Intelligent driving control method and system, gateway controller and vehicle

Abstract

The embodiment of the invention provides an intelligent driving control method and system, a gateway controller and a vehicle, and particularly relates to the technical field of intelligent driving, in the embodiment of the invention, the gateway controller sends received sensing data sent by a sensing sensor to a cloud server after detecting that an intelligent driving domain controller breaks down; the cloud server generates a vehicle control instruction based on the received sensing data and a pre-deployed backup intelligent driving domain controller, and sends the vehicle control instruction to a gateway controller; after receiving the vehicle control instruction, the gateway controller sends the vehicle control instruction to the actuator; the actuator executes the vehicle control instruction. The local intelligent driving domain controller of the vehicle is backed up by using the cloud server, and the vehicle does not need to realize hardware backup of the intelligent domain controller, so that the hardware cost of the vehicle is reduced.

Description

Technical Field

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

[0002] In existing autonomous driving systems, redundant hardware design is often required to ensure the safety of vehicle dynamic driving by taking over through redundant hardware systems when a single hardware fails. This is the so-called failoperational system architecture design.

[0003] Figure 1 It is an intelligent driving system with dual intelligent driving domain controllers. Figure 2 It is an intelligent driving system with a single intelligent driving domain controller with a backup channel. The above two intelligent driving systems form an intelligent driving domain controller backup through redundant intelligent driving domain controllers or redundant hardware channels of a single domain controller; combined with redundant actuators, when a single-point hardware failure occurs in the intelligent driving system, it can switch to the backup hardware module in time to continue to execute the intelligent driving function in the case of a single-point hardware failure, ensuring the continuity and safety of the vehicle's dynamic driving. That is, it ensures that the intelligent driving system itself has the ability to take over a single-point failure without a human driver taking over.

[0004] The above intelligent driving system requires a lot of hardware redundancy, which greatly increases the hardware cost of a single vehicle. In addition, in the absence of faults, the intelligent driving domain controller or the intelligent driving function backup channel is in an idle state and does not participate in the control of the vehicle actuators. The computing resource utilization rate is low and the overall power consumption of the system is increased. Summary of the invention

[0005] The present disclosure provides an intelligent driving control method, system, gateway controller and vehicle, which use a cloud server to back up the vehicle's local intelligent driving domain controller. The vehicle does not need to implement hardware backup of the intelligent domain controller, thereby reducing the vehicle's hardware cost.

[0006] In a first aspect, an embodiment of the present disclosure provides an intelligent driving control method, the method comprising: after detecting that a fault has occurred in an intelligent driving domain controller, obtaining perception data collected by the sensor; sending the perception data to a cloud server so that the cloud server generates a vehicle control instruction based on the perception data; receiving the vehicle control instruction returned by the cloud server; and sending the vehicle control instruction to an execution structure so that the execution structure controls the vehicle according to the vehicle control instruction.

[0007] In a second aspect, an embodiment of the present disclosure provides an intelligent driving control method, comprising: receiving sensory data sent by a gateway controller; using a pre-configured virtual intelligent driving backup channel to perform perception fusion, decision planning and control execution algorithms on the sensory data to generate vehicle control instructions; sending the vehicle control instructions to the gateway controller, wherein the vehicle control instructions are used to control the vehicle.

[0008] In a third aspect, an embodiment of the present disclosure provides an intelligent driving control system, comprising: a gateway controller, a perception sensor, an actuator and a cloud server, wherein the gateway controller, the perception sensor and the actuator are deployed on a vehicle; the gateway controller is used to obtain perception data collected by the perception sensor after detecting a failure of the intelligent driving domain controller; and send the perception data to the cloud server; the cloud server is used to generate a vehicle control instruction based on the received perception data and a pre-deployed backup intelligent driving domain controller, and send the vehicle control instruction to the gateway controller; the gateway controller is used to send the vehicle control instruction to the actuator after receiving the vehicle control instruction; and the actuator is used to execute the vehicle control instruction.

[0009] In a fourth aspect, an embodiment of the present disclosure provides a gateway controller, wherein the gateway server is used to execute the vehicle intelligent driving method described in the first aspect above.

