L2-level auxiliary driving system, method and device based on chassis central domain control and vehicle

Abstract

The invention relates to the field of intelligent vehicle auxiliary driving, in particular to an L2-level auxiliary driving system, method and device based on chassis central domain control and a vehicle. According to the invention, a chassis domain and an ADAS domain are all integrated into a domain controller with higher operational capability, multiple control units and multiple transverse and longitudinal ADAS functions are integrated and coupled on a hardware domain control platform, the product cost of multiple controllers is reduced, internal communication of a chip is realized, the transmission interaction efficiency is higher, the structure is simpler, and the cost is lower. And the effects of engineering, mass production, high modularization degree and manufacturing cost reduction are achieved. Coupling control based on transverse and longitudinal functions is different from speed limit reminding control of the passenger car, comprehensive judgment can be carried out, comprehensive, effective and timely information can be provided, continuous transverse and longitudinal cooperative control is carried out, intelligent speed limit control can be directly carried out according to the road traffic condition and the vehicle state system, the safety and convenience of L2 auxiliary driving are improved, and the driving safety is improved. And the device is more suitable for being used under suburban driving conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent vehicle assisted driving, and particularly relates to an L2-level assisted driving system, method, device and vehicle based on a chassis central domain controller. Background Art

[0002] With the rapid development of intelligent technology, the requirements for vehicle comfort and safety have become increasingly prominent. The assisted driving function has gradually become an essential function of vehicles. Through the assisted driving function, a safer, more convenient and more comfortable driving environment can be provided for drivers.

[0003] Currently, in the existing mass-produced solutions for assisted driving on the market, the visual fusion output is mostly processed based on an SOC (system-on-chip), which requires a large amount of data from sensors such as cameras, radars, and lasers to meet the high computing power requirements. However, this greatly increases the manufacturing cost of the entire vehicle. At present, the various control units of vehicles equipped with assisted driving systems mostly adopt a traditional distributed structure, that is, the visual fusion layer, the decision control layer, and the vehicle control management execution layer are in the form of independent ECUs or local domain controllers. This not only increases the cost, software and hardware complexity of the product significantly, but also is not conducive to improving the flexibility and scalability of the entire system.

[0004] Based on the above background, an L2-level assisted driving system, method, device and vehicle based on a chassis central domain controller are proposed to solve the problems raised. Summary of the Invention

[0005] Other features and advantages of the present invention will be described in the following specification, and will become partially apparent from the specification, or be understood by implementing the present invention. The objectives and other advantages of the present invention can be realized and obtained through the structures specifically pointed out in the specification and other accompanying drawings of the specification.

[0006] The objective of the present invention is to overcome the above deficiencies and provide an L2-level assisted driving system, method, device and vehicle based on a chassis central domain controller.

[0007] To achieve the above object, the technical solution of the present invention is: an L2-level assisted driving system based on a chassis central domain controller, including: a sensing system, which includes a vision camera for obtaining lane line information, a yaw rate sensor for collecting the vehicle's yaw angular velocity and longitudinal and lateral accelerations, and a millimeter wave radar; a chassis central domain controller, which includes a vision fusion output module, a by-wire L2 decision-making module, and a vehicle control module. The vision camera and the millimeter wave radar are fused through the vehicle CAN2 via the vision fusion output module to output longitudinal and lateral obstacle information. The by-wire L2 decision-making module performs continuous longitudinal and lateral collaborative control based on external environment information and vehicle state information. The vehicle control module collects the basic vehicle state information through the vehicle CAN1; a by-wire execution system, which receives the longitudinal and lateral control information from the decision-making control layer in the by-wire L2 decision-making module and responds to the decision-making control instructions through the vehicle CAN3; a human-machine interaction system, which is used to provide control and information display functions.

[0008] In some embodiments, the by-wire execution system includes a by-wire steering module, a by-wire braking module, and a by-wire drive module.

[0009] In some embodiments, the human-machine interaction system includes a function key input module, an assisted driving function status display module, and a voice prompt interaction module.

[0010] By adopting the above technical solution, the beneficial effect of the present invention is: This technical solution integrates the chassis domain and the ADAS domain into a domain controller with more powerful computing capabilities, with a higher degree of modularity and a simplified structure, realizing the integration of multiple control units on a hardware domain control platform, reducing the complexity of vehicle layout, and at the same time reducing the product cost of multiple controllers. It achieves higher internal core-to-core communication and transmission interaction efficiency within the chip and a simpler structure, achieving the effects of engineering and mass production, high degree of modularity, and reduced manufacturing cost.

[0011] An L2-level assisted driving method based on a chassis central domain controller includes the following steps: (A) When the system is powered on, each function enters self-check. When the system self-check conditions are met, it enters the standby state; otherwise, it reports a self-check fault and performs fault troubleshooting according to the prompt. (B) After the system enters the standby state, the by-wire L2 decision-making module receives the vision camera and obstacle information, combines the vehicle state information, and activates / deactivates the key control function through the function activation on / off key. (C) When the key is turned on, if the system meets the L2-level assisted driving function activation conditions, the longitudinal and lateral functions are synchronously activated or deactivated, and the vehicle performs continuous longitudinal and lateral collaborative control for driving. If the L2-level assisted driving function activation entry conditions are not met, it enters other driving control modes for driving. (D) During the driving process, coupling speed limit control is performed, which includes a data acquisition module and a maximum speed calculation module. The final longitudinal and lateral speed limit control is carried out through these two modules; (E) Driving control: The vehicle control module transmits the target steering wheel angle, target deceleration, and target drive torque percentage output by the by-wire L2 decision module to the by-wire execution system; (F) Vehicle start-stop control: The system controls the vehicle to follow the target vehicle to stop or start according to the vehicle speed and longitudinal and lateral target information, and follows the vehicle in front. When stopping or starting, it is necessary to switch and control the target gear and handbrake of the vehicle.

