Intelligent vehicle control device, system and method

Abstract

The invention provides an intelligent vehicle control device, system and method, the device comprises an image processing unit, a wireless communication unit and a fusion processing unit, the units perform data interaction through a system bus, and the image processing unit and the fusion processing unit are connected with a vehicle bus through independent bus interfaces; the image processing unit is used for acquiring and processing data acquired by the intelligent sensor and performing data interaction with the fusion processing unit; the wireless communication unit is used for realizing wireless communication between the device and external equipment and uploading the acquired information to the fusion processing unit through a system bus; and the fusion processing unit is used for carrying out fusion processing on the acquired image processing unit data, the acquired wireless communication unit data and the acquired vehicle data so as to obtain a vehicle control instruction. The system has good expansibility and flexibility, data interaction is achieved through the system bus, and the reliability and safety of the system are improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving and unmanned driving technology, and in particular to an intelligent vehicle control device, system and control method. Background Art

[0002] With the development of the global economy and the advancement of technology, the mining industry is undergoing a profound transformation, in which automation and intelligence have become important forces driving this transformation. Special vehicles such as electric wheel mining trucks and wide-body mining trucks are increasingly used in mining transportation, and the working environment of these vehicles is usually extremely harsh. Not only is the terrain complex and the climatic conditions changeable, but the need for long-term continuous operation also places extremely high demands on the reliability and safety of the vehicles. In order to further improve the efficiency of mine transportation, reduce labor costs, and reduce the safety hazards caused by human operational errors, the realization of intelligent or unmanned driving of special vehicles has become an inevitable trend in the development of the industry.

[0003] However, the existing unmanned driving control system has exposed some shortcomings when facing the special working conditions of mines. First, due to the complexity of the mine operating environment, traditional unmanned driving control devices alone can no longer meet the system's scalability, safety and reliability requirements. Secondly, the particularity of the mine application environment determines that there are limitations in the way of relying solely on a single vehicle for environmental perception, especially in obstacle detection. This method may not ensure the overall safety of the unmanned driving system. In addition, the demand for multi-vehicle collaborative work is becoming increasingly prominent, which requires that vehicles must have efficient information exchange capabilities so that each unmanned vehicle can be effectively coordinated and controlled to ensure the safe operation of the entire system.

[0004] In the existing technology, the design of the processing unit and the external sensor interface is relatively fixed, which is difficult to adapt to the needs of different types of mining vehicles, and the system's scalability and flexibility are poor. More importantly, it is difficult to achieve effective redundant design in the current system, which directly affects the overall reliability of the system. In addition, the effect of obstacle recognition based on data from a single type of sensor is not ideal, which is prone to recognition errors, thus affecting the safety performance of unmanned vehicles. Summary of the invention

[0005] The technical problem to be solved by the present invention is as follows: In view of the above-mentioned problems in the prior art, an intelligent vehicle control device, system and control method with high scalability, flexibility and reliability are provided to meet the needs of intelligent or unmanned driving of special vehicles in mining environments.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] An intelligent vehicle control device comprises a GPU image processing unit, a WLU wireless communication unit and an FPU fusion processing unit. Data is exchanged between the units via a system bus. The GPU image processing unit and the FPU fusion processing unit are connected to a vehicle bus via independent bus interfaces. The GPU image processing unit is used to acquire and process data collected by an intelligent sensor and to exchange data with the FPU fusion processing unit. The WLU wireless communication unit is used to realize wireless communication between the device and an external device and to upload the acquired information to the FPU fusion processing unit via the system bus. The FPU fusion processing unit is used to fuse acquired image processing unit data, wireless communication unit data and vehicle data to obtain a vehicle control instruction.

[0008] As a further improvement of the method of the present invention: the GPU image processing unit includes an image calculation processing module and a first monitoring module, the image processing module includes a camera interface for connecting to an external camera, an Ethernet interface for connecting to other vehicle-mounted devices, and a CAN interface connected to a vehicle-mounted bus; the first monitoring module is used to monitor the operating environment and status of the image calculation processing module and provide a fault protection mechanism.

