utilization, and high management difficulty for OEMs in existing intelligent driving domain controllers. It fully utilizes the computing power of the performance computing unit and improves computing power utilization through reasonable time-sharing computing via software functional modules, thereby saving hardware costs and reducing development difficulty and cycle.

[0007] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0008] A time-sharing intelligent driving domain controller integrating parking and driving, comprising:

[0009] The performance calculation unit schedules tasks according to two usage scenarios: driving and parking, and runs various software function modules within the performance calculation unit in a time-sharing manner.

[0010] A real-time computing unit interacts with a performance computing unit, and the real-time computing unit is used for sensor data access, vehicle communication, fault diagnosis, and path planning.

[0011] A combined positioning unit is used for positioning and map building of autonomous vehicles to obtain the true pose state of the vehicle and transmit the true pose state of the vehicle to the performance calculation unit.

[0012] The sensor interface unit provides an external interface for the domain controller to receive and interact with sensor signals.

[0013] Furthermore, it also includes a communication unit. The sensor interface unit is connected to the real-time computing unit and the performance calculation unit through the communication unit. The communication unit is used to provide external communication for the domain controller, realizing data interaction and signal control between the sensor, the domain controller and the vehicle.

[0014] Furthermore, it also includes a storage unit, which is used to store software programs, sensor data, vehicle static data, and dynamic data during the performance calculation process.

[0015] Furthermore, it also includes a Debug interface unit, which is used by developers for debugging. The Debug interface unit transmits the data generated by the sensor to the host computer interface for display and finds and fixes the causes of bugs found in the software in each testing stage.

[0016] Furthermore, the sensor interface unit includes a Fakra interface, an MTD interface, a multi-pin interface, and a debug interface;

[0017] The Fakra interface is used to connect the camera assembly, GPS antenna, and vehicle infotainment system;

[0018] The multi-pin interface is used to connect millimeter-wave radar, ultrasonic radar, power channel and CAN channel;

[0019] The MTD interface is used to connect the LiDAR and the OTA channel.

[0020] Furthermore, the performance computing unit includes performance computing unit chip A, performance computing unit chip B, and performance computing unit chip C. The performance computing unit chip A, performance computing unit chip B, and performance computing unit chip C interact with each other through the RGMII interface to exchange camera data, millimeter-wave radar data, combined positioning data, and high-precision map data.

[0021] Furthermore, the combined positioning unit communicates with the performance computing unit chip A via the SPI interface and the UART interface.

[0022] Furthermore, the performance calculation unit allocates domain controller computing power according to the two usage scenarios of driving and parking. The domain controller computing power allocation includes computing power allocation for driving function and computing power allocation for parking function.

[0023] Furthermore, the computing power allocation for the driving function includes:

[0024] When the domain controller performs driving functions, the performance computing unit chip A runs the forward vision perception module, the combined positioning module, and the map engine module; the performance computing unit chip B runs the four-view vision perception module, the rear vision perception module, and the 6V fusion perception module; and the performance computing unit chip C runs the laser point cloud processing module, the R / L / V fusion perception module, the environment model module, and the behavior prediction module.

[0025] Furthermore, the computing power allocation for the parking function includes:

[0026] When the domain controller performs the parking function, the performance computing unit chip A runs the forward vision perception module and the map engine module; the performance computing unit chip B runs the 1V4S12U perception fusion module, the self-built map and positioning module, and the parking scene analysis and decision module; the performance computing unit chip C runs the 4-channel surround view perception module and the AVM panoramic module.

[0027] By adopting the above technical solution, the present invention has the following beneficial effects:

[0028] 1. The performance computing unit and the real-time computing unit of the present invention use processors with different security levels. The higher functional safety level, such as planning and control algorithm modules, can be run in the real-time computing unit, while the algorithm modules with large data volume and large computing power requirements can be run in the performance computing unit, which can take into account both computing efficiency and high functional safety level requirements.

[0029] 2. This invention adopts a time-sharing operation strategy based on usage scenarios, which allocates driving and parking function modules to different computing cores in a time-sharing manner and schedules tasks according to usage scenarios. This can meet the different needs of customers in developing driving control, parking control and integrated driving and parking control, and avoid the need for ultra-large computing power. Thus, under limited computing power, both intelligent driving and intelligent parking functions of the vehicle can be realized.

[0030] 3. This invention reserves JTAG, USB 3.0, UART, HDMI, SD, and other debug interfaces to facilitate software debugging, problem fixing, and program burning during product development. After mass production, all debug interfaces will not be mounted on hardware and will not be exposed externally, reducing hardware costs. The debug interface unit can also be made into a separate adapter board, further reducing the size of the domain controller.

[0031] 4. This invention has the ability to simultaneously connect all sensors required for driving and parking. It can connect the required sensors according to the scenario and customer needs, and achieve the latest "driving and parking integration" requirements of customers at the lowest cost according to the time-sharing operation strategy. It avoids the need to use two controllers for driving and parking at the same time, saving OEMs procurement costs, development costs, management costs, upgrade costs, etc. Attached Figure Description

[0032] Figure 1 This is a block diagram of the architecture of the time-sharing intelligent driving domain controller integrating parking and driving according to the present invention;

[0033] Figure 2 This is a schematic diagram of the computing power allocation for the driving function of the time-sharing intelligent driving domain controller integrating driving and parking functions of the present invention.

