Power-on control method and system of automatic driving system, electronic equipment and computer program product

Abstract

The invention discloses a power-on control method and system of an automatic driving system, electronic equipment and a computer program product, the method is executed by the power-on control system of the automatic driving system, the power-on control system comprises a power management unit and a plurality of power utilization units, and the method comprises the following steps: controlling the power management unit to start working through a domain control system; according to a power-on priority strategy and a time-sharing power-on strategy, performing power-on control on each power utilization unit through a power supply management unit; the power-on priority strategy is used for determining the power-on sequence of each power utilization unit, and the time-sharing power-on strategy is used for determining the power-on opportunity of each power utilization unit. The time-sharing power-on strategy and the power-on priority strategy are combined to control the power-on time sequence of each power utilization unit in the automatic driving system, so that the power-on time sequence of each power utilization unit is automatically controllable, the power-on efficiency is ensured, meanwhile, the influence of the power-on process of each power utilization unit on other units and the whole system is reduced, and the power-on reliability of the automatic driving system is improved. And the stability of the power-on process is improved.

Description

Technical Field

[0001] The present application relates to the technical field of power supply for autonomous driving systems, and in particular to a power-on control method, system, electronic equipment, and computer program product for autonomous driving systems. Background Art

[0002] The autonomous driving sensor unit is a key component of the autonomous driving system. It is responsible for collecting various information about the vehicle's surrounding environment and providing data support for the vehicle's decision-making and control. Common autonomous driving sensors mainly include lidar, cameras, millimeter-wave radar, ultrasonic sensors, high-precision positioning systems, etc.

[0003] Devices such as autonomous driving sensor units need to be powered by the vehicle, such as Figure 1 As shown, a schematic diagram of a power supply method of an autonomous driving sensor unit in the prior art is provided. The existing power supply method of the autonomous driving sensor unit is directly powered by the vehicle power system. The sensor unit is directly connected to the fuse box of the vehicle. When the vehicle is started, various sensors will be powered at the same time to work. However, this power supply method has at least the following problems:

[0004] 1) It is impossible to control the power-on sequence of multiple sensors and other power-consuming units, and it is impossible to shut down or start the power supply of corresponding sensor units in a planned manner according to the needs of autonomous driving;

[0005] 2) When the sensor unit is abnormal, the power supply of the sensor unit cannot be cut off in time;

[0006] 3) The sensor unit is connected to the fuse box and draws power at the same time. The instantaneous current fluctuation when the sensor is powered on is large, which can easily affect the stability of the normal system. Summary of the invention

[0007] In order to solve at least one of the technical problems mentioned above, the embodiments of the present application provide a power-on control method, system, electronic device, and computer program product of an autonomous driving system to ensure power-on efficiency while improving the stability of the system during the power-on process.

[0008] The present application embodiment adopts the following technical solutions:

[0009] In a first aspect, an embodiment of the present application provides a power-on control method for an autonomous driving system, wherein the power-on control method for the autonomous driving system is executed by a power-on control system of the autonomous driving system, the power-on control system of the autonomous driving system includes a domain control system, a power management unit, and multiple power consumption units, and the power-on control method for the autonomous driving system includes:

[0010] Controlling the power management unit to start working through the domain control system;

[0011] According to the power-on priority strategy and the time-sharing power-on strategy, the power management unit controls the power-on of each power-consuming unit respectively;

[0012] The power-on priority strategy is used to determine the power-on sequence of each power-consuming unit, and the time-sharing power-on strategy is used to determine the power-on timing of each power-consuming unit.

[0013] Optionally, the controlling the power-on of each power-consuming unit by the power management unit according to the power-on priority strategy and the time-sharing power-on strategy includes:

[0014] Determine the current power-consuming unit and the next power-consuming unit to be powered on according to the power-on priority strategy;

[0015] Powering on the current power-consuming unit through the power management unit and determining a startup state of the current power-consuming unit;

[0016] When the startup state of the current power-consuming unit is startup completion, the next power-consuming unit is powered on by the power management unit.

[0017] Optionally, the determining the current startup state of the power-consuming unit includes:

[0018] Monitoring the voltage signal of the current power consumption unit;

[0019] The startup state of the current power consuming unit is determined according to the voltage signal of the current power consuming unit.

