Advanced driver assistance systems and intelligent driver cars

Abstract

The application discloses an advanced driving assistance system and an intelligent driving automobile, and relates to the technical field of intelligent driving automobiles.The advanced driving assistance system comprises an information assistance module, a central decision unit and an electronic controller.The electronic controller is connected with the central decision unit and the information assistance module respectively.The information assistance module is used for sensing real-time information of a vehicle.The electronic controller is used for receiving the real-time information and determining a coefficient matrix which needs to be adjusted according to the real-time information.The central decision unit is used for adjusting a standard coefficient matrix according to the coefficient matrix and controlling vehicle driving by using the adjusted standard coefficient matrix.The electronic controller (unit) shares the computing power burden of the central decision unit, and the central decision unit realizes the anti-skid speed limiting function by adjusting the coefficient matrix, so as to guarantee the driving safety of the advanced driving assistance system of the intelligent driving automobile.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving cars, in particular to a high-level driving assistance system and an intelligent driving car. BACKGROUND

[0002] With the continuous development of intelligent driving technology, more and more high-end cars and even low-end cars begin to gradually carry some ADAS (Advanced Driver Assistance Systems). ADAS is essentially an auxiliary driving system, which can be regarded as a prerequisite for an autonomous driving car.

[0003] ADAS is a technology that uses various sensors (millimeter wave radar, laser radar, single / dual camera, and satellite navigation) installed on the car to sense the environment around the car at any time, collect data, identify, detect and track static and dynamic objects, and combine navigation map data to perform system calculations and analysis, so as to let the driver be aware of possible dangers in advance, effectively increasing the comfort and safety of car driving. According to the "Road Vehicle Advanced Driver Assistance System (ADAS) Terms and Definition Requirements", ADAS can be divided into two categories: information assistance and control assistance. For example, information assistance includes 360-degree panoramic image AVM, forward collision warning FCW, and control assistance includes adaptive cruise control ACC, automatic emergency braking AEB.

[0004] In order to further develop and promote intelligent driving technology, and to more comprehensively cope with more road conditions and climate conditions in the country, it is necessary to design more accurate and intelligent circuit systems on the basis of existing ADAS architecture, so as to cope with rainy days, ice surfaces in northern winters, and various adverse factors such as rough mountain roads, while further ensuring driving safety in a wider range. SUMMARY

[0005] The main purpose of the present application is to provide a high-level driving assistance system and an intelligent driving car, which aims to solve the problem of driving safety of ADAS (Advanced Driver Assistance System) in the face of various adverse road conditions such as rainy days, ice surfaces in northern winters, and rough mountain roads.

[0006] To achieve the above purpose, the present application provides a high-level driving assistance system, which comprises an information assistance module, a central decision unit and an electronic controller.

[0007] The electronic controller is connected to the central decision unit and the information assistance module, respectively.

[0008] The information assistance module is used to perceive the real-time information of the vehicle.

[0009] The electronic controller is configured to receive the real-time information and determine a coefficient matrix that needs to be adjusted according to the real-time information;

[0010] The central decision unit is configured to adjust a standard coefficient matrix according to the coefficient matrix and control vehicle driving by using the adjusted standard coefficient matrix.

[0011] Optionally, the advanced driving assistance system further comprises a control assistance module.

[0012] The control assistance module is connected to the electronic controller and the central decision unit respectively.

[0013] The central decision unit is configured to adjust a standard coefficient matrix according to the coefficient matrix and send a vehicle driving instruction to the control assistance module by using the adjusted standard coefficient matrix.

[0014] The control assistance module is configured to receive the vehicle driving instruction and control vehicle driving.

[0015] Optionally, the information assistance module comprises a panoramic image system, a cabin monitoring system and an engine management system.

[0016] The electronic controller is connected to the panoramic image system, the cabin monitoring system and the engine management system respectively.

[0017] The panoramic image system is configured to obtain panoramic images of road conditions and provide real-time information of road conditions for the electronic controller according to the panoramic images.

