A domain control system for autonomous driving of a vehicle

Abstract

The application provides a domain control system for automatic driving of a vehicle, comprising: a central processor module one, a central processor module two, a storage unit, an SBUS signal acquisition module, a PPS signal input / output module, a wireless communication module, a video acquisition module, a communication module, a USB module, a display module, an MCU module, a heat dissipation module, a safety module, an on-off input module, a power module, an analog input module and a power driving module; the number of ECUs is effectively reduced through control of the automatic driving of the vehicle, the research and development and production investment are reduced, the failure rate is reduced, the safety performance is improved, the overall weight of the vehicle is reduced, the real-time data processing capacity and the operation capacity are improved, and the demand for automatic auxiliary driving, automatic driving and increasing technology and intelligence is met.

Description

Technical Field

[0001] This invention relates to the field of vehicle autonomous driving control technology, and in particular to a domain control system for vehicle autonomous driving. Background Technology

[0002] Currently, the core of automotive functional systems is the ECU. As automotive functions and technological intelligence are upgraded, the number of ECUs is also increasing. At the same time, the market demand for automatic assisted driving and autonomous driving is also constantly upgrading, which further leads to a surge in the number of ECUs. This has resulted in problems such as resource waste, increased R&D and production investment, increasing complexity, rising failure rate, and reduced safety performance.

[0003] With the increasing demand for diverse functions and high intelligence in automobiles, the requirements for autonomous driving assistance and autonomous driving are also constantly being upgraded. In order to solve the problems brought about by the increase in the number of ECUs and the upgrading of the requirements for autonomous driving assistance and autonomous driving, a domain controller for vehicle autonomous driving has emerged.

[0004] Therefore, the present invention provides a domain control system for autonomous driving of vehicles. Summary of the Invention

[0005] This invention provides a domain control system for autonomous driving of vehicles, which effectively reduces the number of ECUs, reduces R&D and production investment, lowers the failure rate, improves safety performance, reduces the weight of the whole vehicle, and also improves real-time data processing and computing capabilities, thus meeting the needs of automated assisted driving, autonomous driving, and increasingly rich technological and intelligent features.

[0006] A domain control system for autonomous driving of vehicles includes:

[0007] Central Processing Unit Module 1, Central Processing Unit Module 2, Storage Unit, SBUS Signal Acquisition Module, PPS Signal Input / Output Module, Wireless Communication Module, Video Acquisition Module, Communication Module, USB Module, Display Module, MCU Module, Heat Dissipation Module, Safety Module, Digital Input Module, Power Supply Module, Analog Input Module, Power Drive Module;

[0008] Among them, the central processing unit module one and central processing unit module two are used to control the storage unit, SBUS signal acquisition module, PPS signal input / output module, wireless communication module, power supply module, video acquisition module, USB module and display module;

[0009] The MCU module is used to control the communication module, heat dissipation module, safety module, digital input module, power supply module, analog input module, power drive module, and central processing unit module one and central processing unit module two;

[0010] The storage unit is used to connect to the central processing module 1, the central processing module 2 and the MCU module, and to store the underlying application programs and some data stored in the central processing module 1, the central processing module 2 and the MCU module.

[0011] The SBUS signal acquisition module is used to acquire SBUS signals from the domain controller of the vehicle's autonomous driving system.

[0012] The PPS signal input / output module is used by the domain controller of the vehicle's autonomous driving system to realize PPS signal input and output.

[0013] The wireless communication module is used in the domain controller of the vehicle's autonomous driving system to enable 4G wireless communication functionality;

[0014] The video acquisition module is used by the domain controller of the vehicle's autonomous driving system to achieve video acquisition and environmental perception.

[0015] The power management module is used to provide power and power control management operations for the domain controller of the vehicle's autonomous driving system and several connected sensors.

[0016] The communication module is used for data communication between internal and external modules of the domain controller for autonomous driving in vehicles.

[0017] A digital input module is used to connect to several identical or different sensors to acquire the switching signals of several identical or different sensors.

[0018] Analog input module, used to connect to several identical or different sensors to acquire analog signals from several identical or different sensors;

[0019] The power drive module is used to send drive control signals to several identical or different actuators of the domain controller of the vehicle's autonomous driving system.

[0020] The security module is used to provide a security platform, monitoring services, and control functions for the domain controller of autonomous driving vehicles to prevent tampering and intrusion;

[0021] The heat dissipation module provides heat dissipation services for the entire domain controller of the vehicle's autonomous driving system;

[0022] The USB module provides USB input, USB data exchange, and data storage functions for the domain controller of the vehicle's autonomous driving system.

[0023] The display module provides a user-friendly human-machine interface for the domain controller video display used in autonomous driving vehicles.

[0024] Preferably, in a domain control system for autonomous driving of vehicles, the power supply module includes:

[0025] Sensor power management submodule, ignition switch management submodule, communication power management submodule, power drive power management submodule, battery management submodule;

[0026] The sensor power management submodule is used to perform intelligent control and management operations on several identical and different sensor power supplies of the domain controller for autonomous driving of the vehicle.