[0020] Optionally, determining the startup state of the current power-consuming unit according to the voltage signal of the current power-consuming unit includes:

[0021] Determining, according to the voltage signal of the current power consumption unit, whether a ratio between the power supply voltage of the current power consumption unit and the rated power supply voltage of the current power consumption unit reaches a preset ratio threshold;

[0022] If yes, determining that the startup state of the current power-consuming unit is startup completed;

[0023] Otherwise, it is determined that the current startup state of the power-consuming unit is startup.

[0024] Optionally, when the startup state of the current power-consuming unit is startup completion, powering on the next power-consuming unit by the power management unit includes:

[0025] During the power-on of the next power-consuming unit by the power management unit, monitoring the voltage fluctuation of the powered-on power-consuming unit;

[0026] The next power-on timing of the next power-on unit is controlled according to the voltage fluctuation of the powered-on power unit.

[0027] Optionally, controlling the next power-on timing of the next power-on unit according to the voltage fluctuation of the powered-on power unit includes:

[0028] If the voltage fluctuation of the powered-on power-consuming unit is greater than a preset fluctuation threshold, delaying the next power-on timing of the next power-consuming unit;

[0029] Otherwise, the timing when the startup state of the current power-consuming unit is startup completion is used as the next power-on timing of the next power-consuming unit.

[0030] Optionally, the power-on control method of the autonomous driving system further includes:

[0031] When all power consumption units are started up, monitor the working status of each power consumption unit;

[0032] When the working state of any power consumption unit is abnormal, the power consumption unit in abnormal state is powered off and restarted;

[0033] If the abnormal state still exists after power failure and restart, the power interface corresponding to the power consumption unit in the abnormal state is closed.

[0034] In a second aspect, an embodiment of the present application further provides a power-on control system of an autonomous driving system, wherein the power-on control system of the autonomous driving system includes a domain control system, a power management unit, and a plurality of power consumption units, wherein the power management unit is respectively connected to the domain control system and the plurality of power consumption units;

[0035] The domain control system is used to control the startup of the power management unit and to perform power-on control on each power-consuming unit according to a power-on priority strategy and a time-sharing power-on strategy. The power-on priority strategy is used to determine the power-on sequence of each power-consuming unit, and the time-sharing power-on strategy is used to determine the power-on timing of each power-consuming unit.

[0036] Optionally, the domain control system includes an AD acquisition unit and a coprocessor, the power management unit is provided with multiple power interfaces, and the AD acquisition unit is respectively connected to the multiple power interfaces and the coprocessor;

[0037] The AD acquisition unit is used to collect voltage signals of various power consumption units connected to the multiple power supply interfaces, and send the collected voltage signals of various power consumption units to the coprocessor;

[0038] The coprocessor is used to determine the startup state of each power-consuming unit according to the voltage signal of each power-consuming unit.

[0039] Optionally, the domain control system further includes a computing unit and a network switching unit, the computing unit is connected to the network switching unit, and the network switching unit is connected to the coprocessor;

[0040] The computing unit is used to monitor the working state of each power-consuming unit, and when the working state of each power-consuming unit is abnormal, send a power-off and restart instruction to the coprocessor through the network switching unit;

[0041] The coprocessor is further configured to power off and restart the power-consuming unit in an abnormal state according to the power-off and restart instruction, and to close the power interface corresponding to the power-consuming unit in the abnormal state if the power-consuming unit is still in an abnormal state after the power-off and restart.

[0042] In a third aspect, an embodiment of the present application further provides an electronic device, including:

[0043] A processor; and a memory arranged to store computer executable instructions, which, when executed, cause the processor to execute any of the aforementioned power-on control methods for the autonomous driving system.

[0044] In a fourth aspect, an embodiment of the present application further provides a computer program product, comprising a computer program or instructions, which, when executed by a processor, implements any of the aforementioned power-on control methods for the autonomous driving system.