[0009] As a further improvement of the method of the present invention: the FPU fusion processing unit includes: a fusion computing processing module, a second monitoring module, a data interaction module and a bus extension module. The fusion computing processing module includes an Ethernet interface for connecting with other vehicle-mounted devices and sensors; the data interaction module is used to interact with the fusion computing processing module and the image computing processing module to process the intermediate and final results of the collected data; the bus extension module is provided with an interface for receiving vehicle status information, and the received information is shared to the fusion computing processing module through the data interaction module. The second monitoring module is used to supervise the operating environment and status of the fusion computing processing module, and provide a fault protection mechanism.

[0010] As a further improvement of the method of the present invention: the FPU fusion processing unit includes multiple fusion processing sub-units, and the status of each fusion processing sub-unit is synchronized through the system bus and the vehicle CAN bus. When the status information obtained by the system bus and the vehicle CAN bus is inconsistent, the result of the system bus synchronization is preferentially selected.

[0011] As a further improvement of the method of the present invention: the multiple fusion processing sub-units are configured as master devices and slave devices according to preset device addresses, wherein the master device has a higher priority than the slave device, the master device performs two-way data exchange with the vehicle's wire-controlled chassis, the slave device monitors data on the vehicle bus of the vehicle's wire-controlled chassis, the multiple fusion processing sub-units perform regular self-inspections, and exchange their self-inspection results and current states through the system bus and the vehicle CAN bus, when the master device fails to complete the state interaction on time or the self-inspection is abnormal, the slave device automatically upgrades to the master device and takes over control of the vehicle.

[0012] As a further improvement of the method of the present invention: the WLU wireless communication unit includes multiple wireless communication sub-units, each of which establishes an independent communication link with a ground control device or other wireless device to receive wireless communication data, and copies the received wireless communication data and sends it to each fusion processing sub-unit through a designated channel, and each fusion processing sub-unit selectively processes one of the communication data.

[0013] The present invention further provides an intelligent vehicle control system, comprising:

[0014] Intelligent vehicle control devices;

[0015] A variety of perception sensors are used to collect data about the vehicle's surrounding environment and are connected to the GPU image processing unit and the FPU fusion processing unit through corresponding interfaces of the intelligent vehicle control device;

[0016] Satellite navigation system signal receiving device, used to provide vehicle positioning information;

[0017] The ground server exchanges vehicle operation management and safety monitoring data with the WLU wireless communication unit of the intelligent vehicle control device through wireless communication;

[0018] The control-by-wire chassis, including the ECU electronic control unit / steering controller, is connected to the intelligent vehicle control device via the CAN bus.

[0019] The present invention further provides an intelligent vehicle control method, comprising:

[0020] Step S1: The WLU wireless communication unit receives the generated vehicle running route information, and shares the received vehicle running route information to the fusion calculation processing module through the data interaction module of the FPU fusion processing unit;

[0021] Step S2: The GPU image processing unit acquires sensor data, and shares the acquired sensor data to the fusion calculation processing module through the data interaction module of the FPU fusion processing unit;

[0022] Step S3: The data interaction module of the FPU fusion processing unit shares the data obtained on the vehicle control-by-wire chassis CAN bus with the fusion calculation processing module

[0023] Step S4: The fusion calculation processing module of the FPU fusion processing unit generates control instructions according to the vehicle operation route information, sensor data, and data information on the vehicle wire-controlled chassis CAN bus, and sends them to the vehicle wire-controlled chassis CAN bus through the data interaction module and the bus expansion module, thereby realizing control over the vehicle operation.

[0024] As a further improvement of the method of the present invention: the FPU fusion processing unit includes multiple fusion processing sub-units, and the multiple fusion processing sub-units simultaneously synchronize states and process data interaction through two different communication methods, the system bus and the vehicle CAN bus, to achieve hot standby redundancy of the unmanned vehicle control function.

[0025] As a further improvement of the method of the present invention: when the status information obtained by the system bus and the vehicle CAN bus are inconsistent, the result of the system bus synchronization is preferentially selected.