[0027] The ignition switch management submodule is used to perform ignition control management operations on the domain controller of the vehicle's autonomous driving system.

[0028] The communication power management submodule is used to perform intelligent control and management operations on the communication power and wireless communication power of the domain controller for autonomous driving of vehicles.

[0029] The power drive power management submodule is used to perform intelligent control and management operations on the power drive power of the domain controller for autonomous driving of the vehicle.

[0030] The battery management submodule is used to control and manage the power supply of the domain controller for autonomous driving of the vehicle.

[0031] Preferably, a domain control system for autonomous driving of vehicles includes a communication module comprising: a CAN communication submodule, a LIN communication submodule, an Ethernet communication submodule, an RS232 communication submodule, an RS422 communication submodule, and a wireless communication submodule;

[0032] The CAN communication submodule is used to realize data communication between the MCU module, central processing unit module 1, central processing unit module 2, power management module, communication module, digital input module, analog input module, and power drive module, as well as communication with the bottom sensors and actuators of the external top-level device.

[0033] The LIN communication submodule is used to realize data communication between the MCU module, CPU module 1, CPU module 2, power management module, communication module, digital input module, analog input module, and power drive module, as well as communication with external top-level devices, bottom-level sensors, and actuators.

[0034] The RS232 communication submodule is used to enable communication between the central processing unit module 1, the central processing unit module 2, and the external top-level devices, bottom-level sensors, and actuators.

[0035] The RS422 communication submodule is used to enable communication between the central processing unit module 1, the central processing unit module 2, and the external top-level devices, bottom-level sensors, and actuators.

[0036] The Ethernet communication submodule is used to enable communication between the domain controller central processing unit module 1, central processing unit module 2, and MCU module for autonomous driving of vehicles, as well as communication with external top-level devices.

[0037] The wireless communication submodule is used to enable the MCU module, CPU module 1, and CPU module 2 to communicate with external top-level devices and servers via 4G wireless communication.

[0038] Preferably, in a domain control system for autonomous driving of vehicles, the digital input module includes: a digital input submodule, each submodule comprising a plurality of active high-signal digital inputs and a plurality of active low-signal digital inputs; wherein

[0039] The high active digital input submodule is used to receive the analog signal of each high active switch action;

[0040] The low-active-value input submodule is used to receive the analog signal of each low-active-value switch action.

[0041] Preferably, a domain control system for autonomous driving of vehicles includes a power drive module comprising: a plurality of high-side drive sub-modules and a plurality of low-side drive sub-modules.

[0042] The high-side drive submodule includes: several peak hold drive modules, several type A power drive modules, and several type B power drive modules;

[0043] The low-side drive submodule includes: K C-type power drive modules, F D-type power drive modules, and several L-type power drive modules.

[0044] Preferably, a domain control system for autonomous driving of vehicles includes:

[0045] Several Type A power drive modules are used to control different actuators in PWM operating mode and switching operating mode.

[0046] Several Type B power drive modules are used to control different actuators in PWM operating mode and switching operating mode.

[0047] The peak hold drive module is used to control the PWM operating mode and the switching operating mode of different actuators;

[0048] Of the K C-type power drive modules, M C-type power drive modules are used to control the PWM working mode of different actuators and the switching working mode, and N C-type power drive modules are used to control the switches, where M+N=K;

[0049] Of the F D-type power drive modules, A D-type power drive modules are used to control the PWM working mode of different actuators and the switching working mode, and B D-type power modules are used to control the switches, where A+B=F;

[0050] Of the L E-type power drive modules, Q E-type power drive modules are used to control the PWM operating mode of different actuators and the switching operating mode, and P E-type power drive modules are used to control the switches, where Q+P=L.

[0051] Preferably, a domain control system for autonomous driving of vehicles, wherein the safety module includes:

[0052] Functional safety submodule and hardware safety submodule, wherein:

[0053] The functional safety submodule is used for real-time management of vehicle functional safety operation;

[0054] The hardware security submodule is used to manage the safe operation of vehicle hardware in real time.

[0055] Preferably, in a domain control system for autonomous driving of vehicles, the SBUS signal acquisition module includes: a plurality of SBUS signal acquisition sub-modules; wherein

[0056] The SBUS signal acquisition submodule is used to acquire SBUS signals from several different channels.

[0057] Preferably, a domain control system for autonomous driving of vehicles includes a video acquisition module comprising:

[0058] The video acquisition submodule is used to acquire the first position information of the video acquisition device on the current vehicle, and at the same time, determine the maximum acquisition angle of the video acquisition device in the same direction based on the first position information of the video acquisition device on the current vehicle.

[0059] The target ratio determination submodule is used to obtain the target acquisition range for video acquisition of the current vehicle's surrounding environment and to calculate the target ratio between the target acquisition range and the maximum acquisition angle.