[0010] In a fifth aspect, an embodiment of the present disclosure provides a vehicle, comprising a gateway controller, a perception sensor, and an actuator; the gateway controller is used to obtain perception data collected by the sensor after detecting a failure of the intelligent driving domain controller; the perception data is sent to a cloud server so that the cloud server generates a vehicle control instruction; the gateway controller is used to send the vehicle control instruction to the actuator after receiving the vehicle control instruction; the actuator is used to execute the vehicle control instruction.

[0011] The disclosed embodiments provide an intelligent driving control method, system, gateway controller and vehicle. In the disclosed embodiments, when the vehicle's own intelligent driving domain controller fails, the perception data of the perception sensor can be transmitted to the cloud server through the gateway controller, and the cloud server generates control instructions based on the perception data, and sends the control instructions to the actuator through the gateway controller to complete the cloud server takeover when the intelligent driving domain controller fails, ensuring the safe driving of the vehicle when the intelligent driving domain controller fails and there is no driver to take over. This solution realizes the use of cloud servers to back up the vehicle's local domain controller, thereby reducing the hardware cost of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0014] Figure 1 It is a structural schematic diagram of an intelligent driving system with dual intelligent driving domain controllers in the prior art;

[0015] Figure 2 It is a structural schematic diagram of an intelligent driving system with a single intelligent driving domain controller having a backup channel in the prior art;

[0016] Figure 3 is a flow chart of an intelligent driving control method provided by an embodiment of the present disclosure;

[0017] Figure 4 is an interaction flow chart of various components in an intelligent driving control system provided by an embodiment of the present disclosure;

[0018] Figure 5 is a flow chart of another intelligent driving control method provided by an embodiment of the present disclosure;

[0019] Figure 6 is a structural schematic diagram of an intelligent driving control system provided by an embodiment of the present disclosure;

[0020] Figure 7 is a structural schematic diagram of an intelligent driving control device provided by an embodiment of the present disclosure;

[0021] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0022] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0023] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0024] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0025] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0026] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0027] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0028] The intelligent driving control method provided by the embodiment of the present disclosure is introduced below in conjunction with specific embodiments and drawings.

[0029] Figure 3 The figure is a flow chart of an intelligent driving control method provided by an embodiment of the present disclosure; the intelligent driving control method provided by an embodiment of the present disclosure can be applied to the case where a vehicle is intelligently controlled when an intelligent driving domain controller of the vehicle fails. The intelligent driving control method is executed by an intelligent driving control system.

[0030] Specifically, Figure 3 As shown, the intelligent driving control method provided by the embodiment of the present disclosure mainly includes steps S110-S140.

[0031] S110: After detecting that a fault occurs in the intelligent driving domain controller, obtain the perception data collected by the sensor.

[0032] In one embodiment of the present disclosure, the method uses a gateway controller, the main function of which is to provide secure and seamless communication between the network and the ECU, including building bridges between many internal networks and external networks of the car. In the embodiment of the present disclosure, the gateway controller mainly sends the received perception data of the perception sensor to the cloud controller.

[0033] In the disclosed embodiment, the perception sensor includes: any one or more of a camera, a laser radar, and a millimeter-wave radar. The vehicle side connects the perception sensor to the vehicle gateway controller. Which perception sensors need to be connected is related to the vehicle functions that need to be implemented after the intelligent driving domain controller fails. If only the downgrade function needs to be implemented, only some perception sensors need to be connected. For example: if the vehicle function that needs to be implemented is to park by the side of the road, then it is sufficient to receive the front-view camera and the side-view camera.

[0034] In one embodiment of the present disclosure, detecting that a fault occurs in the intelligent driving domain controller includes: receiving a fault signal sent by the intelligent driving domain controller.

[0035] In one embodiment of the present disclosure, the faults of the intelligent driving domain controller include: voltage faults, bus faults, internal faults, etc. Voltage faults refer to the actual voltage failing to meet the rated voltage requirements, and internal faults mainly include: disk failure, read / write errors, verification failures, etc. The fault of the intelligent driving domain controller is relatively small, and when the fault occurs, it can still communicate with the gateway controller. At this time, the intelligent driving domain controller can send a fault signal to the gateway controller. After the gateway controller receives the fault signal, the gateway controller determines that the intelligent driving domain controller has a fault.