[0018] The cabin monitoring system is configured to monitor perception data of passengers in the cabin and provide real-time information of passengers for the electronic controller according to the perception data.

[0019] The engine management system is configured to obtain real-time states of the engine and provide real-time information of the engine for the electronic controller.

[0020] Optionally, the control assistance module comprises a cruise system, a motion control system and a warning system.

[0021] The central decision unit and the electronic controller are connected to the cruise system, the motion control system and the warning system respectively.

[0022] The cruise system is configured to receive the vehicle driving instruction and adjust a distance.

[0023] The motion control system is configured to receive the vehicle driving instruction and comprehensively control acceleration, braking, steering and suspension functions of the vehicle.

[0024] The warning system is configured to receive a vehicle driving instruction and provide warning information to the driver through the vehicle machine system when a speed coefficient in the vehicle driving instruction is greater than a preset speed.

[0025] The warning system is further configured to receive a vehicle driving instruction and provide warning information to the driver through the vehicle machine system when a vehicle distance coefficient in the vehicle driving instruction is less than a preset vehicle distance.

[0026] Optionally, the electronic controller comprises a communication interface, a system-level chip and a data storage module.

[0027] The system-level chip is connected to the information assistance module, the central decision unit and the data storage module through the communication interface, and the data storage module is connected to the central decision unit through the communication interface.

[0028] The data storage module is configured to receive and store real-time information obtained by the information assistance module, and transmit the real-time information to the system-level chip for algorithm training.

[0029] The system-level chip is configured to receive the real-time information and determine a coefficient matrix that needs to be adjusted for vehicle operation according to the real-time information.

[0030] Optionally, the communication interface comprises an uplink communication interface and a downlink communication interface.

[0031] The uplink communication interface is connected to the information assistance module and the system-level chip respectively, and the downlink communication interface is connected to the central decision unit, the system-level chip and the data storage module respectively.

[0032] The downlink communication interface is configured to transmit the real-time information obtained by the information assistance module to the system-level chip.

[0033] The downlink communication interface is configured to transmit the coefficient matrix that needs to be adjusted for vehicle operation generated by the system-level chip to the central decision unit.

[0034] The downlink communication interface is further configured to transmit control information of the central decision unit to the system-level chip.

[0035] Optionally, the system-level chip is further configured to perform algorithm training according to road condition pictures and personnel pictures in the real-time information.

[0036] The system-level chip is further configured to determine a road condition during vehicle operation to adjust the coefficient matrix according to the algorithm training result of the road condition pictures.

[0037] The system-level chip is further configured to determine a vehicle load to adjust the coefficient matrix according to the algorithm training result of the personnel pictures.

[0038] Optionally, the system on chip is further configured to generate the roughness coefficient of the coefficient matrix according to the road condition picture in the real-time information and the comparison result.

[0039] The system on chip is further configured to generate the friction coefficient of the coefficient matrix according to the vehicle state information in the real-time information.

[0040] Optionally, the central decision unit is further configured to provide warning information to the driver through the vehicle machine system when the roughness coefficient exceeds a first preset threshold.

[0041] The central decision unit is further configured to provide warning information to the driver through the vehicle machine system when the friction coefficient exceeds a second preset threshold.

[0042] In addition, in order to achieve the above-mentioned purpose, the application also provides an intelligent driving automobile, which comprises the advanced driving assistance system.

[0043] The one or more technical solutions provided by the application have at least the following effects:

[0044] The application discloses an advanced driving assistance system, which comprises an information assistance module, a central decision unit and an electronic controller. The electronic controller is connected with the central decision unit and the information assistance module respectively. The information assistance module is used for sensing real-time information of a vehicle. The electronic controller is used for receiving the real-time information and determining a coefficient matrix which needs to be adjusted for vehicle operation according to the real-time information. The central decision unit is used for adjusting a standard coefficient matrix according to the coefficient matrix and controlling vehicle driving by using the adjusted standard coefficient matrix. The electronic controller (unit) shares the calculation power burden of the central decision unit, and the central decision unit realizes the anti-skid speed limiting function by adjusting the coefficient matrix, so as to ensure the driving safety of the advanced driving assistance system of the intelligent driving automobile. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0046] Figure 1 The structural schematic diagram of the first embodiment of the advanced driving assistance system provided by the application;