[0026] Compared with the prior art, the advantages of the present invention are:

[0027] 1. The intelligent vehicle control device of the present invention includes a GPU image processing unit, a WLU wireless communication unit and an FPU fusion processing unit. The units exchange data through a system bus, and the GPU image processing unit and the FPU fusion processing unit are connected to the vehicle bus through independent bus interfaces. The FPU fusion processing unit processes the image processing unit data, the wireless communication unit data and the vehicle data for fusion processing, thereby generating more accurate and comprehensive vehicle control instructions, which improves the accuracy of obstacle recognition and the quality of environmental perception of the intelligent vehicle.

[0028] 2. The present invention can support the access of multiple different types of sensors and multi-modal obstacle recognition based on multi-source sensor data, and has good sensor data synchronization and obstacle recognition effects.

[0029] 3. The present invention further realizes the heterogeneous system redundancy of the unmanned driving controller through the redundant data interactive transmission mode of the system bus and the vehicle bus, and the redundant switching mechanism adapted to the heterogeneous communication medium, thereby greatly improving the system reliability and ensuring the continuity of the unmanned driving operation. At the same time, the processing unit supports redundant vehicle-ground wireless communication, which effectively improves the reliability of the wireless communication between the vehicle and the ground, thereby improving the reliability of the unmanned driving system. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1Schematic diagram of the basic components of the intelligent vehicle control device in an embodiment of the present invention.

[0031] Figure 2 Schematic diagram of the control redundancy system in an embodiment of the present invention.

[0032] Figure 3 Schematic diagram of wireless communication redundancy in an embodiment of the present invention.

[0033] Figure 4 Schematic diagram of system and data processing layers in an embodiment of the present invention.

[0034] Figure 5 The figure is a schematic diagram of the composition of the vehicle-mounted system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] like Figure 1 As shown, the intelligent vehicle control device in this embodiment includes: a GPU image processing unit, a WLU wireless communication unit and an FPU fusion processing unit. The units exchange data through a system bus. At the same time, the units have a time synchronization interface. The GPU image processing unit and the FPU fusion processing unit are connected to the vehicle bus through independent bus interfaces; the GPU image processing unit is used to acquire and process data collected by the intelligent sensor, and exchange data with the FPU fusion processing unit; the WLU wireless communication unit is used to realize wireless communication between the device and external devices, and upload the acquired information to the FPU fusion processing unit through the system bus; the FPU fusion processing unit is used to fuse the acquired image processing unit data, wireless communication unit data and vehicle data to obtain vehicle control instructions.

[0037] In this embodiment, the GPU image processing unit includes an image calculation processing module and a first monitoring module. The image processing module includes a camera interface for connecting to an external camera, an Ethernet interface for connecting to other vehicle-mounted devices, and a CAN interface for connecting to a vehicle-mounted bus. The first monitoring module is used for monitoring the operating environment and operating status of the image calculation processing module, and for fault protection and status recovery of the image calculation processing module. It monitors and alarms for events that exceed the allowable operating environment requirements of the calculation processing module, and at the same time, determines whether there is a fault based on the operating status of the calculation processing module and takes corresponding measures for fault recovery and fault protection.

[0038] In this embodiment, the FPU fusion processing unit includes: a fusion calculation processing module, a second monitoring module, a data interaction module and a bus extension module. The fusion calculation processing module includes an Ethernet interface for connecting with other vehicle-mounted devices and sensors; the data interaction module is used to interact with the fusion calculation processing module and the image calculation processing module to process the collected data; the bus extension module is provided with an interface for receiving vehicle status information, and the received information is shared to the fusion calculation processing module through the data interaction module. The second monitoring module is used for monitoring the operating environment and operating status of the fusion calculation processing module, and for fault protection and status recovery of the fusion calculation processing module. Monitor and alarm for events that exceed the allowable operating environment requirements of the calculation processing module, and at the same time, determine whether there is a fault according to the operating status of the calculation processing module and take corresponding measures for fault recovery and fault protection.