[0036] In one embodiment of the present disclosure, the intelligent driving domain controller periodically sends a heartbeat signal to the gateway controller. After a failure occurs in the intelligent driving domain controller, the heartbeat signal is stopped from being sent to the gateway controller. After the gateway controller fails to receive the heartbeat signal within a set period, it detects that a failure has occurred in the intelligent driving domain controller.

[0037] In the disclosed embodiment, when the vehicle intelligent driving domain controller works normally, it periodically sends a heartbeat signal to the gateway controller. The heartbeat signal means that one of the two interconnected parties periodically sends a very small data packet to the other party, and the other party determines whether to reply with a very small data packet after receiving the data packet as needed.

[0038] Furthermore, when the intelligent driving domain controller of the vehicle fails, the intelligent driving domain controller actively or passively disconnects the heartbeat handshake with the central gateway, and at the same time, the manual interaction module on the vehicle side reminds the driver that the current vehicle has failed, so that the driver can take over the driving rights of the vehicle and realize the control of the vehicle. Furthermore, the method of reminding the driver includes: setting indicator light reminder, voice broadcast reminder, seat vibration reminder, etc.

[0039] In one embodiment of the present disclosure, if the gateway controller does not receive the heartbeat signal sent by the intelligent driving domain controller within a set period, it is determined that the intelligent driving domain controller has failed. For example, if the set period is 2 seconds, that is, the intelligent driving domain controller sends a heartbeat signal to the gateway controller every 2 seconds, if the gateway controller does not receive the next heartbeat signal after more than 2 seconds from the last time it received the heartbeat signal, the gateway controller determines that the intelligent driving domain controller has failed.

[0040] In the disclosed embodiment, when the intelligent driving domain controller is normal, the perception data directly sent by the perception sensor is sent to the intelligent driving domain controller, and the vehicle is controlled by the local intelligent driving domain controller of the vehicle. When the intelligent driving domain controller fails, the gateway controller obtains the perception data collected by the perception sensor and sends the perception data to the cloud server, so that the cloud server uses the backup intelligent driving domain controller to generate vehicle control instructions based on the perception data, thereby realizing control of the vehicle.

[0041] S120: Send the perception data to a cloud server, so that the cloud server generates a vehicle control instruction based on the perception data.

[0042] In one embodiment of the present disclosure, sending the perception data to a cloud server includes: sending the perception data to the cloud server using a cellular network module.

[0043] In the embodiments of the present disclosure, the cellular network module refers to a module for the gateway controller device to communicate with the external network, and the cellular network module can be any one of a 4G communication module, a 5G communication module, and a 6G communication module. In the embodiments of the present disclosure, only an exemplary description of the cellular network module is given, and the cellular network module can be any communication protocol that can communicate.

[0044] In one embodiment of the present disclosure, after receiving the sensor data, the cloud server activates the virtual intelligent driving backup channel deployed thereon. The virtual intelligent driving backup channel runs perception fusion, decision planning and control execution algorithms based on the perception data to generate vehicle control instructions.

[0045] In one embodiment of the present disclosure, multiple virtual intelligent driving backup channels are deployed in the cloud server; after receiving the perception data, the cloud server queries the working status of each virtual intelligent driving backup channel; the virtual intelligent driving backup channel with an idle working status is used as the target virtual intelligent driving backup channel; the perception data is sent to the virtual intelligent driving backup channel, so that the virtual intelligent driving backup channel generates vehicle control instructions.

[0046] In the disclosed embodiment, multiple virtual intelligent driving backup channels are deployed in the cloud server, so that the cloud server can serve as the virtual intelligent driving backup channels of multiple vehicles at the same time. Since the failure of the vehicle-side intelligent driving domain controller is a low-probability event, the cloud server can serve as a remote backup system for multiple vehicles at the same time, which can improve resource utilization.

[0047] In one embodiment of the present disclosure, the perception data is sent to a cloud server, wherein the perception data carries a vehicle identification, so that after the cloud server generates a vehicle control instruction based on the perception data, the vehicle control instruction is sent to a gateway controller corresponding to the vehicle identification.

[0048] In the disclosed embodiment, since the cloud server corresponds to multiple vehicle sides, a vehicle identifier is needed to distinguish which vehicle the sensing data comes from and to which vehicle the generated vehicle control command is sent. The vehicle identifier may be a vehicle VIN code.