[0047] Figure 2 The first structural schematic diagram of the second embodiment of the advanced driving assistance system provided by the application;

[0048] Figure 3 A second structure schematic diagram of a second embodiment of the advanced driving assistance system proposed in the embodiments of the present application;

[0049] Figure 4 A structure schematic diagram of a third embodiment of the advanced driving assistance system proposed in the embodiments of the present application;

[0050] Figure 5 A coefficient matrix diagram of the present application.

[0051] Explanation of reference signs:

[0052]

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[0054] The purposes, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are merely intended to explain the technical solutions of the present application, and are not intended to limit the present application.

[0056] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0057] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications will also change accordingly.

[0058] In addition, the description of "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the technical features indicated or the number of the technical features indicated. Therefore, the features with "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of those of ordinary skill in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present application.

[0059] The main solution of the embodiment of the application is that the electronic controller 2 (unit) shares the calculation load of the central decision unit 3, and the central decision unit 3 realizes the anti-skid speed limiting function by adjusting the coefficient matrix, so as to ensure the driving safety of the advanced driver assistance system of the intelligent driving vehicle.

[0060] The application provides a solution, and an advanced driver assistance system is provided, which comprises an information assistance module 1, a central decision unit 3 and an electronic controller 2; the electronic controller 2 is connected with the central decision unit 3 and the information assistance module 1 respectively; the information assistance module 1 is used for sensing real-time information of a vehicle; the electronic controller 2 is used for receiving the real-time information and determining a coefficient matrix that needs to be adjusted according to the real-time information; and the central decision unit 3 is used for adjusting a standard coefficient matrix according to the coefficient matrix and controlling the vehicle to travel by using the adjusted standard coefficient matrix. The electronic controller 2 (unit) shares the calculation load of the central decision unit 3, and the central decision unit 3 realizes the anti-skid speed limiting function by adjusting the coefficient matrix, so as to ensure the driving safety of the advanced driver assistance system of the intelligent driving vehicle.

[0061] Based on this, the embodiment of the application provides an advanced driver assistance system.

[0062] Reference Figure 1 , Figure 1 The structure schematic diagram of the first embodiment of the advanced driver assistance system provided by the embodiment of the application is shown in FIG. 1.

[0063] Considering that the ADAS (advanced driver assistance system) has driving safety problems in the face of various adverse road conditions such as rainy days, ice surfaces in northern winters and relatively rugged mountain roads, and in order to ensure the driving safety of the advanced driver assistance system of the intelligent driving vehicle, the advanced driver assistance system comprises an information assistance module 1, a central decision unit 3 and an electronic controller 2.

[0064] The electronic controller 2 is connected with the central decision unit 3 and the information assistance module 1 respectively.

[0065] The information assistance module 1 is used for sensing real-time information of a vehicle.

[0066] The electronic controller 2 is used for receiving the real-time information and determining a coefficient matrix that needs to be adjusted according to the real-time information.

[0067] The central decision unit 3 is used for adjusting a standard coefficient matrix according to the coefficient matrix and controlling the vehicle to travel by using the adjusted standard coefficient matrix.

[0068] It should be noted that the real-time information includes: real-time information of road conditions such as snow or ice surface, rough mountain road, etc., basic information of the number of passengers in the car, weight, etc., real-time information of the power of the car engine, speed, etc. As shown in Figure 5 Figure 5 The coefficient matrix is a coefficient matrix diagram of the application, and the coefficient matrix includes: speed coefficient, braking coefficient, steering coefficient, friction coefficient, rough coefficient, and vehicle distance coefficient. The advanced driving assistance system also includes an anti-skid speed limiting protection system. The real-time information can also be perception information.