[0060] The integrated control instruction generation submodule is used for:

[0061] The acquisition angle and number of acquisitions of the video acquisition device are determined based on the target ratio. At the same time, a first control command is generated based on the acquisition angle, and a second control command is generated based on the number of acquisitions.

[0062] Set a collection sequence number for the number of collections, and generate a third control command based on the collection sequence number;

[0063] The first control command, the second control command, and the third control command are combined to obtain a comprehensive control command for the video acquisition device.

[0064] The video signal transmission submodule is used to control the video acquisition device to collect the surrounding environment of the current vehicle based on the integrated control command, obtain video signals, and transmit the collected video signals to the central processing unit module one and the central processing unit module two.

[0065] Preferably, a domain control system for autonomous driving of vehicles includes a video signal transmission submodule, comprising:

[0066] The signal processing unit is used to perform noise reduction processing on the video signal based on the central processing module 1 and the central processing module 2 when the video signal is transmitted to the central processing module 1 and the central processing module 2 to obtain a clean video signal.

[0067] The signal reading unit is used for:

[0068] Read the clean video signal to determine the pixel information corresponding to the video image;

[0069] The first and second key elements are collected from the corresponding pixel information in the video image;

[0070] The target environment determination unit is used for:

[0071] The first key element is annotated in the video image, and the vehicle information in the video image is determined based on the first annotation result;

[0072] The second key element is annotated in the video image, and non-vehicle information in the video image is determined based on the second annotation result;

[0073] Based on the first annotation result, the first density feature of vehicles in the video image is determined, and at the same time, the second density feature of non-vehicles is determined based on the second annotation result.

[0074] The target environment in which the current vehicle is located is determined based on vehicle information, non-vehicle information, first density features, and second density features.

[0075] Compared with existing technologies, this domain control system for autonomous driving of vehicles can combine the basic information of the vehicle itself to perceive the surrounding environment, lanes, pedestrians and obstacles, etc., and through the cooperation of central processing unit module one, central processing unit module two and MCU module, it can intelligently, efficiently and safely control the vehicle to achieve autonomous driving. The advantages of a domain controller for autonomous driving are as follows: First, integrating the control functions of traditional separate ECUs into a single integrated controller significantly reduces the number of ECUs in a vehicle. Second, integrating multiple controllers for autonomous driving into one improves system operating efficiency. Third, it reduces R&D, production, testing, and material costs. Fourth, integrating multiple controllers for autonomous driving into one reduces the number of controllers and wiring harnesses, resulting in a simpler wiring harness layout, more usable space, and a lighter overall weight. Fifth, the domain controller for autonomous driving centralizes faults that might otherwise occur in multiple controllers into one controller, facilitating fault finding and troubleshooting. Sixth, integrating multiple controllers reduces overall complexity, decreases the probability of faults, and increases overall safety performance. Seventh, the integration of multiple controllers facilitates information interaction between the autonomous driving domain controller and the higher-level vehicle brain, improving system response speed and meeting higher safety and comfort requirements, thus fulfilling the needs of assisted driving and autonomous driving, and laying the foundation for the overall vehicle domain control electronic and electrical architecture.

[0076] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in this application.

[0077] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0078] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0079] Figure 1 This is a structural diagram of a domain control system for autonomous driving of vehicles according to an embodiment of the present invention;

[0080] Figure 2 This is a structural diagram of a video acquisition module in a domain control system for autonomous driving of a vehicle, according to an embodiment of the present invention.

[0081] Figure 3 This is a structural diagram of a video signal transmission submodule in a domain control system for autonomous driving of vehicles, according to an embodiment of the present invention. Detailed Implementation

[0082] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0083] See Figure 1 This invention provides a schematic diagram of a domain controller structure for autonomous driving of vehicles. This domain control system for autonomous driving of vehicles includes a central processing unit module 1, a central processing unit module 2, a storage unit, an SBUS signal acquisition module, a PPS signal input / output module, a wireless communication module, a video acquisition module, a communication module, a USB module, a display module, an MCU module, a heat dissipation module, a safety module, a digital input module, a power supply module, an analog input module, and a power drive module.

[0084] Central Processing Unit Module 1, Central Processing Unit Module 2, and MCU module are used to control the operation of the storage unit, SBUS signal acquisition module, PPS signal input / output module, wireless communication module, video acquisition module, communication module, USB module, display module, MCU module, heat dissipation module, safety module, digital input module, power supply module, analog input module, and power drive module to realize the domain control of autonomous driving of the vehicle.

[0085] The aforementioned MCU module supports graphical programming using ECUCoder and / or Simulink and / or Matlab tools. After graphical programming, it can automatically generate the algorithm's execution file and calibration database. The host computer can automatically download the code to the MCU module, realizing software control and online calibration of the entire domain controller.

[0086] Central Processing Unit Module 1 and Central Processing Unit Module 2 are used to control the storage unit, SBUS signal acquisition module, PPS signal input / output module, wireless communication module, power supply module, video acquisition module, USB module, and display module of the vehicle's autonomous driving domain controller, thereby realizing partial control of the vehicle's autonomous driving.