[0039] Specifically, environmental perception devices such as laser radar and millimeter wave thunder are mainly connected to the intelligent vehicle control device through the Ethernet and CAN interfaces of the FPU fusion processing unit. When the number of interfaces of the FPU fusion processing unit is insufficient, the connection with the intelligent vehicle control device can also be achieved through the system bus. The vehicle chassis wire control CAN bus is connected to the CAN interface of the FPU fusion processing unit. The data interaction module realizes the expansion of the system bus by exchanging data at each port, and supports data sharing between the functional modules of the FPU fusion processing unit, GPU image processing unit, and WLU wireless communication unit in a peer-to-peer manner, effectively improving the scalability of the system and data processing efficiency.

[0040] In this embodiment, multiple fusion processing sub-units are configured as master devices and slave devices according to preset device addresses, wherein the master device has a higher priority than the slave device. The master device performs two-way data exchange with the vehicle's wire-controlled chassis, and the slave device monitors data on the vehicle bus of the vehicle's wire-controlled chassis. Multiple fusion processing sub-units perform self-inspections regularly, and exchange their self-inspection results and current status through the system bus and the vehicle CAN bus. When the master device fails to complete the status interaction on time or the self-inspection is abnormal, the slave device automatically upgrades to the master device and takes over control of the vehicle.

[0041] like Figure 2 As shown, in a specific application embodiment, the control redundancy of the FPU fusion processing unit is described by taking two fusion processing subunits in the form of A series and B series as examples. The A series and B series fusion processing subunits simultaneously synchronize their states and process data interaction through two different communication methods, the system bus and the vehicle bus. This can effectively prevent the single point failure of the control function from affecting the normal operation of the system. The detailed control redundancy method is as follows:

[0042] Step 1: After the system is powered on, initialize the A-series and B-series FPU fusion processing units and configure them as master and slave devices according to the preset device addresses. By default, the A-series FPU unit is the master device;

[0043] Step 2: After initialization, the A-series and B-series FPU fusion processing units assign their respective priorities on the vehicle CAN bus according to the current master-slave status. The master device priority on the vehicle CAN bus is higher than the slave device priority;

[0044] Step 3: When the device is in the master control state, it has the authority to bidirectionally exchange data with the vehicle's wire-controlled chassis. When the device is in the slave control state, it monitors the data of the vehicle bus of the vehicle's wire-controlled chassis.

[0045] Step 4: When working, the A series and B series FPU fusion processing units periodically perform self-inspections. Self-inspections are periodic self-inspections of the critical task running time, program running space, and correctness of processing chip calculations of the fusion computing processing module. Comprehensively judge whether the processing unit is running abnormally. After the self-inspection is completed, the self-inspection results and master-slave status of each other are exchanged through the system bus and the vehicle CAN bus at the same time. The interaction process gives priority to trusting the self-inspection results and master-slave status exchanged through the system bus;

[0046] Step 5: During the periodic self-check of the master device and the slave device, their respective monitoring modules monitor the status of the processing module. When the monitoring module detects that the key task of the processing module has timed out, the program running space is abnormal, the processing chip calculation is abnormal, etc., the control command output to the vehicle CAN bus is stopped;

[0047] Step 6: When there is only one master control device in the A-series and B-series FPU fusion processing units, the master FPU fusion processing unit exchanges vehicle control data with the wire-controlled chassis through the vehicle bus to achieve vehicle control;

[0048] Step 7: If the master device fails to complete the results and status interaction of step 4 with the slave device within the predetermined period, or the master device self-checks abnormally, the slave device automatically upgrades to the master device. It exchanges data with the wire-controlled chassis through the vehicle bus and takes over the control of the vehicle.

[0049] In this embodiment, the WLU wireless communication unit includes multiple wireless communication sub-units, each of which establishes an independent communication link with the ground control equipment or other wireless equipment to receive wireless communication data, and copies the received wireless communication data and sends it to each fusion processing sub-unit through a designated channel. Each fusion processing sub-unit selectively processes one of the communication data.