[0069] It can be understood that the electronic controller 2 in the embodiment is an ECU (Electronic Control Unit), which is an independent ECU, controls more intelligently and finely, and can better share the computing burden of the central decision unit 3; has strong scalability, and the ECU can be independently developed and more conveniently extended on the existing ADAS system; the ECU can be mounted on a high-end vehicle in hardware, and the central decision unit 3 uses the reporting coefficient matrix, and the coefficient matrix of the central decision unit 3 can be set to the default state in software, which is used for compatibility with low-end vehicles, so that the maintenance cost of the hardware can be well reduced.

[0070] In a specific implementation, the information assistance module 1 is configured to perceive real-time information of a vehicle; the electronic controller 2 is configured to receive the real-time information and determine a coefficient matrix that needs to be adjusted for vehicle operation according to the real-time information; and the central decision unit 3 is configured to adjust a standard coefficient matrix according to the coefficient matrix and control vehicle driving by using the adjusted standard coefficient matrix, so as to ensure the driving safety of the advanced driving assistance system of the intelligent driving vehicle.

[0071] Further, considering receiving and executing the decision of the central decision unit 3, the advanced driving assistance system described in the embodiment further includes a control assistance module 4.

[0072] The control assistance module 4 is connected to the electronic controller 2 and the central decision unit 3 respectively.

[0073] The central decision unit 3 is configured to adjust a standard coefficient matrix according to the coefficient matrix and send a vehicle driving instruction to the control assistance module 4 by using the adjusted standard coefficient matrix.

[0074] The control assistance module 4 is configured to receive the vehicle driving instruction and control vehicle driving.

[0075] It should be noted that the vehicle driving instruction includes adjusting the vehicle distance, and comprehensively controlling the acceleration, braking, steering, and suspension of the vehicle.

[0076] ​In a specific implementation, the central decision unit 3 is configured to adjust a standard coefficient matrix according to the coefficient matrix, and send a vehicle driving instruction to the control auxiliary module 4 by using the adjusted standard coefficient matrix; and the control auxiliary module 4 is configured to receive the vehicle driving instruction and control the vehicle driving, so as to receive the decision of the central decision unit 3 and execute.

[0077] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as the above first embodiment can be referred to the above description, and will not be described hereinafter. On this basis, please refer to Figure 2 , Figure 2 The first structural diagram of the second embodiment of the advanced driving assistance system proposed in the embodiment of the present application.

[0078] Considering that the electronic controller 2 unit (ECU) is provided with perception information, the information auxiliary module 1 in the embodiment comprises a panoramic image system, a cabin monitoring system and an engine management system.

[0079] The electronic controller 2 is connected with the panoramic image system, the cabin monitoring system and the engine management system respectively.

[0080] The panoramic image system is configured to obtain panoramic images of road conditions and judge the road conditions according to the panoramic images to provide real-time information of the road conditions for the electronic controller 2.

[0081] The cabin monitoring system is configured to monitor the perception data of passengers in the cabin and judge the passenger conditions in the vehicle according to the perception data to provide real-time information of the passengers for the electronic controller 2.

[0082] The engine management system is configured to obtain real-time states of the engine to provide real-time information of the engine for the electronic controller 2.

[0083] It should be noted that, as shown in Figure 3 , Figure 3The second structure schematic diagram of the second embodiment of the advanced driving assistance system proposed in the embodiment of the present application, the panoramic image system is an AVM 360° panoramic image system: AVM (Around View Monitoring), i.e. a 360° panoramic image system. The image is captured through multiple super wide-angle fisheye lenses, and the captured image is corrected and spliced through a special algorithm to form a panoramic image around the object. In the anti-skid speed limiting protection system, it can be used for a judgment method for special road conditions, such as real-time information of snow or ice surface, relatively rugged mountain road and the like. The cabin monitoring system is an OMS cabin monitoring system: the passenger monitoring system (OMS, Occupancy Monitoring System) is an extension of the DMS system, which can further improve the safety performance of the vehicle by monitoring the perception data of the passengers in the cabin. In the anti-skid speed limiting protection system, it can be used to judge the number, weight and other basic information of the passengers in the vehicle. The engine management system is an EMS engine management system: the engine management system (Engine Management System) in the modern intelligent vehicle is used to greatly improve the engine performance, and can accurately obtain the intake air volume, engine speed and acceleration and deceleration conditions, and convert them into electrical signals. In the anti-skid speed limiting protection system, it can be used to provide real-time information such as power and speed of the vehicle engine.