[0087] The MCU module is used to control the communication module, heat dissipation module, safety module, digital input module, power supply module, analog input module, and power drive module of the vehicle's autonomous driving domain controller. Together with the central processing unit module one and central processing unit module two, it realizes the autonomous driving control of the vehicle.

[0088] The storage unit module is used by the domain controller of the vehicle's autonomous driving system to provide program storage, data storage and other related storage services;

[0089] The SBUS signal acquisition module is used by the domain controller of the vehicle's autonomous driving system to acquire SBUS signals.

[0090] The PPS signal input / output module is used by the domain controller of the vehicle's autonomous driving system to realize PPS signal input and output.

[0091] The wireless communication module is used in the domain controller of the vehicle's autonomous driving system to enable 4G wireless communication functionality;

[0092] The video acquisition module is used by the domain controller of the vehicle's autonomous driving system to achieve video acquisition and environmental perception.

[0093] The power management module is used to provide power and power control management operations for the domain controller of the vehicle's autonomous driving system and several connected sensors.

[0094] The communication module is used for data communication between internal and external modules of the domain controller for autonomous driving in vehicles.

[0095] The digital input module is used to connect several identical or different sensors and to collect the switching signals of several identical or different sensors.

[0096] Analog input module: Analog input is used to connect several identical or different sensors and acquire analog signals from several identical or different sensors;

[0097] The power drive module is used to send drive control signals to several identical or different actuators of the domain controller for autonomous driving of the vehicle.

[0098] The security module is used to provide a security platform, monitoring services, and control functions for the domain controller of autonomous driving vehicles to prevent tampering and intrusion;

[0099] The heat dissipation module provides heat dissipation services for the entire domain controller of the vehicle's autonomous driving system;

[0100] The USB module is used to provide USB input, USB data interaction and data storage functions for the domain controller of the vehicle's autonomous driving system;

[0101] The display module provides a user-friendly human-machine interface for the domain controller video display used in vehicle autonomous driving.

[0102] Domain control for autonomous driving can combine the vehicle's own basic information, perceive the surrounding environment and different operating conditions, and intelligently and efficiently control the vehicle to achieve autonomous driving.

[0103] The domain controller for autonomous driving of vehicles is characterized in that: the power module includes a sensor power management submodule, an ignition switch management submodule, a communication power management submodule, a power drive power management submodule, and a battery management submodule; wherein...

[0104] The sensor power management submodule is used to perform intelligent control and management operations on the power supplies of several identical and different sensors of the domain controller for autonomous driving of vehicles.

[0105] The ignition switch management submodule is used to perform ignition control management operations on the domain controller of the vehicle's autonomous driving system.

[0106] The communication power management submodule is used to perform intelligent control and management operations on the communication power and wireless communication power of the domain controller for autonomous driving of vehicles.

[0107] The power drive power management submodule is used to perform intelligent control and management operations on the power drive power of the domain controller for autonomous driving of vehicles.

[0108] The battery management submodule is used to perform intelligent control and management of the power supply of the domain controller for autonomous driving of the vehicle.

[0109] The domain controller for autonomous driving of vehicles is characterized in that: the communication module includes a CAN communication submodule, a LIN communication submodule, an Ethernet communication submodule, an RS232 communication submodule, an RS422 communication submodule, and a wireless communication submodule; wherein...

[0110] The CAN communication submodule is used to realize data communication between the MCU module, CPU module 1, CPU module 2, power management module, communication module, digital input module, analog input module, and power drive module, as well as communication with external top-level devices, bottom-level sensors, and actuators.

[0111] The LIN communication submodule is used to enable data communication between the MCU module, CPU module 1, CPU module 2, power management module, communication module, digital input module, analog input module, and power drive module, as well as communication with external top-level devices, bottom-level sensors, and actuators.

[0112] The RS232 communication submodule is used to enable communication between the central processing unit module 1, the central processing unit module 2, and the external top-level devices, bottom-level sensors, and actuators.

[0113] The RS422 communication submodule is used to enable communication between the central processing unit module 1, the central processing unit module 2, and the external top-level devices, bottom-level sensors, and actuators.

[0114] The Ethernet communication submodule is used to enable communication between the domain controller central processing unit module 1, central processing unit module 2, and MCU module for autonomous driving of vehicles, as well as communication with external top-level devices.

[0115] The wireless communication submodule is used to enable the MCU module, CPU module 1, and CPU module 2 to communicate with external top-level devices and servers via 4G wireless communication.

[0116] The aforementioned communication module is used to enable communication between various modules within the domain controller of the vehicle's autonomous driving system, communication with external top-level devices, communication with external sensors, communication with actuators, and 4G wireless communication with external top-level devices and servers.