[0049] S130: Receive the vehicle control instruction returned by the cloud server.

[0050] In one embodiment of the present disclosure, the receiving the vehicle control instruction returned by the cloud server includes: using a cellular network module to receive the vehicle control instruction returned by the cloud server.

[0051] In the disclosed embodiment, the gateway controller needs to have a communication connection with the cellular network module to upload the perception data to the cloud and receive control instructions from the cloud.

[0052] S140: Send the vehicle control instruction to an actuator, so that the actuator controls the vehicle according to the vehicle control instruction.

[0053] In the disclosed embodiment, the gateway controller sends the vehicle control instructions to the corresponding actuator through the vehicle's internal network connection, and the vehicle actuator executes the control instructions, thereby completing the motion control of the vehicle.

[0054] In the disclosed embodiment, when the vehicle's own intelligent driving domain controller fails, the perception data of the perception sensor can be transmitted to the cloud server through the gateway controller and the cellular network module. The cloud server generates vehicle control instructions based on the perception data, and sends the vehicle control instructions to the actuator through the gateway controller to complete the cloud server takeover when the intelligent driving domain controller fails, ensuring the safe driving of the vehicle when the intelligent driving domain controller fails and there is no driver to take over. This solution realizes the use of cloud servers to back up the vehicle's local domain controller, thereby reducing the vehicle's hardware cost. Considering that the failure of the vehicle-side intelligent driving domain controller is a low-probability event, the cloud server can be used as a remote backup system for multiple vehicles at the same time, which can improve resource utilization.

[0055] Based on the above embodiments, an embodiment of the present disclosure provides an intelligent driving control system, which includes: a gateway controller, a perception sensor, an actuator and a cloud server, wherein the gateway controller, the perception sensor and the actuator are deployed on a vehicle.

[0056] like Figure 4 As shown in the figure, the interaction process of each device in the intelligent driving control system mainly includes the following steps:

[0057] S201. The intelligent driving domain controller periodically sends a heartbeat signal to the gateway controller.

[0058] In the disclosed embodiment, when the vehicle intelligent driving domain controller works normally, it periodically sends a heartbeat signal to the gateway controller. The heartbeat signal means that one of the two interconnected parties periodically sends a very small data packet to the other party, and the other party determines whether to reply with a very small data packet after receiving the data packet as needed.

[0059] In the disclosed embodiment, when the intelligent driving domain controller is normal, the perception sensor directly sends the perception data to the intelligent driving domain controller, and the vehicle is controlled by the local intelligent driving domain controller of the vehicle.

[0060] S202: After a failure occurs in the intelligent driving domain controller, stop sending heartbeat signals to the gateway controller.

[0061] When the intelligent driving domain controller of the vehicle fails, the intelligent driving domain controller actively or passively disconnects the heartbeat handshake with the gateway controller, and at the same time, the manual interaction module on the vehicle side reminds the driver that the intelligent driving domain controller of the current vehicle has failed, so that the driver can take over the driving rights of the vehicle and realize the control of the vehicle. Further, the method of reminding the driver includes: setting indicator light reminder, voice broadcast reminder, seat vibration reminder, etc.

[0062] S203: After the gateway controller fails to receive the heartbeat signal within a set period, it detects that the intelligent driving domain controller has a fault.

[0063] In one embodiment of the present disclosure, if the gateway controller does not receive the heartbeat signal sent by the intelligent driving domain controller within a set period, it is determined that the intelligent driving domain controller has failed. For example, if the set period is 2 seconds, that is, the intelligent driving domain controller sends a heartbeat signal to the gateway controller every 2 seconds, if the gateway controller does not receive the next heartbeat signal after more than 2 seconds from the last time it received the heartbeat signal, the gateway controller determines that the intelligent driving domain controller has failed.

[0064] S204: The gateway controller obtains the perception data collected by the perception sensor.

[0065] In the disclosed embodiment, the perception sensor includes: any one or more of a camera, a laser radar, and a millimeter-wave radar. The vehicle side connects the perception sensor to the gateway controller. Which perception sensors need to be connected is related to the vehicle functions that need to be implemented after the intelligent driving domain controller fails. If only the downgrade function needs to be implemented, only some perception sensors need to be connected. For example: if the vehicle function that needs to be implemented is to park by the side of the road, then it is sufficient to receive the front-view camera and the side-view camera.