[0045] At least one of the above technical solutions adopted in the embodiment of the present application can achieve the following beneficial effects: the power-on control method of the automatic driving system of the embodiment of the present application is executed by the power-on control system of the automatic driving system, and the power-on control system of the automatic driving system includes a domain control system, a power management unit and multiple power units. When the automatic driving system is powered on, the domain control system is used to control the power management unit to start working; then, according to the power-on priority strategy and the time-sharing power-on strategy, the power management unit is used to control the power-on of each power unit respectively; wherein, the power-on priority strategy is used to determine the power-on sequence of each power unit, and the time-sharing power-on strategy is used to determine the power-on timing of each power unit. The power-on control method of the automatic driving system of the embodiment of the present application combines the time-sharing power-on strategy and the power-on priority strategy at the same time, controls the power-on timing and power-on sequence of each power unit in the automatic driving system, so that the power-on timing of each power unit in the automatic driving system is automatically controllable, the power-on efficiency is guaranteed, and the influence of the power-on process of each power unit on other units and the system as a whole is reduced, and the stability of the power-on process is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0047] Figure 1 A schematic diagram of a power supply method for an autonomous driving sensor unit in the prior art;

[0048] Figure 2 A schematic flow chart of a power-on control method for an autonomous driving system in an embodiment of the present application;

[0049] Figure 3 This is a schematic diagram of the structure of a power-on control system of an automatic driving system in an embodiment of the present application;

[0050] Figure 4 This is a schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0052] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0053] The present application embodiment provides a power-on control method for an autonomous driving system, such as Figure 2 As shown, a flow chart of a power-on control method of an autonomous driving system in an embodiment of the present application is provided. The power-on control method of the autonomous driving system is executed by a power-on control system of the autonomous driving system. The power-on control system of the autonomous driving system includes a domain control system, a power management unit, and multiple power consumption units. The power-on control method of the autonomous driving system includes at least the following steps S210 to S220:

[0054] Step S210: Control the power management unit to start working through the domain control system.

[0055] The autonomous driving system of the embodiment of the present application mainly includes a domain control system, a power management unit and multiple power-consuming units. The domain control system is the core of the autonomous driving system, and is mainly responsible for realizing the control and management of the entire vehicle system. The power management unit is mainly responsible for independently supplying power to each power-consuming unit in the autonomous driving system according to the control instructions of the domain control system. The power-consuming units cover various units that need to be powered in the autonomous driving system, and may specifically include sensor units and heat dissipation systems, etc. The sensor units may include, for example, millimeter-wave radars, ultrasonic radars, lidars, cameras, and high-precision positioning systems, etc. The specific power-consuming units included can be flexibly set by technicians in this field according to actual needs, and no specific limitation is made here.

[0056] Based on the system architecture of the above-mentioned autonomous driving vehicle, when performing power-on control, the domain control system needs to first send a startup instruction to the power management unit to put the power management unit into a working state.

[0057] Step S210, according to the power-on priority strategy and the time-sharing power-on strategy, the power management unit controls the power-on of each power unit respectively; wherein the power-on priority strategy is used to determine the power-on order of each power unit, and the time-sharing power-on strategy is used to determine the power-on timing of each power unit.

[0058] After the power management unit is started, the power management unit independently controls the power-on of each power unit according to the set power-on priority strategy and time-sharing power-on strategy. The power-on priority strategy here mainly limits the power-on sequence between multiple power units. The power-on sequence can be flexibly determined according to the power size and function of each power unit, thereby improving the power-on flexibility and meeting the power-on requirements of the autonomous driving system. In addition, it should be noted that the power-on sequence between multiple power units can be pre-set or adjusted in real time in the program by entering command parameters.

[0059] The time-sharing control strategy mainly controls the time-sharing power-on of each power-consuming unit and the specific power-on timing of each power-consuming unit. Compared with the method of powering on all power-consuming units at the same time after the system is started, it can improve the stability of the system during the power-on process.

[0060] The power-on control method of the autonomous driving system of the embodiment of the present application combines a time-sharing power-on strategy and a power-on priority strategy to control the power-on timing and power-on sequence of each power-consuming unit in the autonomous driving system, so that the power-on timing of each power-consuming unit in the autonomous driving system is automatically controllable, thereby ensuring the power-on efficiency. At the same time, it reduces the impact of the power-on process of each power-consuming unit on other units and the system as a whole, thereby improving the stability of the power-on process.