[0117] The domain controller for autonomous driving of vehicles is characterized in that: the digital input module includes a digital input submodule, each submodule including a plurality of active high digital signals and a plurality of active low digital signals; wherein

[0118] The high active digital input submodule is used to receive the analog signal of each high active switch action;

[0119] The low active switch input submodule is used to receive the analog signal of each low active switch action;

[0120] The domain controller for autonomous driving of vehicles is characterized in that: the analog input module includes several analog input sub-modules, and the analog input sub-modules include several voltage input sub-modules; wherein

[0121] The voltage input submodule is connected to several active sensors and receives different analog voltage signals from these active sensors.

[0122] The domain controller for autonomous driving of vehicles is characterized in that: the storage unit module comprises a plurality of storage unit sub-modules; wherein

[0123] Several storage unit sub-modules are connected to the central processing unit module 1, central processing unit module 2 and MCU module respectively to store the underlying application program and some data in the central processing unit module 1, central processing unit module 2 and MCU module.

[0124] The domain controller for autonomous driving of vehicles is characterized in that: the power drive module comprises several high-side drive sub-modules and several low-side drive sub-modules; wherein

[0125] The high-side drive submodule includes several peak hold drive modules, several type A power drive modules, and several type B power drive modules.

[0126] The low-side drive submodule includes several C-type power drive modules, several D-type power drive modules, and several E-type power drive modules.

[0127] Each of the above drive modules sends different types of drive signals to different actuators, thereby enabling different types of control over different actuators.

[0128] The domain controller for autonomous driving of vehicles is characterized by: the plurality of power drive sub-modules; wherein

[0129] Several Type A power drive modules can control different actuators in PWM operating mode and switching operating mode;

[0130] Several Type B power drive modules are capable of controlling different actuators in PWM operating mode and switching operating mode.

[0131] The peak hold drive module can control different actuators in PWM operating mode and switching operating mode.

[0132] Several C-type power drive modules are capable of controlling different actuators in PWM operating mode and switching operating mode, while others can only perform switching control.

[0133] Several D-type power drive modules are capable of controlling different actuators in PWM operating mode and switching operating mode, while others can only perform switching control.

[0134] Several E-type power drive modules are capable of controlling different actuators in PWM operating mode and switching operating mode, while others can only perform switching control.

[0135] The domain controller for autonomous driving of vehicles is characterized in that: the domain controller for autonomous driving of vehicles further includes a video acquisition module; wherein...

[0136] The video acquisition module is used to acquire video signals around several vehicles and transmit the acquired video signals to central processing unit module one and central processing unit module two.

[0137] The domain controller for autonomous driving of vehicles is characterized in that: the SBUS signal acquisition module comprises several SBUS signal acquisition sub-modules; wherein

[0138] The SBUS signal acquisition submodule can acquire SBUS signals from several different channels.

[0139] The domain controller for autonomous driving of vehicles is characterized in that: the PPS signal input / output module comprises several PPS signal input sub-modules and PPS signal output sub-modules; wherein...

[0140] The PPS signal input submodule is used to connect several identical or different sensors and collect PPS signals from several identical or different sensors.

[0141] The PPS signal output submodule is used to connect several intelligent actuators and send different PPS signals from the processor.

[0142] The functional safety module, hardware safety module, fault detection module, and fault diagnosis module work together individually or in concert to ensure that the domain controller for autonomous driving of the vehicle is in a safe state.

[0143] The domain controller for autonomous driving of vehicles is characterized in that: the safety module includes a functional safety submodule and a hardware safety submodule; wherein...

[0144] The functional safety submodule and the hardware safety submodule work together, individually or in concert, to ensure that the domain controller of the vehicle's autonomous driving system achieves a high level of functional safety and a high level of information security. This allows the domain control of the vehicle's autonomous driving system to operate in a safe state while also meeting the stringent requirements for processing response speed.

[0145] The domain controller for autonomous driving of vehicles is characterized by: a heat dissipation module; wherein...

[0146] The heat dissipation module can automatically allocate heat dissipation modes according to the different operating modes of the domain controller of the vehicle's autonomous driving, the ambient temperature, and the power consumption.

[0147] The domain controller for autonomous driving of vehicles is characterized by: a USB module; wherein...

[0148] The USB module provides USB input, USB data exchange, data storage, and data export functions for the domain controller of the vehicle's autonomous driving system.

[0149] The domain controller for autonomous driving of vehicles is characterized by: a display module; wherein...

[0150] The display module provides a user-friendly human-machine interface and video display functionality for the domain controller of the vehicle's autonomous driving system.