[0084] In a specific implementation, the panoramic image system is configured to obtain a panoramic image of a road condition and provide real-time information of the road condition to the electronic controller 2 according to the panoramic image; the cabin monitoring system is configured to monitor perception data of passengers in the cabin and provide real-time information of the passengers to the electronic controller 2 according to the perception data; and the engine management system is configured to obtain a real-time state of the engine and provide real-time information of the engine to the electronic controller 2, thereby providing real-time information to the electronic controller 2.

[0085] Further, considering receiving the decision of the central decision unit 3 and performing, such as obtaining and performing real-time information such as vehicle distance and speed, the control assistance module 4 described in the embodiment includes a cruise system, a motion control system and an alarm system.

[0086] The central decision unit 3 and the electronic controller 2 are connected to the cruise system, the motion control system and the alarm system, respectively.

[0087] The cruise system is configured to receive a vehicle driving instruction to adjust the vehicle distance.

[0088] The motion control system is configured to receive a vehicle driving instruction to comprehensively control the acceleration, braking, steering and suspension functions of the vehicle.

[0089] The warning system is configured to receive the vehicle driving instruction, and when a speed coefficient in the vehicle driving instruction is greater than a preset speed, provide warning information to the driver through the vehicle machine system.

[0090] The warning system is further configured to receive the vehicle driving instruction, and when a vehicle distance coefficient in the vehicle driving instruction is less than a preset vehicle distance, provide warning information to the driver through the vehicle machine system.

[0091] It should be noted that the cruise system is an ACC cruise system: ACC (Adaptive Cruise Control), that is, an adaptive cruise system. When the distance between the vehicle and the preceding vehicle is too small, the ACC control unit can make the wheels brake properly and the output power of the engine decrease through coordination with the anti-lock braking system and the engine control system, so that the vehicle always maintains a safe distance from the preceding vehicle. In this anti-skid speed limiting protection system, functions such as real-time adjustment of vehicle distance according to weather, road conditions, etc. can be used. The motion control system is a VMC motion control system: the Vehicle Motion Control (VMC) system is a kind of system that integrates multiple sensors, controllers and actuators, which comprehensively controls the acceleration, braking, steering and suspension of the vehicle to improve the controllability, safety and comfort of the vehicle. The warning system is a Warning system, which provides warning information to the driver when special conditions occur, such as continuous abnormality of vehicle speed and vehicle distance, and road complexity exceeding the control ability of the ECU.

[0092] In a specific implementation, the cruise system is configured to receive the vehicle driving instruction to adjust the vehicle distance; the motion control system is configured to receive the vehicle driving instruction to comprehensively control the acceleration, braking, steering and suspension functions of the vehicle; the warning system is configured to receive the vehicle driving instruction and, when a speed coefficient in the vehicle driving instruction is greater than a preset speed, provide warning information to the driver through the vehicle machine system; and the warning system is further configured to receive the vehicle driving instruction and, when a vehicle distance coefficient in the vehicle driving instruction is less than a preset vehicle distance, provide warning information to the driver through the vehicle machine system, thereby receiving the decision of the central decision unit 3 and executing it.

[0093] Based on the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as the above-mentioned second embodiment can be referred to the above introduction, and will not be described in detail. On this basis, please refer to Figure 4 , Figure 4 The structure diagram of the third embodiment of the advanced driving assistance system proposed in the embodiment of the present application.

[0094] Considering that the intelligent driving automobile control is more intelligent and fine, and in order to share the computing burden of the central decision unit 3, the electronic controller 2 in the embodiment comprises a communication interface, a system-level chip and a data storage module.

[0095] The system-level chip is connected with the information auxiliary module 1, the central decision unit 3 and the data storage module through the communication interface, and the data storage module is connected with the central decision unit 3 through the communication interface;

[0096] The data storage module is used for receiving and storing the real-time information acquired by the information auxiliary module 1, and transmitting the real-time information to the system-level chip for algorithm training.