[0061] In some embodiments of the present application, the power-on control of each power unit is performed separately by the power management unit according to the power-on priority strategy and the time-sharing power-on strategy, including: determining the current power unit and the next power unit to be powered on according to the power-on priority strategy; powering on the current power unit and determining the startup state of the current power unit by the power management unit; and when the startup state of the current power unit is startup completed, powering on the next power unit by the power management unit.

[0062] As mentioned above, the power-on priority strategy can determine the power-on sequence among all power-consuming units in the autonomous driving system. To facilitate the understanding of the specific implementation process of the embodiment of the present application, further examples are given:

[0063] Because the high-precision positioning system needs to search for stars and locate after startup, the high-precision positioning system can be powered on first. Generally, due to the large power of the heat dissipation system, in order to reduce the impact of the power-on process on other devices, the heat dissipation system can be ranked second in power-on priority. Subsequently, the power-on priority can be controlled according to the power size of the sensor unit. The higher the power, the higher the power-on priority of the device. Based on this power-on priority principle, the power-on of units such as ultrasonic radars, cameras, lidars, and millimeter-wave radars is completed. Of course, this is only an example of the power-on sequence of an embodiment of the present application. As for how to set the power-on sequence, those skilled in the art can flexibly set it according to the power size of the power-consuming unit, the functions to be implemented, and the actual needs, etc., and no specific limitation is made here.

[0064] Based on the power-on sequence of all power-consuming units, at the current power-on moment, the current power-consuming unit to be powered on and the next power-consuming unit can be correspondingly determined, and the power management unit can be controlled to power on the current power-consuming unit. At the same time, the power-on process of the current power-consuming unit is monitored to determine the startup state of the current power-consuming unit. The startup state here can be understood as the state of whether the power-consuming unit can achieve basic work. If the startup state of the current power-consuming unit is startup completion, then the power management unit can be controlled to power on the next power-consuming unit in the set order. And so on, until all power-consuming units are powered on.

[0065] In some embodiments of the present application, determining the startup state of the current power consumption unit includes: monitoring a voltage signal of the current power consumption unit; and determining the startup state of the current power consumption unit according to the voltage signal of the current power consumption unit.

[0066] When determining the startup status of the current power unit, the rising edge waveform when the power unit is powered on can be monitored in real time. In the digital pulse circuit, the rising edge waveform describes the change process of the rectangular waveform when the voltage suddenly rises from a low level to a high level. Therefore, the rising edge waveform can reflect the real-time change process of the voltage signal of the power unit. By monitoring and analyzing the rising edge waveform when the power unit is powered on, it can be determined whether the power unit has been started.

[0067] In some embodiments of the present application, determining the startup state of the current power unit according to the voltage signal of the current power unit includes: determining whether the ratio between the supply voltage of the current power unit and the rated supply voltage of the current power unit reaches a preset ratio threshold according to the voltage signal of the current power unit; if so, determining that the startup state of the current power unit is startup completed; otherwise, determining that the startup state of the current power unit is startup in progress.

[0068] When monitoring the voltage change process of the current power unit, the ratio between the power supply voltage of the current power unit and the rated power supply voltage required by it can be calculated in real time. If the ratio between the power supply voltage of the current power unit and the rated power supply voltage required by it reaches a certain ratio threshold, for example, the current supplied voltage reaches 90% of the rated power supply voltage, it means that the current power unit can basically work normally, and its startup state can be considered to be completed, and the power-on process of the next power unit can be carried out. Otherwise, it is considered that the current power unit has not completed the startup, and the power-on process of the next power unit will not be carried out.

[0069] It should be noted that the "startup state" of the power unit defined in the embodiment of the present application is different from the "power-on completion state". The "startup state" indicates whether the power unit can basically meet the working requirements. The judgment method is that the startup is considered to be completed when the ratio between the power supply voltage and the required rated power supply voltage reaches the threshold requirement. The "power-on completion state" indicates whether the power supply voltage of the power unit has reached the rated power supply voltage. The power-on is considered to be completed only when the rated power supply voltage is reached. Therefore, the startup state of a power unit is startup completion, which does not mean that the power unit has completed power-on and stopped powering on. It will continue to power on until its power supply voltage reaches the rated power supply voltage.