[0151] As can be seen from the above, the domain controller used for autonomous driving includes a central processing unit (CPU) module 1, a CPU module 2, a storage unit, an SBUS signal acquisition module, a PPS signal input / output module, a wireless communication module, a video acquisition module, a communication module, a USB module, a display module, an MCU module, a heat dissipation module, a safety module, a digital input module, a power supply module, an analog input module, and a power drive module. Among these, CPU modules 1 and 2, along with the MCU module, coordinate and control the operation of each functional module to achieve domain control of autonomous driving. The storage unit module provides program storage, data storage, and other related storage services for the autonomous driving domain controller. The SBUS signal acquisition module acquires SBUS signals. The PPS signal input / output module inputs and outputs PPS signals. The wireless communication module enables 4G wireless communication. The video acquisition module captures video and provides environmental perception. The power management module provides power and power control management for the autonomous driving domain controller and its connected sensors. The communication module facilitates data communication between internal and external modules of the autonomous driving domain controller. The system comprises several modules: a digital input module for connecting multiple identical or different sensors and acquiring their switching signals; an analog input module for connecting multiple identical or different sensors and acquiring their analog signals; a power drive module for sending drive control signals to multiple identical or different actuators in the autonomous driving domain controller; a security module for providing a security platform, monitoring services, and control functions to prevent tampering and intrusion; a heat dissipation module for providing overall heat dissipation for the autonomous driving domain controller; a USB module for providing USB input, USB data interaction, and data storage functions; and a display module for providing a user-friendly human-machine interface for video display. The autonomous driving domain controller, by combining the vehicle's own basic information with perception of its surrounding environment, lanes, pedestrians, and obstacles, intelligently, efficiently, and safely controls the vehicle to achieve autonomous driving through the coordinated calculations of the central processing unit (CPU) modules and MCU module.The advantages of a domain controller for autonomous driving are as follows: First, integrating the control functions of traditional separate ECUs into a single integrated controller significantly reduces the number of ECUs in a vehicle. Second, integrating multiple controllers for autonomous driving into one improves system operating efficiency. Third, it reduces R&D, production, testing, and material costs. Fourth, integrating multiple controllers for autonomous driving into one reduces the number of controllers and wiring harnesses, resulting in a simpler wiring harness layout, more usable space, and a lighter overall weight. Fifth, the domain controller for autonomous driving centralizes faults that might otherwise occur in multiple controllers into one controller, facilitating fault finding and troubleshooting. Sixth, integrating multiple controllers reduces overall complexity, decreases the probability of faults, and increases overall safety performance. Seventh, the integration of multiple controllers facilitates information interaction between the autonomous driving domain controller and the higher-level vehicle brain, improving system response speed and meeting higher safety and comfort requirements, thus fulfilling the needs of assisted driving and autonomous driving, and laying the foundation for the overall vehicle domain control electronic and electrical architecture.

[0152] This embodiment also provides a domain control system for autonomous driving of vehicles, such as... Figure 2 As shown, the video acquisition module includes:

[0153] The video acquisition submodule is used to acquire the first position information of the video acquisition device on the current vehicle, and at the same time, determine the maximum acquisition angle of the video acquisition device in the same direction based on the first position information of the video acquisition device on the current vehicle.

[0154] The target ratio determination submodule is used to obtain the target acquisition range for video acquisition of the current vehicle's surrounding environment and to calculate the target ratio between the target acquisition range and the maximum acquisition angle.

[0155] The integrated control instruction generation submodule is used for:

[0156] The acquisition angle and number of acquisitions of the video acquisition device are determined based on the target ratio. At the same time, a first control command is generated based on the acquisition angle, and a second control command is generated based on the number of acquisitions.

[0157] Set a collection sequence number for the number of collections, and generate a third control command based on the collection sequence number;

[0158] The first control command, the second control command, and the third control command are combined to obtain a comprehensive control command for the video acquisition device.

[0159] The video signal transmission submodule is used to control the video acquisition device to collect the surrounding environment of the current vehicle based on the integrated control command, obtain video signals, and transmit the collected video signals to the central processing unit module one and the central processing unit module two.

[0160] In this embodiment, the first location information may be the location point information of the video acquisition device in the current vehicle.

[0161] In this embodiment, the first control command can be a command used to collect data about the environment around the vehicle, which is determined based on the acquisition angle.

[0162] In this embodiment, the second control command can be a command to collect data on the vehicle's surrounding environment based on the number of data collections (i.e., the number of times the data collection device rotates).

[0163] In this embodiment, the third control command can be a command for collecting data on the environment around the vehicle, which is determined based on the number of data collections set (e.g., the order in which data is collected from left to right by the data collection device).

[0164] The working principle and beneficial effects of the above technical solution are as follows: by determining the first control command, the single acquisition range of the acquisition device can be effectively determined; by determining the second control command, the number of acquisitions of the acquisition device can be effectively determined; by determining the third control command, the acquisition sequence of the acquisition device can be effectively determined; and by determining the comprehensive control command, the effectiveness and intelligence of controlling the current vehicle can be effectively guaranteed, thereby improving the efficiency of video signal acquisition.

[0165] This embodiment also provides a domain control system for autonomous driving of vehicles, such as... Figure 3 As shown, the video signal transmission submodule includes:

[0166] The signal processing unit is used to perform noise reduction processing on the video signal based on the central processing module 1 and the central processing module 2 when the video signal is transmitted to the central processing module 1 and the central processing module 2 to obtain a clean video signal.