[0050] like Figure 3As shown, in a specific application embodiment, the WLU wireless communication unit includes an A-series WLU wireless communication subunit and a B-series WLU wireless communication subunit. When the system is working, the ground control station and other wireless devices exchange wireless data with the A-series and B-series WLU wireless communication subunits at the same time. The A-series and B-series WLU wireless communication subunits copy the received wireless communication data into two copies, and send them to the A-series FPU fusion processing subunit and the B-series FPU fusion processing subunit through the first channel and the second channel respectively; the data interaction module of the A-series FPU fusion processing subunit, after receiving the A-series and B-series WLU wireless communication subunit data sent from the two channels, forwards the data to the fusion processing module respectively; the A-series FPU data fusion processing subunit fusion processing module, after receiving the data of any one of the two channels of the WLU wireless communication subunit, discards the received data of the other WLU unit. And process the WLU data that has been received to realize the redundancy of the A-series and B-series WLU wireless communication sub-units for the A-series FPU fusion processing sub-unit; the B-series FPU fusion processing sub-unit is processed in the same way as the A-series FPU fusion processing sub-unit to realize the redundancy of wireless communication.

[0051] In summary, the intelligent vehicle control device of this embodiment can be specifically divided into three levels: communication expansion layer, system data interaction layer and data processing layer. Figure 4 As shown. Among them, the communication extension layer is used to expand the external CAN bus and wireless communication, specifically including a bus extension module and a wireless communication extension module, which are used to communicate with the ECU (electronic control unit) / steering controller of the vehicle chassis, and to communicate wirelessly with navigation satellites, mobile communication ground base stations, etc. The system data interaction layer is used for data interaction between the modules inside the device to ensure that data can flow smoothly between the various functional units. The system data interaction layer includes multiple fusion / image processing modules and monitoring modules, which are used to process data from different sensors and monitor the operating status of the system. The data processing layer includes a fusion computing processing unit, a graphics computing processing unit and a wireless communication unit. The fusion computing processing unit, the graphics computing processing unit and the wireless communication unit are interconnected through the system bus and have a time synchronization interface to ensure the accuracy and timeliness of data processing. The FPU fusion processing unit of this embodiment includes multiple fusion processing subunits, and each fusion processing subunit synchronizes its state through the system bus and the vehicle CAN bus. When the state information obtained by the system bus and the vehicle CAN bus is inconsistent, the result of the system bus synchronization is preferred.

[0052] In this embodiment, the intelligent vehicle control system includes:

[0053] Intelligent vehicle control devices;

[0054] A variety of perception sensors are used to collect data about the vehicle's surrounding environment and are connected to the GPU image processing unit and the FPU fusion processing unit through corresponding interfaces of the intelligent vehicle control device;

[0055] Satellite navigation system signal receiving device, used to provide vehicle positioning information;

[0056] The ground server exchanges vehicle operation management and safety monitoring data with the WLU wireless communication unit of the intelligent vehicle control device through wireless communication, including vehicle operation global path planning, satellite navigation correction, fleet formation and vehicle operation status, operation surrounding environment warning, control and other data;

[0057] The control-by-wire chassis, including the ECU electronic control unit / steering controller, is connected to the intelligent vehicle control device via the CAN bus.

[0058] like Figure 5 As shown in the figure, the intelligent vehicle control system is mainly composed of intelligent vehicle control devices and perception sensors, and provides wire-controlled chassis, human-computer interaction / remote debugging expansion interfaces. It also provides interfaces with other third-party devices on the vehicle. It mainly includes:

[0059] CAN communication interface for vehicle chassis, supporting access to ECU and steering controller of vehicle chassis;

[0060] Wireless interface with navigation satellites and mobile communication ground base stations;

[0061] Reserved human-computer interaction display equipment and third-party equipment expansion interface;

[0062] At the same time, the power required for operation is obtained from the vehicle power supply.