[0070] The reason why the embodiment of the present application starts to power on the next power unit after the current power unit is started up, that is, the next power unit does not need to wait until the previous power unit is fully powered on before starting to power on, is to reduce the overall time consumption of the above-mentioned sequential power-on process as much as possible.

[0071] In some embodiments of the present application, when the startup state of the current power unit is startup completion, powering on the next power unit through the power management unit includes: monitoring the voltage fluctuation of the powered-on power unit during the power-on of the next power unit through the power management unit; and controlling the next power-on timing of the next power unit according to the voltage fluctuation of the powered-on power unit.

[0072] Taking into account that an electric unit may cause voltage fluctuations in other electric units at the moment of power-on, thereby affecting the overall stability of the system, the embodiment of the present application will also monitor the voltage fluctuations of the powered-on electric units during the power-on of each electric unit, to determine whether the power-on process of the electric unit has a significant impact on the power supply of the powered-on electric units, and then determine whether the subsequent power-on logic of the electric unit needs to be specially processed to reduce the impact on other electric units and system stability.

[0073] In some embodiments of the present application, controlling the next power-on timing of the next power-consuming unit according to the voltage fluctuation size of the powered-on power unit includes: if the voltage fluctuation size of the powered-on power unit is greater than a preset fluctuation threshold, delaying the next power-on timing of the next power-consuming unit; otherwise, taking the time when the startup status of the current power unit is startup completion as the next power-on timing of the next power-consuming unit.

[0074] The embodiment of the present application can monitor the voltage fluctuation of the powered-on power unit. If the voltage fluctuation of the powered-on power unit exceeds the fluctuation threshold, such as the voltage fluctuation reaches 5%, it is considered that the power-on process of the power unit has caused a significant impact on the power supply of the powered-on power unit. The special processing means to be taken at this time may be to delay the power-on timing of the power unit the next time the power unit is powered on. For example, when the previous power unit is in the startup completion state, the power unit is powered on again after a delay of 10ms. The purpose of setting this delay time is to enable other powered-on power units to enter a more stable working state that is less susceptible to being affected.

[0075] Of course, the maximum delay time can be further constrained here, for example, set to 500ms, in order to control the overall time consumption of the power-on process of the autonomous driving system and ensure the power-on efficiency.

[0076] If the voltage fluctuation of the powered-on power unit does not exceed the fluctuation threshold, it means that its impact on the powered-on power unit and the system as a whole is negligible, and the next power-on timing is still defaulted to the timing when the previous power unit is started.

[0077] It should be noted that the fluctuation thresholds, delay times, etc. involved in the above embodiments are all adjustable custom thresholds, which can be flexibly set according to actual needs and are not specifically limited here.

[0078] In some embodiments of the present application, the power-on control method of the autonomous driving system also includes: when each power unit has been started, monitoring the working status of each power unit; when the working status of any power unit is abnormal, powering off and restarting the power unit in the abnormal state; if the abnormal state is still after powering off and restarting, closing the power interface corresponding to the power unit in the abnormal state.

[0079] When all power-consuming units are powered on normally, the embodiment of the present application will also monitor the working status of each power-consuming unit. If the power-consuming unit is working abnormally, the power management unit can be controlled to power off and restart the abnormal power-consuming unit to restore the abnormal power-consuming unit as much as possible. Real-time detection is performed to determine whether the abnormal power-consuming unit has returned to normal. If the abnormal power-consuming unit still cannot work normally after multiple consecutive restarts, the power interface corresponding to the abnormal power-consuming unit can be closed.

[0080] The present application also provides a power-on control system for an autonomous driving system, such as Figure 3 As shown, a schematic diagram of the structure of a power-on control system of an autonomous driving system in an embodiment of the present application is provided, wherein the power-on control system of the autonomous driving system includes a domain control system, a power management unit, and a plurality of power consumption units, wherein the power management unit is respectively connected to the domain control system and the plurality of power consumption units;

[0081] The domain control system is used to control the startup of the power management unit and to perform power-on control on each power-consuming unit according to a power-on priority strategy and a time-sharing power-on strategy. The power-on priority strategy is used to determine the power-on sequence of each power-consuming unit, and the time-sharing power-on strategy is used to determine the power-on timing of each power-consuming unit.