[0097] The system-level chip is used for receiving the real-time information, and determining the coefficient matrix which needs to be adjusted according to the real-time information.

[0098] It should be noted that the system-level chip is SOC, the central decision unit 3 can be a central domain control unit, the information auxiliary module 1 can be a perception module, and the data storage module is used for storing road condition picture information, personnel picture information and the like, and is used for algorithm training. For example, the road conditions such as ice surface, rainy road and mountainous area, and the like, improve the accuracy of road condition recognition. The personnel picture information is used for passenger basic information comparison, such as age, fatness and the like, and is used for the system-level chip to calculate the vehicle load condition. The system-level chip processes the information obtained by the perception module, generates result information, and reports the result information to the central domain control unit (central decision unit). For example, according to the road condition image and the comparison result, the information such as road roughness, ice surface smoothness and the like is generated. According to the vehicle load, engine power, vehicle speed acceleration and the like, the information such as friction coefficient and the like is generated.

[0099] It can be understood that after the system-level chip processing, all the information is reported in the form of coefficient matrix, and the central domain control unit (central decision unit) internally stores a standard coefficient matrix, such as a coefficient matrix full of "[1]", which represents the vehicle speed, acceleration, braking force, steering and the like in an ideal condition. For example, in the case of ice surface or rainy day, it is more difficult for the vehicle to brake, and a larger vehicle distance, lower vehicle speed is needed to ensure driving safety, and lower braking force is needed to reduce vehicle skidding, so compared with the ideal condition, the central domain control unit (central decision unit) needs to multiply the corresponding coefficient matrix to generate the control information such as vehicle distance and vehicle speed of the ACC and VMC systems in this special condition.

[0100] In a specific implementation, the data storage module is used for receiving and storing the real-time information acquired by the information auxiliary module 1, and transmitting the real-time information to the system-level chip for algorithm training; and the system-level chip is used for receiving the real-time information, and determining the coefficient matrix which needs to be adjusted according to the real-time information, so as to realize the protection functions such as anti-skid speed limiting.

[0101] Further, considering the information interaction of each module of the electronic controller 2 unit, the communication interface of the embodiment includes: an uplink communication interface and a downlink communication interface.

[0102] The uplink communication interface is connected with the information auxiliary module 1 and the system-level chip respectively, and the downlink communication interface is connected with the central decision unit 3, the system-level chip and the data storage module respectively.

[0103] The downlink communication interface is used for transmitting the real-time information acquired by the information auxiliary module 1 to the system-level chip.

[0104] The downlink communication interface is used for transmitting the coefficient matrix generated by the system-level chip to the central decision unit 3.

[0105] The downlink communication interface is also used for transmitting the control information of the central decision unit 3 to the system-level chip.

[0106] It should be noted that the downlink communication interface is used for obtaining real-time information such as road condition images, passenger images in the cabin, engine power and vehicle speed. The uplink communication interface is used for realizing information interaction with the central domain control unit (central decision unit), and the central domain control unit (central decision unit) can realize the request and control of the ECU.

[0107] In a specific implementation, the downlink communication interface is used for transmitting the real-time information acquired by the information auxiliary module 1 to the system-level chip; the downlink communication interface is used for transmitting the coefficient matrix generated by the system-level chip to the central decision unit 3; and the downlink communication interface is also used for transmitting the control information of the central decision unit 3 to the system-level chip, thereby realizing real-time information interaction.

[0108] Further, the system-level chip is also used for algorithm training according to the road condition pictures and the personnel pictures in the real-time information.

[0109] The system-level chip is also used for determining the road condition during the vehicle operation to adjust the coefficient matrix according to the algorithm training result of the road condition pictures.

[0110] The system-level chip is also used for determining the vehicle load to adjust the coefficient matrix according to the algorithm training result of the personnel pictures.

[0111] Further, the system-level chip is also used for generating the rugged coefficient of the coefficient matrix according to the road condition pictures and the comparison result in the real-time information.