[0063] In this embodiment, the intelligent vehicle control method includes:

[0064] Step S1: The WLU wireless communication unit receives the generated vehicle running route information, and shares the received vehicle running route information to the fusion calculation processing module through the data interaction module of the FPU fusion processing unit;

[0065] Step S2: The GPU image processing unit acquires sensor data, and shares the acquired sensor data to the fusion calculation processing module through the data interaction module of the FPU fusion processing unit;

[0066] Step S3: The data interaction module of the FPU fusion processing unit shares the data obtained on the vehicle control-by-wire chassis CAN bus with the fusion calculation processing module

[0067] Step S4: The fusion calculation processing module of the FPU fusion processing unit generates control instructions according to the vehicle route information, sensor data, and data information on the vehicle's wire-controlled chassis CAN bus, and sends them to the vehicle's wire-controlled chassis CAN bus through the data interaction module and the bus expansion module, thereby realizing control over the vehicle's operation.

[0068] In a specific application embodiment, the following steps are used to control the intelligent vehicle:

[0069] Step 1: When the vehicle-mounted system is working, the overall operation route of the vehicle is generated by the ground control system. It is sent to the WLU wireless communication unit through wireless communication methods such as 4G / 5G mobile communication and Lora. The WLU wireless communication unit shares the fusion calculation processing module of the FPU fusion processing unit through the data interaction module.

[0070] Step 2: Intelligent sensors such as cameras, lidar, and millimeter-wave radar are expanded through external interfaces of the FPU fusion processing unit and the GPU image processing unit.

[0071] Step 3: The fusion computing processing module of the FPU fusion processing unit and the image computing processing module of the GPU image processing unit interact with the GPU image processing unit through the data interaction module of the FPU fusion unit to process the laser radar, millimeter wave radar, and camera raw data before and after the key events processed by the sensor, as well as the eigenvalue data with time information after the laser radar, millimeter wave radar, and camera raw data are processed by the algorithm.

[0072] Step 4: The vehicle data on the CAN bus of the vehicle's wire-controlled chassis includes but is not limited to speed, steering angle, cylinder, brake, cargo box, light, position, and state switching. It enters the data interaction module through the FPU fusion processing unit bus expansion module, is shared to the FPU unit fusion computing processing module, and is processed by the fusion computing processing module.

[0073] Step 5: After the FPU unit fusion processing module completes the processing of the data obtained from the WLU unit, GPU unit, lidar, millimeter-wave radar, and vehicle wire-controlled chassis, it generates control instructions for the vehicle.

[0074] Step 6: The control command is sent to the vehicle's wire-controlled chassis CAN bus through the data interaction module and bus expansion module, thereby realizing the control of the vehicle's running speed, steering, bucket lifting, lighting, etc.

[0075] In this embodiment, the FPU fusion processing unit includes multiple fusion processing sub-units. The multiple fusion processing sub-units simultaneously perform state synchronization and process data interaction through two different communication methods, the system bus and the vehicle bus, to achieve hot standby redundancy of the unmanned vehicle control function.

[0076] In this embodiment, when the status information obtained by the system bus and the vehicle CAN bus are inconsistent, the result of the system bus synchronization is preferentially selected.

[0077] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. An intelligent vehicle control device, characterized in that: include: The GPU image processing unit, the WLU wireless communication unit and the FPU fusion processing unit exchange data with each other through the system bus. The GPU image processing unit and the FPU fusion processing unit are connected to the vehicle bus through independent bus interfaces; the GPU image processing unit is used to acquire and process data collected by the intelligent sensor, and exchange data with the FPU fusion processing unit; the WLU wireless communication unit is used to realize wireless communication between the device and external equipment, and upload the acquired information to the FPU fusion processing unit through the system bus; the FPU fusion processing unit is used to fuse the acquired image processing unit data, wireless communication unit data and vehicle data to obtain vehicle control instructions.

2. The intelligent vehicle control device according to claim 1, characterized in that: The GPU image processing unit includes an image calculation processing module and a first monitoring module. The image processing module includes a camera interface for connecting to an external camera, an Ethernet interface for connecting to other vehicle-mounted devices, and a CAN interface for connecting to a vehicle-mounted bus. The first monitoring module is used to monitor the operating environment and status of the image calculation processing module and provide a fault protection mechanism.