[0167] The signal reading unit is used for:

[0168] Read the clean video signal to determine the pixel information corresponding to the video image;

[0169] The first and second key elements are collected from the corresponding pixel information in the video image;

[0170] The target environment determination unit is used for:

[0171] The first key element is annotated in the video image, and the vehicle information in the video image is determined based on the first annotation result;

[0172] The second key element is annotated in the video image, and non-vehicle information in the video image is determined based on the second annotation result;

[0173] Based on the first annotation result, the first density feature of vehicles in the video image is determined, and at the same time, the second density feature of non-vehicles is determined based on the second annotation result.

[0174] The target environment in which the current vehicle is located is determined based on vehicle information, non-vehicle information, first density features, and second density features.

[0175] In this embodiment, the first key element may be vehicle information in the pixel information.

[0176] In this embodiment, the second key element may be non-vehicle information in the pixel information.

[0177] In this embodiment, the first density feature can be used to characterize the number of vehicles in the monitoring area.

[0178] In this embodiment, the second density feature can be used to characterize the number of non-vehicle objects (such as stones, obstacles, etc.) in the monitoring area.

[0179] The working principle and beneficial effects of the above technical solution are as follows: by denoising the video signal to obtain a clean video signal, the accuracy and effectiveness of reading the clean video signal are ensured; by determining vehicle information, non-vehicle information, first density features and second density features, the target environment in which the current vehicle is located is effectively obtained, thereby improving the effectiveness, timeliness and accuracy of vehicle video acquisition and analysis.

[0180] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A domain control system for autonomous driving of vehicles, characterized in that, include: Central Processing Unit Module 1, Central Processing Unit Module 2, Storage Unit, SBUS Signal Acquisition Module, PPS Signal Input / Output Module, Wireless Communication Module, Video Acquisition Module, Communication Module, USB Module, Display Module, MCU Module, Heat Dissipation Module, Safety Module, Digital Input Module, Power Supply Module, Analog Input Module, Power Drive Module; Among them, the central processing unit module one and central processing unit module two are used to control the storage unit, SBUS signal acquisition module, PPS signal input / output module, wireless communication module, power supply module, video acquisition module, USB module and display module; The MCU module is used to control the communication module, heat dissipation module, safety module, digital input module, power supply module, analog input module, power drive module, and central processing unit module one and central processing unit module two; The storage unit is used to connect to the central processing module 1, the central processing module 2 and the MCU module, and to store the underlying application programs and some data stored in the central processing module 1, the central processing module 2 and the MCU module. The SBUS signal acquisition module is used to acquire SBUS signals from the domain controller of the vehicle's autonomous driving system. The PPS signal input / output module is used by the domain controller of the vehicle's autonomous driving system to realize PPS signal input and output. The wireless communication module is used in the domain controller of the vehicle's autonomous driving system to enable 4G wireless communication functionality; The video acquisition module is used by the domain controller of the vehicle's autonomous driving system to achieve video acquisition and environmental perception. The power management module is used to provide power and power control management operations for the domain controller of the vehicle's autonomous driving system and several connected sensors. The communication module is used for data communication between internal and external modules of the domain controller for autonomous driving in vehicles. A digital input module is used to connect to several identical or different sensors to acquire the switching signals of several identical or different sensors. Analog input module, used to connect to several identical or different sensors to acquire analog signals from several identical or different sensors; The power drive module is used to send drive control signals to several identical or different actuators of the domain controller of the vehicle's autonomous driving system. The security module is used to provide a security platform, monitoring services, and control functions for the domain controller of autonomous driving vehicles to prevent tampering and intrusion; The heat dissipation module provides heat dissipation services for the entire domain controller of the vehicle's autonomous driving system; The USB module provides USB input, USB data interaction, and data storage functions for the domain controller of the vehicle's autonomous driving system. The display module provides a user-friendly human-machine interface for the domain controller video display used in vehicle autonomous driving. The video acquisition module includes: The video acquisition submodule is used to acquire the first position information of the video acquisition device on the current vehicle, and at the same time, determine the maximum acquisition angle of the video acquisition device in the same direction based on the first position information of the video acquisition device on the current vehicle. The target ratio determination submodule is used to obtain the target acquisition range for video acquisition of the current vehicle's surrounding environment and to calculate the target ratio between the target acquisition range and the maximum acquisition angle. The integrated control instruction generation submodule is used for: The acquisition angle and number of acquisitions of the video acquisition device are determined based on the target ratio. At the same time, a first control command is generated based on the acquisition angle, and a second control command is generated based on the number of acquisitions. Set a collection sequence number for the number of collections, and generate a third control command based on the collection sequence number; The first control command, the second control command, and the third control command are combined to obtain a comprehensive control command for the video acquisition device. The video signal transmission submodule is used to control the video acquisition device to collect the surrounding environment of the current vehicle based on the integrated control command, obtain video signals, and transmit the collected video signals to the central processing unit module one and the central processing unit module two.