[0112] The system-level chip is also used for generating the friction coefficient of the coefficient matrix according to the vehicle state information in the real-time information.

[0113] It should be noted that the ruggedness coefficient is an index for quantifying the ruggedness of the terrain. Based on the definition of terrain slope, the ruggedness index can be defined as the proportion of terrain slope exceeding a certain critical value around a certain point. In the polar coordinate system with a certain length as the radius, each radius line can intersect with the terrain contour, and the intersection point divides the radius line into several line segments. The sum of the line segments with terrain slope exceeding the critical slope divided by the total sum of all line segments can obtain the ruggedness index. Based on grid data calculation: using elevation data and a specific algorithm to calculate the terrain ruggedness index. This method usually involves converting elevation data into grid data, and then applying an algorithm to calculate the ruggedness index of each grid point. Then, the grid data can be aggregated as needed to calculate the average ruggedness index, maximum ruggedness index, minimum ruggedness index, and ruggedness index standard deviation of a region (such as a province, city, or county). The friction coefficient refers to the ratio of the friction force between two surfaces to the vertical force acting on one of the surfaces, and its calculation formula is: friction coefficient = friction force ÷ vertical force.

[0114] In a specific implementation, the system-on-chip is further configured to determine the road condition of the vehicle in operation according to the algorithm training result of the road condition picture to adjust the coefficient matrix; and the system-on-chip is further configured to determine the vehicle load according to the algorithm training result of the personnel picture to adjust the coefficient matrix. The system-on-chip is further configured to generate the ruggedness coefficient of the coefficient matrix according to the road condition picture in the real-time information and the comparison result; and the system-on-chip is further configured to generate the friction coefficient of the coefficient matrix according to the vehicle state information in the real-time information, so as to realize the protection functions such as anti-skid speed limiting.

[0115] Further, the central decision unit is further configured to provide warning information to the driver through the vehicle machine system when the ruggedness coefficient exceeds a first preset threshold value.

[0116] The central decision unit is further configured to provide warning information to the driver through the vehicle machine system when the friction coefficient exceeds a second preset threshold value.

[0117] It can be understood that the first preset threshold value and the second preset threshold value can be set according to actual conditions, and the present embodiment is not limited.

[0118] In a specific implementation, in the case of snow, the central domain control unit (central decision unit) can not only reduce the speed of the vehicle according to the coefficient matrix, but also judge whether to start the snow mode according to whether the relevant coefficient exceeds the threshold value, so as to distinguish between light snow and heavy snow. In addition, for some special conditions, such as mountain roads or relatively steep hilly areas, the ruggedness coefficient exceeds the corresponding threshold value, and it is not easy to realize automatic driving of the vehicle; the central domain control unit (central decision unit) can trigger the Warning warning system to remind the driver to switch to manual driving mode for this section of road.

[0119] In addition, to achieve the above object, the application further provides an intelligent driving automobile, which comprises the advanced driving assistance system.

[0120] The preferred embodiments of the application are described above, but the patent scope of the application is not limited thereto, and any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields, which is made by using the content of the specification and drawings of the application, is also included in the patent protection scope of the application.

Claims

1. An advanced driver assistance system, characterized by, The advanced driving assistance system comprises an information assistance module, a central decision unit and an electronic controller; The electronic controller is connected with the central decision unit and the information assistance module respectively; The information assistance module is configured to perceive real-time information of the vehicle; The electronic controller is configured to receive the real-time information and determine a coefficient matrix which needs to be adjusted according to the real-time information, wherein the coefficient matrix comprises a speed coefficient, a braking coefficient, a steering coefficient, a friction coefficient, a rugged coefficient and a vehicle distance coefficient; The central decision unit is configured to adjust a standard coefficient matrix according to the coefficient matrix, wherein the standard coefficient matrix comprises a vehicle speed, an acceleration, a braking force and a steering, and control the vehicle to run by using the adjusted standard coefficient matrix.