[0066] S205: The gateway controller sends the sensing data to the cloud server.

[0067] In one embodiment of the present disclosure, sending the received perception data sent by the perception sensor to the cloud server includes: sending the received perception data sent by the perception sensor to the cloud server by using a cellular network module.

[0068] In the embodiments of the present disclosure, the cellular network module refers to a module for the gateway controller device to communicate with the external network, and the cellular network module can be any one of a 4G communication module, a 5G communication module, and a 6G communication module. In the embodiments of the present disclosure, only an exemplary description of the cellular network module is given, and the cellular network module can be any communication protocol that can communicate.

[0069] S206. The cloud server generates vehicle control instructions based on the received perception data and the pre-deployed backup intelligent driving domain controller.

[0070] In one embodiment of the present disclosure, after receiving the sensor data, the cloud server activates the virtual intelligent driving backup channel deployed thereon. The virtual intelligent driving backup channel runs perception fusion, decision planning and control execution algorithms based on the perception data to generate vehicle control instructions.

[0071] In one embodiment of the present disclosure, multiple virtual intelligent driving backup channels are deployed in the cloud server; after receiving the perception data, the cloud server queries the working status of each virtual intelligent driving backup channel; the virtual intelligent driving backup channel with an idle working status is used as the target virtual intelligent driving backup channel; the perception data is sent to the virtual intelligent driving backup channel, so that the virtual intelligent driving backup channel generates vehicle control instructions.

[0072] In the disclosed embodiment, multiple virtual intelligent driving backup channels are deployed in the cloud server, so that the cloud server can serve as the virtual intelligent driving backup channels of multiple vehicles at the same time. Since the failure of the vehicle-side intelligent driving domain controller is a low-probability event, the cloud server can serve as a remote backup system for multiple vehicles at the same time, which can improve resource utilization.

[0073] S207: Send the vehicle control instruction to a gateway controller.

[0074] In the disclosed embodiment, the cellular network module is used to receive the vehicle control command returned by the cloud server. The gateway controller needs to have a communication connection with the cellular network module to upload the sensing data to the cloud and receive the control command from the cloud.

[0075] S208: After receiving the vehicle control instruction, the gateway controller sends the vehicle control instruction to the actuator.

[0076] In the disclosed embodiment, the gateway controller sends the vehicle control instructions to the corresponding actuators through the vehicle's internal network connection.

[0077] S209: The actuator executes the vehicle control instruction.

[0078] In the disclosed embodiment, the gateway controller sends the vehicle control instructions to the corresponding actuator through the vehicle's internal network connection, and the vehicle actuator executes the control instructions, thereby completing the motion control of the vehicle.

[0079] Based on the above embodiments, the present disclosure provides an intelligent driving control method, such as Figure 5 As shown, the intelligent driving control method provided by the embodiment of the present disclosure mainly includes the following steps: S310, receiving sensory data sent by a gateway controller; S320, using a pre-configured virtual intelligent driving backup channel to perform sensory fusion, decision planning and control execution algorithm on the sensory data to generate a vehicle control instruction; S330, sending the vehicle control instruction to the gateway controller, wherein the vehicle control instruction is used to control the vehicle.

[0080] In one embodiment of the present disclosure, after receiving the sensor data, the cloud server activates the virtual intelligent driving backup channel deployed thereon. The virtual intelligent driving backup channel runs perception fusion, decision planning and control execution algorithms based on the perception data to generate vehicle control instructions.

[0081] In one embodiment of the present disclosure, multiple virtual intelligent driving backup channels are deployed in the cloud server; after receiving the perception data, the cloud server queries the working status of each virtual intelligent driving backup channel; the virtual intelligent driving backup channel with an idle working status is used as the target virtual intelligent driving backup channel; the perception data is sent to the virtual intelligent driving backup channel, so that the virtual intelligent driving backup channel generates vehicle control instructions.