3. The intelligent vehicle control device according to claim 1, characterized in that: The FPU fusion processing unit includes: a fusion computing processing module, a second monitoring module, a data interaction module and a bus extension module. The fusion computing processing module includes an Ethernet interface for connecting with other vehicle-mounted devices and sensors; the data interaction module is used to exchange the processing results of the collected data between the fusion computing processing module and the image computing processing module; the bus extension module is provided with an interface for receiving vehicle status information, and the received information is shared to the fusion computing processing module through the data interaction module. The second monitoring module is used for the operating environment and status of the fusion computing processing module, and provides a fault protection mechanism.

4. The intelligent vehicle control device according to claim 1, characterized in that: The FPU fusion processing unit includes multiple fusion processing sub-units, and the fusion processing sub-units synchronize their states through the system bus and the vehicle CAN bus. When the state information obtained by the system bus and the vehicle CAN bus are inconsistent, the result of the system bus synchronization is given priority.

5. The intelligent vehicle control device according to claim 4, characterized in that: The multiple fusion processing sub-units are configured as a master device and a slave device according to a preset device address, wherein the master device has a higher priority than the slave device, the master device performs two-way data exchange with the vehicle's wire-controlled chassis, and the slave device monitors data on the vehicle bus of the vehicle's wire-controlled chassis. The multiple fusion processing sub-units perform self-inspections regularly, and exchange their self-inspection results and current states through the system bus and the vehicle CAN bus. When the master device fails to complete the state interaction on time or the self-inspection is abnormal, the slave device automatically upgrades to the master device and takes over control of the vehicle.

6. The intelligent vehicle control device according to claim 1, characterized in that: The WLU wireless communication unit includes multiple wireless communication sub-units, each of which establishes an independent communication link with a ground control device or other wireless device to receive wireless communication data, and copies the received wireless communication data and sends it to each fusion processing sub-unit through a designated channel. Each fusion processing sub-unit selectively processes one of the communication data.

7. An intelligent vehicle control system, characterized in that: include: The intelligent vehicle control device according to any one of claims 1 to 6; A variety of perception sensors are used to collect data about the vehicle's surrounding environment and are connected to the GPU image processing unit and the FPU fusion processing unit through corresponding interfaces of the intelligent vehicle control device; Satellite navigation system signal receiving device, used to provide vehicle positioning information; A ground server that exchanges vehicle operation management and safety monitoring data with a WLU wireless communication unit of an intelligent vehicle control device through wireless communication; The control-by-wire chassis, including the ECU electronic control unit / steering controller, is connected to the intelligent vehicle control device via the CAN bus.

8. An intelligent vehicle control method, characterized in that: include: Step S1: The WLU wireless communication unit receives the generated vehicle running route information, and shares the received vehicle running route information to the fusion calculation processing module through the data interaction module of the FPU fusion processing unit; Step S2: The GPU image processing unit acquires sensor data, and shares the acquired sensor data to the fusion calculation processing module through the data interaction module of the FPU fusion processing unit; Step S3: The data interaction module of the FPU fusion processing unit shares the data obtained on the vehicle control-by-wire chassis CAN bus with the fusion calculation processing module Step S4: The fusion calculation processing module of the FPU fusion processing unit generates control instructions according to the vehicle operation route information, sensor data, and data information on the vehicle wire-controlled chassis CAN bus, and sends them to the vehicle wire-controlled chassis CAN bus through the data interaction module and the bus expansion module, thereby realizing control over the vehicle operation.

9. The intelligent vehicle control method according to claim 8, characterized in that: The FPU fusion processing unit includes multiple fusion processing sub-units, which simultaneously perform state synchronization and process data interaction through two different communication modes, namely, the system bus and the vehicle CAN bus, to achieve hot standby redundancy of the unmanned vehicle control function.

10. The intelligent vehicle control method according to claim 9, characterized in that: When the status information obtained by the system bus and the vehicle CAN bus are inconsistent, the result of system bus synchronization is given priority.

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