2. The advanced driver assistance system of claim 1, wherein, The advanced driving assistance system further comprises a control assistance module; The control assistance module is connected with the electronic controller and the central decision unit respectively; The central decision unit is configured to adjust a standard coefficient matrix according to the coefficient matrix and send a vehicle running instruction to the control assistance module by using the adjusted standard coefficient matrix; The control assistance module is configured to receive the vehicle running instruction and control the vehicle to run.

3. The advanced driver assistance system of claim 2, wherein The information assistance module comprises a panoramic image system, a cabin monitoring system and an engine management system; The electronic controller is connected with the panoramic image system, the cabin monitoring system and the engine management system respectively; The panoramic image system is configured to acquire panoramic images of road conditions and judge the road conditions according to the panoramic images to provide real-time information of the road conditions for the electronic controller; The cabin monitoring system is configured to monitor perception data of passengers in the cabin and judge the conditions of the passengers in the vehicle according to the perception data to provide real-time information of the passengers for the electronic controller; The engine management system is configured to obtain real-time states of the engine to provide real-time information of the engine for the electronic controller.

4. The advanced driver assistance system of claim 2, wherein The control assistance module comprises a cruise system, a motion control system and a warning system; The central decision unit and the electronic controller are connected with the cruise system, the motion control system and the warning system respectively; The cruise system is configured to receive the vehicle running instruction to adjust the vehicle distance; The motion control system is configured to receive the vehicle running instruction to comprehensively control acceleration, braking, steering and suspension functions of the vehicle; The warning system is configured to receive the vehicle running instruction and provide warning information to the driver through a vehicle machine system when the speed coefficient in the vehicle running instruction is greater than a preset speed; The warning system is further configured to receive the vehicle running instruction and provide warning information to the driver through the vehicle machine system when the vehicle distance coefficient in the vehicle running instruction is less than a preset vehicle distance.

5. The advanced driver assistance system of claim 1, wherein, The electronic controller comprises a communication interface, a system-level chip and a data storage module; The system-level chip is connected with the information assistance module, the central decision unit and the data storage module through the communication interface, and the data storage module is connected with the central decision unit through the communication interface. The data storage module is configured to receive and store the real-time information obtained by the information assistance module, and transmit the real-time information to the system-level chip for algorithm training. The system-level chip is configured to receive the real-time information, and determine the coefficient matrix that needs to be adjusted according to the real-time information.

6. The advanced driver assistance system of claim 5, wherein, The communication interface comprises an uplink communication interface and a downlink communication interface. The uplink communication interface is connected to the information assistance module and the system-level chip respectively, and the downlink communication interface is connected to the central decision unit, the system-level chip and the data storage module respectively. The downlink communication interface is configured to transmit the real-time information obtained by the information assistance module to the system-level chip. The downlink communication interface is configured to transmit the coefficient matrix that needs to be adjusted for vehicle operation generated by the system-level chip to the central decision unit. The downlink communication interface is further configured to transmit the control information of the central decision unit to the system-level chip.

7. The advanced driver assistance system of claim 5, wherein, The system-level chip is further configured to perform algorithm training according to the road condition picture and the personnel picture in the real-time information. The system-level chip is further configured to determine the road condition during vehicle operation according to the algorithm training result of the road condition picture to adjust the coefficient matrix. The system-level chip is further configured to determine the vehicle load according to the algorithm training result of the personnel picture to adjust the coefficient matrix.

8. The advanced driver assistance system of claim 5, wherein, The system-level chip is further configured to generate the rugged coefficient of the coefficient matrix according to the road condition picture and the comparison result in the real-time information. The system-level chip is further configured to generate the friction coefficient of the coefficient matrix according to the vehicle state information in the real-time information.

9. The advanced driver assistance system of claim 8, wherein, The central decision unit is further configured to provide warning information to the driver through the vehicle machine system when the rugged coefficient exceeds a first preset threshold. The central decision unit is further configured to provide warning information to the driver through the vehicle machine system when the friction coefficient exceeds a second preset threshold.

10. An intelligent driver car, characterized by, The intelligent driving vehicle comprises the advanced driving assistance system according to any one of claims 1 to 9.

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