[0082] In the disclosed embodiment, multiple virtual intelligent driving backup channels are deployed in the cloud server, so that the cloud server can serve as the virtual intelligent driving backup channels of multiple vehicles at the same time. Since the failure of the vehicle-side intelligent driving domain controller is a low-probability event, the cloud server can serve as a remote backup system for multiple vehicles at the same time, which can improve resource utilization.

[0083] The intelligent driving control method provided in the embodiment of the present disclosure is executed by the above-mentioned cloud server. The cloud server executes the intelligent driving control method with reference to the description in the above-mentioned embodiment, and the embodiment of the present disclosure will not be repeated.

[0084] Based on the above embodiments, the present disclosure provides a schematic diagram of the structure of an intelligent driving control system. Figure 6 As shown, the intelligent driving control system includes a remote server and multiple vehicle sides, and the deployment of each vehicle side is basically the same. In the embodiment of the present disclosure, one vehicle side is used as an example for explanation.

[0085] The vehicle side is equipped with a gateway controller, an intelligent driving domain controller, a 5G communication module, a perception sensor, a human-machine interaction module, and an actuator. The perception sensor includes cameras, lidars, and millimeter wave sensors, and the actuators include steering actuators, power actuators, and brake actuators.

[0086] In the disclosed embodiment, when the vehicle intelligent driving domain controller works normally, it periodically sends a heartbeat signal to the gateway controller. And the perception sensor directly sends the perception data to the intelligent driving domain controller, and the vehicle is controlled by the local intelligent driving domain controller of the vehicle.

[0087] When the vehicle's intelligent driving domain controller fails, the intelligent driving domain controller actively or passively disconnects the heartbeat handshake with the central gateway. At the same time, the driver is reminded through the manual interaction module that the current vehicle has a fault, so that the driver can take over the driving rights of the vehicle and achieve control of the vehicle.

[0088] Furthermore, if the gateway controller does not receive the heartbeat signal sent by the intelligent driving domain controller within a set period, it is determined that the intelligent driving domain controller has failed. For example, if the set period is 2 seconds, that is, the intelligent driving domain controller sends a heartbeat signal to the gateway controller every 2 seconds, if the gateway controller does not receive the next heartbeat signal after more than 2 seconds from the last time it received the heartbeat signal, the gateway controller determines that the intelligent driving domain controller has failed.

[0089] After detecting that the intelligent driving domain controller has failed, the perception data collected by the perception sensor is obtained; the perception sensor includes: any one or more of a camera, a lidar, and a millimeter-wave radar. The vehicle side connects the perception sensor to the vehicle gateway controller. The specific perception sensors that need to be connected are related to the vehicle functions that need to be implemented after the intelligent driving domain controller fails. If only the downgrade function needs to be implemented, only some perception sensors need to be connected. For example: if the vehicle function that needs to be implemented is pull-over parking, then it is sufficient to receive the front-view camera and the side-view camera.

[0090] In one embodiment of the present disclosure, the sensing data is sent to the cloud server using a cellular network module. The cellular network module refers to a module for the gateway controller device to communicate with the external network, and the cellular network module can be any one of a 4G communication module, a 5G communication module, and a 6G communication module. In the embodiments of the present disclosure, only the cellular network module is exemplified, and the cellular network module can be any communication protocol that can communicate.

[0091] After receiving the sensor data, the cloud server activates the virtual intelligent driving backup channel deployed on it. The virtual intelligent driving backup channel runs perception fusion, decision planning and control execution algorithms based on the perception data to generate vehicle control instructions.

[0092] In one embodiment of the present disclosure, multiple virtual intelligent driving backup channels are deployed in the cloud server; after receiving the perception data, the cloud server queries the working status of each virtual intelligent driving backup channel; the virtual intelligent driving backup channel with an idle working status is used as the target virtual intelligent driving backup channel; the perception data is sent to the virtual intelligent driving backup channel, so that the virtual intelligent driving backup channel generates vehicle control instructions.

[0093] In the disclosed embodiment, multiple virtual intelligent driving backup channels are deployed in the cloud server, so that the cloud server can serve as the virtual intelligent driving backup channels of multiple vehicles at the same time. Since the failure of the vehicle-side intelligent driving domain controller is a low-probability event, the cloud server can serve as a remote backup system for multiple vehicles at the same time, which can improve resource utilization.