[0034] Figure 3 This is a schematic diagram of the computing power allocation for the parking function of the time-sharing intelligent driving domain controller of the present invention. Detailed Implementation

[0035] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0036] like Figure 1 As shown, this embodiment provides a time-sharing intelligent driving domain controller integrating driving and parking, which includes a performance calculation unit, a real-time calculation unit, a combined positioning unit, a sensor interface unit, a storage unit, a communication unit, and a debug interface unit.

[0037] In this embodiment, the performance calculation unit schedules tasks based on two usage scenarios: driving and parking. It runs various software function modules within the performance calculation unit in a time-sharing manner, allocating driving and parking functions to different processing cores. When the driving function is activated, functions such as LKA, NOA, and TJA are run, while the parking function module does not run. When the parking function is activated, functions such as parking AVP, HPP, and APA are run, while the driving function module does not run. Shared software function modules run in both usage scenarios. Specifically, as shown... Figure 1 As shown, the performance computing unit can employ multiple low-computing-power chips or a single high-computing-power chip containing multiple processing cores, allowing different functional modules to run on multiple chips or different cores of the same chip. In this embodiment, the performance computing unit uses three computing chips: performance computing unit chip A, performance computing unit chip B, and performance computing unit chip C. Performance computing unit chips A, B, and C interact via the RGMII interface to exchange camera data, millimeter-wave radar data, combined positioning data, and high-precision map data.

[0038] In this embodiment, the real-time computing unit interacts with the performance computing unit via an SPI interface. The real-time computing unit uses an ASIL D-level MCU chip, meeting the requirements of ASIL D safety level. The real-time computing unit includes at least RGMII, SPI, UART, CAN, and GPIO interfaces for functions with higher real-time requirements, such as sensor data access, vehicle communication, fault diagnosis, and path planning. It primarily operates the ultrasonic sensing module, millimeter-wave sensing fusion module, L0 to L2+ functions, vehicle control module, and driving planning and decision-making module. It interacts with the performance computing unit via the SPI interface, providing ultrasonic radar target data, raw positioning data, and vehicle static and dynamic data.

[0039] The integrated positioning unit in this embodiment integrates an IMU and a GNSS chip for autonomous vehicle positioning and mapping, obtaining the vehicle's true pose state, and transmitting the vehicle's true pose state to the performance computing unit via an SPI interface. Specifically, the integrated positioning unit receives satellite radio frequency signals from the GPS antenna, performs signal processing, and obtains latitude and longitude, UTC time, date information, etc., which is transmitted to the performance computing unit A via a UART interface. Simultaneously, it provides a PPS synchronization pulse signal for GPS time synchronization. The IMU sensor outputs triaxial acceleration and triaxial angular velocity values, which are transmitted to the performance computing unit chip A via an SPI interface.

[0040] The sensor interface unit in this embodiment provides an external interface for the domain controller, enabling the access and interaction of various sensor signals, and facilitating signal interaction between the domain controller and the vehicle's infotainment system. Specifically, for example... Figure 1As shown, the sensor interface unit in this embodiment includes a Fakra interface, an MTD interface, a multi-pin interface, and a debug interface. The Fakra interface is used to connect the camera group, GPS antenna, and vehicle infotainment system; the multi-pin interface is used to connect the millimeter-wave radar, ultrasonic radar, power channel, and CAN channel; and the MTD interface is used to connect the lidar and OTA channel.

[0041] In this embodiment, the sensor interface unit is connected to the real-time computing unit and the performance calculation unit via a communication unit. The communication unit includes CAN communication and Ethernet communication, and is used to provide external communication for the domain controller, enabling data interaction and signal control between the sensors, the domain controller, and the vehicle. Specifically, the communication unit includes 10 CAN transceivers supporting CAN FD, 4 CAN transceivers supporting wake-up, two 100Mbps Ethernet channels, two Gigabit Ethernet PHYs, and two Ethernet switches. It communicates and interacts with the real-time computing unit via SPI and with the performance calculation unit via RGMII.

[0042] The storage unit in this embodiment is used to store software programs, sensor data, vehicle static data, and dynamic data generated during the performance calculation unit's operations. Specifically, the storage unit includes ROM and RAM. Because the performance calculation unit and real-time computing unit have limited resources, each performance calculation unit chip is connected to one NOR-flash, LPDDR3, and eMMC chip, and the MCU chip is connected to one NOR-flash chip. The capacity can be adjusted according to product requirements. The storage unit uses NOR Flash and eMMC to provide non-volatile storage services, ensuring data is not lost during power outages. It is used to store software code, high-precision maps, calibration data, and accident data records. LPDDR4 provides high-speed temporary data storage services for storing internal calculation data. NOR Flash is used to store product parameter data, including calibration data.