[0082] In some embodiments of the present application, the domain control system includes a coprocessor, which is specifically used to: determine the current power unit and the next power unit to be powered on according to the power-on priority strategy; power on the current power unit through the power management unit, and determine the startup state of the current power unit; when the startup state of the current power unit is startup completed, power on the next power unit through the power management unit.

[0083] In some embodiments of the present application, the coprocessor is further used to: monitor the voltage signal of the current power consumption unit; and determine the startup state of the current power consumption unit according to the voltage signal of the current power consumption unit.

[0084] In some embodiments of the present application, the coprocessor is also used to: determine whether the ratio between the power supply voltage of the current power consumption unit and the rated power supply voltage of the current power consumption unit reaches a preset ratio threshold based on the voltage signal of the current power consumption unit; if so, determine that the startup state of the current power consumption unit is startup completed; otherwise, determine that the startup state of the current power consumption unit is startup in progress.

[0085] In some embodiments of the present application, the coprocessor is also used to: monitor the voltage fluctuation of the powered-on power unit while the next power unit is powered on by the power management unit; and control the next power-on timing of the next power unit according to the voltage fluctuation of the powered-on power unit.

[0086] In some embodiments of the present application, the coprocessor is also used to: if the voltage fluctuation of the powered-on power unit is greater than a preset fluctuation threshold, delay the next power-on time of the next power unit; otherwise, use the time when the startup status of the current power unit is startup completion as the next power-on time of the next power unit.

[0087] In some embodiments of the present application, the domain control system includes an AD acquisition unit and a coprocessor, the power management unit is provided with multiple power interfaces, and the AD acquisition unit is respectively connected to the multiple power interfaces and the coprocessor; the AD acquisition unit is used to collect voltage signals of each power unit connected to the multiple power interfaces, and send the collected voltage signals of each power unit to the coprocessor; the coprocessor is also used to determine the startup status of each power unit according to the voltage signals of each power unit.

[0088] In some embodiments of the present application, the domain control system also includes a computing power unit and a network switching unit, the computing power unit is connected to the network switching unit, and the network switching unit is connected to the coprocessor; the computing power unit is used to monitor the working status of each power consumption unit, and when the working status of the power consumption unit is abnormal, send a power-off and restart instruction to the coprocessor through the network switching unit; the coprocessor is also used to power-off and restart the power consumption unit in the abnormal state according to the power-off and restart instruction, and when the power consumption unit is still in an abnormal state after power-off and restart, close the power interface corresponding to the power consumption unit in the abnormal state.

[0089] The power-on control system of the autonomous driving system of the present application is mainly composed of a domain control system, a power management unit and a power consumption unit. Among them, the domain control system contains a computing unit, a network switching unit, a coprocessor, an AD acquisition unit, etc. The computing unit is composed of units such as CPU and GPU, the system is complex, the system starts slowly, and the real-time performance is low. The computing unit is mainly responsible for the data computing power calculation of the domain control system, and is connected to the network switching unit through the UPHY network interface. The coprocessor unit is composed of MCU, the system starts quickly, and the real-time performance is high. The coprocessor is mainly responsible for processing events with high real-time performance and low computing power requirements, and is connected to the network switching unit through the RGMII network interface. Therefore, the coprocessor unit and the computing unit can communicate through the network. The AD acquisition unit is used to collect the voltage of each power output port in the power management unit, and can be used to monitor the stability of the power output. The AD acquisition unit is controlled and managed by the coprocessor unit through the SPI communication interface. The AD acquisition unit sends the collected power supply voltage of each sensor to the coprocessor, so the coprocessor can realize the monitoring and management of the power supply voltage of each sensor.

[0090] The power management unit is connected to the coprocessor in the domain control system through the CAN port. The power management unit has multiple power output ports, and each power output port is independent of each other and can control the on and off of the power output individually.

[0091] The power unit of the present application includes a sensor unit, which may include, for example, multiple millimeter-wave radars, multiple ultrasonic radars, one or more laser radars, multiple cameras, and a high-precision positioning system, etc. The multiple cameras specifically include 2 front-view cameras, 1 rear-view camera, 4 side-view cameras, and 4 surround-view cameras, a total of 11 cameras. The power unit of the present application also includes a heat dissipation system for heat dissipation of the domain control system. Each power unit of the present application is powered by an independent power output port of the power management unit.