[0094] The remote server uses the cellular network module to receive the vehicle control instructions returned by the cloud server. The gateway controller needs to have a communication connection with the cellular network module to upload the sensing data to the cloud and receive control instructions from the cloud.

[0095] In the disclosed embodiment, the gateway controller sends the vehicle control instructions to the corresponding actuator through the vehicle's internal network connection, and the vehicle actuator executes the control instructions, thereby completing the motion control of the vehicle.

[0096] In one embodiment of the present disclosure, a vehicle is provided, the vehicle comprising a gateway controller, a perception sensor, and an actuator; after the gateway controller detects that a fault occurs in the intelligent driving domain controller, it receives the perception data sent by the perception sensor and sends the perception data to a cloud server, so that the cloud server generates a vehicle control instruction; after receiving the vehicle control instruction, the gateway controller sends the vehicle control instruction to the actuator; the actuator executes the vehicle control instruction. Its implementation principle and technical effect are similar to those of the above embodiment, and will not be repeated here.

[0097] Figure 7 is a structural diagram of an intelligent driving control device provided by an embodiment of the present disclosure, such as Figure 7 As shown, the intelligent driving control device includes: a perception data acquisition module 71, which is used to acquire the perception data collected by the sensor after detecting that a fault occurs in the intelligent driving domain controller; a perception data sending module 72, which is used to send the perception data to a cloud server, so that the cloud server generates a vehicle control instruction based on the perception data; a control instruction receiving module 73, which is used to receive the vehicle control instruction returned by the cloud server; a control instruction sending module 74, which is used to send the vehicle control instruction to an actuator, so that the actuator controls the vehicle according to the vehicle control instruction.

[0098] In one embodiment of the present disclosure, the detection of a fault in the intelligent driving domain controller includes at least one of the following: failure to receive a heartbeat signal sent by the intelligent driving domain controller within a set period; or receipt of a fault signal sent by the intelligent driving domain controller.

[0099] In one embodiment of the present disclosure, the perception data sending module is specifically used to send the perception data to the cloud server using the cellular network module; the control instruction receiving module is specifically used to receive the vehicle control instructions returned by the cloud server using the cellular network module.

[0100] In one embodiment of the present disclosure, the device also includes: a vehicle identification sending module, used to send the perception data to a cloud server, wherein the perception data carries a vehicle identification, so that after the cloud server generates a vehicle control instruction based on the perception data, the vehicle control instruction is sent to a gateway controller corresponding to the vehicle identification.

[0101] In one embodiment of the present disclosure, an intelligent driving control device is provided, wherein the intelligent driving device is configured in a cloud server, and the intelligent driving control device mainly includes: a perception data receiving module, which receives perception data sent by a gateway controller; a vehicle control instruction generating module, which is used to generate a vehicle control instruction based on the perception data and a virtual intelligent driving backup channel; and a vehicle control instruction issuing module, which is used to send the vehicle control instruction to the gateway controller, wherein the vehicle control instruction is used to control the vehicle.

[0102] Figure 8 Schematic diagram of the structure of an electronic device in the embodiment of the present disclosure. Figure 8 , which shows a schematic diagram of the structure of an electronic device 800 suitable for implementing the embodiment of the present disclosure. The electronic device 800 in the embodiment of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle terminals (such as vehicle navigation terminals), wearable terminal devices, etc., and fixed terminals such as digital TVs, desktop computers, smart home devices, etc. Figure 8 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0103] like Figure 8 As shown, the electronic device 800 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage device 808 into a random access memory (RAM) 803 to implement the data processing method of the embodiment described in the present disclosure. In the RAM 803, various programs and data required for the operation of the terminal device 800 are also stored. The processing device 801, the ROM 802, and the RAM 803 are connected to each other via a bus 809. An input / output (I / O) interface 805 is also connected to the bus 809.

[0104] Typically, the following devices may be connected to the I / O interface 805: input devices 806 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 807 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 808 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 804. The communication devices 804 may allow the terminal device 800 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 8 The terminal device 800 is shown to have various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0105] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart, thereby implementing the data processing method as described above. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device 804, or installed from a storage device 808, or installed from a ROM 802. When the computer program is executed by the processing device 801, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0106] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0107] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0108] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0109] The computer-readable medium carries one or more programs. When the one or more programs are executed by the terminal device, the terminal device implements the method described in any one of the embodiments.