[0043] The Debug interface unit in this embodiment is used by developers for debugging. It transmits data generated by the sensor to the host computer interface for display and to find and fix bugs found in the software during various testing stages. Specifically, the Debug interface unit uses a USB 3.0 / UART interface to debug the performance computing unit. Before the refresh program is implemented, the software in the performance computing unit can be updated and modified through this port, and an interface is also reserved for later production line software burning. It uses a JTAG interface to debug the real-time computing unit. Before the refresh program is implemented, the software in the real-time computing unit can be updated and modified through this port, and an interface is also reserved for later production line software burning. It uses an HDMI interface to transmit the images received and processed by the controller to the PC for intuitive display, facilitating the use of the visual interface. It uses an SD card interface for temporary storage of required image data during the data acquisition stage.

[0044] In this embodiment, the performance calculation unit allocates domain controller computing power according to two usage scenarios: driving and parking. The domain controller computing power allocation includes computing power allocation for driving functions and computing power allocation for parking functions.

[0045] like Figure 2 As shown, the computing power allocation for driving functions includes:

[0046] When the domain controller performs driving functions, performance computing unit chip A runs the forward vision perception module, the combined positioning module, and the map engine module; performance computing unit chip B runs the four-view vision perception module, the rear vision perception module, and the 6V fusion perception module; and performance computing unit chip C runs the laser point cloud processing module, the R / L / V fusion perception module, the environment model module, and the behavior prediction module.

[0047] like Figure 3 As shown, the computing power allocation for the parking function includes:

[0048] When the domain controller performs the parking function, performance computing unit chip A runs the forward vision perception module and map engine module; performance computing unit chip B runs the 1V4S12U perception fusion module, self-built map and positioning module, parking scene analysis and decision module; performance computing unit chip C runs the 4-channel surround view perception module and AVM panoramic module.

[0049] The specific embodiments described above further illustrate the technical problems, technical solutions, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A time-sharing, integrated intelligent driving domain controller for parking and driving, characterized in that, It includes: The performance calculation unit schedules tasks according to two usage scenarios: driving and parking, and runs various software function modules within the performance calculation unit in a time-sharing manner. A real-time computing unit interacts with a performance computing unit, and the real-time computing unit is used for sensor data access, vehicle communication, fault diagnosis, and path planning. A combined positioning unit is used for positioning and map building of autonomous vehicles to obtain the true pose state of the vehicle and transmit the true pose state of the vehicle to the performance calculation unit. A sensor interface unit is provided to provide an external interface for the domain controller to receive and interact with sensor signals. The performance computing unit includes performance computing unit chip A, performance computing unit chip B, and performance computing unit chip C. Performance computing unit chip A, performance computing unit chip B, and performance computing unit chip C interact with each other through the RGMII interface to exchange camera data, millimeter-wave radar data, combined positioning data, and high-precision map data. The combined positioning unit communicates with the performance computing unit chip A via SPI and UART interfaces; The performance calculation unit allocates domain controller computing power according to two usage scenarios: driving and parking. The domain controller computing power allocation includes computing power allocation for driving functions and computing power allocation for parking functions. The computing power allocation for the driving function includes: When the domain controller performs driving functions, the performance computing unit chip A runs the forward vision perception module, the combined positioning module, and the map engine module; the performance computing unit chip B runs the four-view vision perception module, the rear vision perception module, and the 6V fusion perception module; and the performance computing unit chip C runs the laser point cloud processing module, the R / L / V fusion perception module, the environment model module, and the behavior prediction module. The computing power allocation for the parking function includes: When the domain controller performs the parking function, the performance computing unit chip A runs the forward vision perception module and the map engine module; the performance computing unit chip B runs the 1V4S12U perception fusion module, the self-built map and positioning module, and the parking scene analysis and decision module; the performance computing unit chip C runs the 4-channel surround view perception module and the AVM panoramic module.

2. The time-sharing integrated intelligent driving domain controller for parking and driving as described in claim 1, characterized in that: It also includes a communication unit. The sensor interface unit is connected to the real-time computing unit and the performance calculation unit through the communication unit. The communication unit is used to provide external communication for the domain controller and realize data interaction and signal control between the sensor, the domain controller and the vehicle.

3. The time-sharing integrated intelligent driving domain controller for parking and driving as described in claim 1, characterized in that: It also includes a storage unit, which is used to store software programs, sensor data, vehicle static data, and dynamic data during the performance calculation process.

4. The time-sharing integrated intelligent driving domain controller for parking and driving as described in claim 1, characterized in that: It also includes a Debug interface unit, which is used by developers for debugging. The Debug interface unit transmits the data generated by the sensor to the host computer interface for display and finds and fixes the causes of bugs found in the software in each testing stage.

5. The time-sharing integrated intelligent driving domain controller for parking and driving as described in claim 1, characterized in that: The sensor interface unit includes a Fakra interface, an MTD interface, a multi-pin interface, and a debug interface; The Fakra interface is used to connect the camera assembly, GPS antenna, and vehicle infotainment system; The multi-pin interface is used to connect millimeter-wave radar, ultrasonic radar, power channel and CAN channel; The MTD interface is used to connect the LiDAR and the OTA channel.

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