[0092] It can be understood that the power-on control system of the above-mentioned autonomous driving system can implement the various steps of the power-on control method of the autonomous driving system provided in the aforementioned embodiments, and the relevant explanations on the power-on control method of the autonomous driving system are applicable to the power-on control system of the autonomous driving system and will not be repeated here.

[0093] In summary, this application has achieved at least the following technical effects:

[0094] 1) Manage the power-on sequence of autonomous driving sensors and other equipment units through the autonomous driving domain control system, so that the power-on sequence of autonomous driving sensor units can be automatically controlled;

[0095] 2) The time-sharing power-on strategy can ensure that multiple power-consuming units can be powered on at different times and that the power-consuming units are powered on as quickly as possible, thus minimizing the impact of power fluctuations caused by equipment power-on on the system;

[0096] 3) The combination of time-sharing power-on strategy and power-on priority strategy can further reduce the impact of voltage fluctuations caused by the power-on process of the device on other devices;

[0097] 4) By real-time monitoring of abnormal power consumption units, it is possible to perform a separate power-off and restart operation on the abnormal power consumption units, and the power-off processing mechanism after the abnormal power consumption units are automatically restarted multiple times in a row helps to restore the abnormal equipment;

[0098] 5) Multiple power supply channels are set on the power management unit to realize independent power supply to multiple power consumption units;

[0099] 6) The co-processing unit is composed of an MCU, which has a fast power-on startup and can quickly complete the control of the power management unit and the AD acquisition unit after power-on, thus reducing the system operation waiting time.

[0100] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 4 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include a memory, such as a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. Of course, the electronic device may also include hardware required for other services.

[0101] The processor, network interface and memory can be interconnected through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0102] The memory is used to store the program. Specifically, the program may include a program code, and the program code includes a computer operation instruction. The memory may include a memory and a non-volatile memory, and provides instructions and data to the processor.

[0103] The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it. The processor executes the program stored in the memory and is specifically used to perform the following operations:

[0104] Controlling the power management unit to start working through the domain control system;

[0105] According to the power-on priority strategy and the time-sharing power-on strategy, the power management unit controls the power-on of each power-consuming unit respectively;

[0106] The power-on priority strategy is used to determine the power-on sequence of each power-consuming unit, and the time-sharing power-on strategy is used to determine the power-on timing of each power-consuming unit.

[0107] The above application Figure 2 The power-on control method of the autonomous driving system disclosed in the illustrated embodiment can be implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or instructions in software form. The above processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0108] The present application also provides a computer program product, which stores one or more programs, wherein the one or more programs include instructions, which, when executed by an electronic device including multiple application programs, enable the electronic device to execute Figure 2 The power-on control method of the autonomous driving system in the illustrated embodiment is specifically used to execute:

[0109] Controlling the power management unit to start working through the domain control system;

[0110] According to the power-on priority strategy and the time-sharing power-on strategy, the power management unit controls the power-on of each power-consuming unit respectively;

[0111] The power-on priority strategy is used to determine the power-on sequence of each power-consuming unit, and the time-sharing power-on strategy is used to determine the power-on timing of each power-consuming unit.

[0112] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0113] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0114] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0115] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0116] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0117] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0118] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0119] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0120] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0121] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A power-on control method for an autonomous driving system, wherein: The power-on control method of the autonomous driving system is executed by a power-on control system of the autonomous driving system, wherein the power-on control system of the autonomous driving system includes a domain control system, a power management unit, and a plurality of power consumption units. The power-on control method of the autonomous driving system includes: Controlling the power management unit to start working through the domain control system; According to the power-on priority strategy and the time-sharing power-on strategy, the power management unit controls the power-on of each power-consuming unit respectively; The power-on priority strategy is used to determine the power-on sequence of each power-consuming unit, and the time-sharing power-on strategy is used to determine the power-on timing of each power-consuming unit.

2. The power-on control method of the automatic driving system according to claim 1, wherein: The controlling the power-on of each power-consuming unit by the power management unit according to the power-on priority strategy and the time-sharing power-on strategy includes: Determine the current power-consuming unit and the next power-consuming unit to be powered on according to the power-on priority strategy; Powering on the current power-consuming unit through the power management unit and determining a startup state of the current power-consuming unit; When the startup state of the current power-consuming unit is startup completion, the next power-consuming unit is powered on by the power management unit.