[0110] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0111] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0112] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0113] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0114] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0115] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0116] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0117] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. An intelligent driving control method, characterized in that: The method comprises: After detecting that a fault occurs in the intelligent driving domain controller, acquiring the perception data collected by the sensor; Sending the sensed data to a cloud server so that the cloud server generates a vehicle control instruction based on the sensed data; Receiving the vehicle control command returned by the cloud server; The vehicle control instruction is sent to an actuator, so that the actuator controls the vehicle according to the vehicle control instruction.

2. The intelligent driving control method according to claim 1, characterized in that: The detecting that the intelligent driving domain controller fails includes at least one of the following: A heartbeat signal sent by the intelligent driving domain controller is not received within a set period; Receive a fault signal sent by the intelligent driving domain controller.

3. The intelligent control method according to claim 1, characterized in that: Sending the sensing data to a cloud server includes: Using a cellular network module to send the sensing data to a cloud server; The receiving the vehicle control instruction returned by the cloud server includes: The vehicle control instruction returned by the cloud server is received by using the cellular network module.

4. The intelligent driving control method according to claim 1, characterized in that: Sending the sensing data to the cloud server includes: The perception data is sent to a cloud server, wherein the perception data carries a vehicle identification, so that after the cloud server generates a vehicle control instruction based on the perception data, the vehicle control instruction is sent to a gateway controller corresponding to the vehicle identification.

5. An intelligent driving control method, characterized in that: The method comprises: Receive the sensing data sent by the gateway controller; Using a pre-configured virtual intelligent driving backup channel to perform perception fusion, decision planning and control execution algorithms on the perception data, and generate vehicle control instructions; The vehicle control instruction is sent to a gateway controller, wherein the vehicle control instruction is used to control the vehicle.

6. An intelligent driving control system, characterized in that: The system comprises: a gateway controller, a perception sensor, an actuator and a cloud server, wherein the gateway controller, the perception sensor and the actuator are deployed on a vehicle; The gateway controller is used to obtain the perception data collected by the perception sensor after detecting that the intelligent driving domain controller has failed, and send the perception data to the cloud server; The cloud server is used to generate a vehicle control instruction based on the received perception data and the pre-deployed virtual intelligent driving backup channel, and send the vehicle control instruction to the gateway controller; The gateway controller is used to send the vehicle control instruction to the actuator after receiving the vehicle control instruction; The actuator is used to execute the vehicle control instruction.

7. The intelligent driving control system according to claim 6, characterized in that: The system includes an intelligent driving domain controller, which is deployed on a vehicle; The intelligent driving domain controller is used to periodically send a heartbeat signal to the gateway controller; The intelligent driving domain controller is used to stop sending heartbeat signals to the gateway controller after a failure occurs; The gateway controller is used to detect that the intelligent driving domain controller has failed after not receiving the heartbeat signal within a set period.

8. The intelligent driving control system according to claim 6, characterized in that: Multiple backup intelligent driving domain controllers are deployed in the cloud server; The cloud server is specifically used to query the working status of each virtual intelligent driving backup channel after receiving the perception data; and use the virtual intelligent driving backup channel whose working status is idle as the target virtual intelligent driving backup channel; The perception data is sent to the target virtual intelligent driving backup channel so that the target virtual intelligent driving backup channel generates a vehicle control instruction.

9. The intelligent driving control system according to claim 6, characterized in that: The vehicle also includes a cellular communication module, The cellular network module is used to send the perception data received by the gateway sensor to the cloud server; receive the vehicle control instructions returned by the cloud server, and forward the vehicle control instructions to the gateway controller.

10. A gateway controller, characterized in that: The gateway server is used to execute the vehicle intelligent driving method as described in any one of claims 1-4.

11. A vehicle, characterized in that: The vehicle includes a gateway controller, a perception sensor, and an actuator; After the gateway controller detects that the intelligent driving domain controller fails, it obtains the perception data collected by the sensor and sends the perception data to the cloud server so that the cloud server generates a vehicle control instruction; After receiving the vehicle control instruction, the gateway controller sends the vehicle control instruction to the actuator; The actuator executes the vehicle control command.

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