2. A domain control system for autonomous driving of vehicles according to claim 1, characterized in that, The power module includes: Sensor power management submodule, ignition switch management submodule, communication power management submodule, power drive power management submodule, battery management submodule; The sensor power management submodule is used to perform intelligent control and management operations on several identical and different sensor power supplies of the domain controller for autonomous driving of the vehicle. The ignition switch management submodule is used to perform ignition control management operations on the domain controller of the vehicle's autonomous driving system. The communication power management submodule is used to perform intelligent control and management operations on the communication power and wireless communication power of the domain controller for autonomous driving of vehicles. The power drive power management submodule is used to perform intelligent control and management operations on the power drive power of the domain controller for autonomous driving of the vehicle. The battery management submodule is used to control and manage the power supply of the domain controller for autonomous driving of the vehicle.

3. A domain control system for autonomous driving of vehicles according to claim 1, characterized in that, The communication module includes: a CAN communication submodule, a LIN communication submodule, an Ethernet communication submodule, an RS232 communication submodule, an RS422 communication submodule, and a wireless communication submodule; The CAN communication submodule is used to realize data communication between the MCU module, central processing unit module 1, central processing unit module 2, power management module, communication module, digital input module, analog input module, and power drive module, as well as communication with the bottom sensors and actuators of the external top-level device. The LIN communication submodule is used to realize data communication between the MCU module, CPU module 1, CPU module 2, power management module, communication module, digital input module, analog input module, and power drive module, as well as communication with external top-level devices, bottom-level sensors, and actuators. The RS232 communication submodule is used to enable communication between the central processing unit module 1, the central processing unit module 2, and the external top-level devices, bottom-level sensors, and actuators. The RS422 communication submodule is used to enable communication between the central processing unit module 1, the central processing unit module 2, and the external top-level devices, bottom-level sensors, and actuators. The Ethernet communication submodule is used to enable communication between the domain controller central processing unit module 1, central processing unit module 2, and MCU module for autonomous driving of vehicles, as well as communication with external top-level devices. The wireless communication submodule is used to enable the MCU module, CPU module 1, and CPU module 2 to communicate with external top-level devices and servers via 4G wireless communication.

4. A domain control system for autonomous driving of vehicles according to claim 1, characterized in that, The digital input module includes: a digital input submodule, each submodule comprising several active high-signal and several active low-signal; wherein The high active digital input submodule is used to receive the analog signal of each high active switch action; The low-active-value input submodule is used to receive the analog signal of each low-active-value switch action.

5. A domain control system for autonomous driving of vehicles according to claim 1, characterized in that, The power drive module includes: several high-side drive sub-modules and several low-side drive sub-modules; The high-side drive submodule includes: several peak hold drive modules, several type A power drive modules, and several type B power drive modules; The low-side drive submodule includes: K C-type power drive modules, F D-type power drive modules, and several L-type power drive modules.

6. A domain control system for autonomous driving of vehicles according to claim 5, characterized in that, include: Several Type A power drive modules are used to control different actuators in PWM operating mode and switching operating mode. Several Type B power drive modules are used to control different actuators in PWM operating mode and switching operating mode. The peak hold drive module is used to control the PWM operating mode and the switching operating mode of different actuators; Of the K C-type power drive modules, M C-type power drive modules are used to control the PWM working mode of different actuators and the switching working mode, and N C-type power drive modules are used to control the switch, where M+N=K; Of the F D-type power drive modules, A D-type power drive modules are used to control the PWM working mode of different actuators and the switching working mode, and B D-type power modules are used to control the switch, where A+B=F; Of the L E-type power drive modules, Q E-type power drive modules are used to control the PWM operating mode of different actuators and the switching operating mode, and P E-type power drive modules are used to control the switches, where Q+P=L.

7. A domain control system for autonomous driving of vehicles according to claim 1, characterized in that, The security module includes: Functional safety submodule and hardware safety submodule, wherein: The functional safety submodule is used for real-time management of vehicle functional safety operation; The hardware security submodule is used to manage the safe operation of vehicle hardware in real time.

8. A domain control system for autonomous driving of vehicles according to claim 1, characterized in that, The SBUS signal acquisition module includes: several SBUS signal acquisition sub-modules; wherein The SBUS signal acquisition submodule is used to acquire SBUS signals from several different channels.

9. A domain control system for autonomous driving of vehicles according to claim 1, characterized in that, The video signal transmission submodule includes: The signal processing unit is used to perform noise reduction processing on the video signal based on central processing module 1 and central processing module 2 when the video signal is transmitted to central processing module 1 and central processing module 2, so as to obtain a clean video signal; The signal reading unit is used for: Read the clean video signal to determine the pixel information corresponding to the video image; The first and second key elements are collected from the corresponding pixel information in the video image; The target environment determination unit is used for: The first key element is annotated in the video image, and the vehicle information in the video image is determined based on the first annotation result; The second key element is annotated in the video image, and non-vehicle information in the video image is determined based on the second annotation result; Based on the first annotation result, the first density feature of vehicles in the video image is determined, and at the same time, the second density feature of non-vehicles is determined based on the second annotation result. The target environment in which the current vehicle is located is determined based on vehicle information, non-vehicle information, first density features, and second density features.

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