3. The power-on control method of the automatic driving system according to claim 2, wherein: The determining the startup state of the current power consumption unit includes: Monitoring the voltage signal of the current power consumption unit; The startup state of the current power consuming unit is determined according to the voltage signal of the current power consuming unit.

4. The power-on control method of the automatic driving system according to claim 3, wherein: The step of determining the startup state of the current power-consuming unit according to the voltage signal of the current power-consuming unit includes: Determining, according to the voltage signal of the current power consumption unit, whether a ratio between the power supply voltage of the current power consumption unit and the rated power supply voltage of the current power consumption unit reaches a preset ratio threshold; If yes, determining that the startup state of the current power-consuming unit is startup completed; Otherwise, it is determined that the current startup state of the power-consuming unit is startup.

5. The power-on control method of the automatic driving system according to claim 2, wherein: When the startup state of the current power-consuming unit is startup completion, powering on the next power-consuming unit by the power management unit includes: During the power-on of the next power-consuming unit by the power management unit, monitoring the voltage fluctuation of the powered-on power-consuming unit; The next power-on timing of the next power-on unit is controlled according to the voltage fluctuation of the powered-on power unit.

6. The power-on control method of the automatic driving system according to claim 5, wherein: The controlling the next power-on time of the next power-on unit according to the voltage fluctuation of the powered-on power unit comprises: If the voltage fluctuation of the powered-on power-consuming unit is greater than a preset fluctuation threshold, delaying the next power-on timing of the next power-consuming unit; Otherwise, the timing when the startup state of the current power-consuming unit is startup completion is used as the next power-on timing of the next power-consuming unit.

7. The power-on control method of the automatic driving system according to any one of claims 1 to 6, wherein: The power-on control method of the automatic driving system further includes: When all power consumption units are started up, monitor the working status of each power consumption unit; When the working state of any power consumption unit is abnormal, the power consumption unit in abnormal state is powered off and restarted; If the abnormal state still exists after power off and restart, the power interface corresponding to the power consumption unit in the abnormal state is closed.

8. A power-on control system for an autonomous driving system, wherein: The power-on control system of the autonomous driving system includes a domain control system, a power management unit, and a plurality of power consumption units, wherein the power management unit is connected to the domain control system and the plurality of power consumption units respectively; The domain control system is used to control the startup of the power management unit and to perform power-on control on each power-consuming unit according to a power-on priority strategy and a time-sharing power-on strategy. The power-on priority strategy is used to determine the power-on sequence of each power-consuming unit, and the time-sharing power-on strategy is used to determine the power-on timing of each power-consuming unit.

9. The power-on control system of the automatic driving system as claimed in claim 8, wherein: The domain control system includes an AD acquisition unit and a coprocessor, the power management unit is provided with multiple power interfaces, and the AD acquisition unit is respectively connected to the multiple power interfaces and the coprocessor; The AD acquisition unit is used to collect voltage signals of various power consumption units connected to the multiple power supply interfaces, and send the collected voltage signals of various power consumption units to the coprocessor; The coprocessor is used to determine the startup state of each power-consuming unit according to the voltage signal of each power-consuming unit.

10. The power-on control system of the automatic driving system according to claim 9, wherein: The domain control system further includes a computing unit and a network switching unit, wherein the computing unit is connected to the network switching unit, and the network switching unit is connected to the coprocessor; The computing unit is used to monitor the working state of each power-consuming unit, and when the working state of each power-consuming unit is abnormal, send a power-off and restart instruction to the coprocessor through the network switching unit; The coprocessor is further configured to power off and restart the power-consuming unit in an abnormal state according to the power-off and restart instruction, and to close the power interface corresponding to the power-consuming unit in the abnormal state if the power-consuming unit is still in an abnormal state after the power-off and restart.

11. An electronic device, comprising: processor; And a memory arranged to store computer executable instructions, which, when executed, cause the processor to execute the power-on control method of the automatic driving system according to any one of claims 1 to 7.

12. A computer program product, comprising a computer program or instructions, which, when executed by a processor, implements the power-on control method of the automatic driving system according to any one of claims 1 to 7.

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