[0012] In some embodiments, in step (C), the vehicle performs continuous longitudinal and lateral collaborative control, and when there is a tendency to deviate from the lane line, the vehicle gives a lane departure warning.

[0013] In some embodiments, in step (C), when the L2-level assisted driving function is not satisfied, the vehicle reports a corresponding failure cause prompt that the function cannot be activated.

[0014] In some embodiments, in step (C), when it is recognized that there may be a collision risk with the target during the vehicle operation synchronization, collision mitigation control is triggered. The slow braking stage starts at TTC = 2.0 s. At this time, a deceleration suitable for the bus working condition is requested to brake the vehicle, and the maximum deceleration does not exceed 4 m / s².

[0015] By adopting the above technical solutions, the beneficial effects of the present invention are as follows: The present invention integrates the chassis domain and the ADAS domain into a domain controller with more powerful computing power, realizes the integration of multiple control units and the integration and coupling of multiple longitudinal and lateral ADAS functions on a hardware domain control platform, reduces the cost of multi-controller products, and at the same time realizes higher communication and transmission interaction efficiency inside the chip and a simpler structure, achieving the effects of high engineering and mass production, high modularity, and reduced manufacturing costs; and the coupling control based on the longitudinal and lateral functions of the present invention is different from the speed limit reminder control of passenger cars, and can comprehensively judge and provide comprehensive, effective, and timely information, perform continuous longitudinal and lateral collaborative control, and directly perform intelligent speed limit control according to the road traffic conditions and vehicle states of the system without violating the driving intention for the bus operation conditions and high safety requirements, thereby improving the driver's controllability and safety, and being more suitable for use under suburban driving conditions.

[0016] The L2-level assisted driving device based on the chassis central domain control includes a processor, and the processor is used to execute the L2-level assisted driving method.

[0017] The vehicle with L2-level assisted driving based on the chassis central domain control includes the L2-level assisted driving device.

[0018] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit the present disclosure.

[0019] Undoubtedly, such objects of the present invention and other objects will become more apparent after the detailed description of the preferred embodiments described below with multiple drawings and illustrations.

[0020] To make the above beneficial effects, other objects, features, and advantages of the present invention more obvious and understandable, one or several preferred embodiments are specifically given below, and in conjunction with the accompanying drawings shown, the detailed description is as follows. Description of the Drawings

[0021] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention.

[0022] In the drawings, the same components are denoted by the same reference numerals, and the drawings are schematic and not necessarily drawn to actual scale.

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only one or several embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on such drawings.

[0024] Main Reference Numeral Description: Figure 1 It is a schematic diagram of the link structure of the L2 - level assisted driving system based on the chassis central domain control of the present invention; Figure 2 It is a control flow block diagram of the L2 - level assisted driving method based on the chassis central domain control of the present invention; Figure 3 It is a functional interaction and linkage flow block diagram between the various systems of the present invention. Detailed Embodiment

[0025] The following will combine the drawings and embodiments to detail the implementation manner of the present invention, so as to fully understand how the present invention uses technical means to solve technical problems and achieve the implementation process of technical effects and implement accordingly. It should be noted that as long as there is no conflict, the various embodiments in the present invention and the various features in each embodiment can be combined with each other, and the formed technical solutions are all within the protection scope of the present invention.

[0026] Meanwhile, in the following description, many specific details are set forth for the purpose of explanation to provide a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without these specific details or in a specific manner described herein.

[0027] Please refer to Figure 1 , the present invention provides an L2-level assisted driving system based on a chassis central domain controller, including: a sensing system, which includes a vision camera for acquiring lane line information, a yaw rate sensor for collecting the vehicle's yaw angular velocity and longitudinal and lateral accelerations, and a millimeter-wave radar; a chassis central domain controller, which includes a vision fusion output module, a by-wire L2 decision-making module, and a vehicle control module. The vision camera and the millimeter-wave radar are fused through the vehicle CAN2 via the vision fusion output module to output longitudinal and lateral obstacle information. The by-wire L2 decision-making module performs continuous longitudinal and lateral collaborative control based on external environment information and vehicle state information. The vehicle control module collects the basic vehicle state information through the vehicle CAN1; a by-wire execution system, which receives the longitudinal and lateral control information from the decision control layer in the by-wire L2 decision-making module and responds to the decision control instructions through the vehicle CAN3; a human-machine interaction system, which is used to provide control and information display functions.

[0028] In this embodiment, the vehicle CAN is represented as a controller area network, mainly used to realize data communication between various electronic control units inside the vehicle, and to achieve information sharing and interaction; the yaw rate sensor is used to collect the vehicle's yaw angular velocity and longitudinal and lateral accelerations for vehicle yaw stability control; the by-wire L2 decision-making module is based on external environment information including lane line information, obstacle information, etc.; the by-wire execution system is also responsible for the state management of the entire domain controller. The L2-level assisted driving system structure based on the chassis central domain controller in this embodiment is different from the existing distributed or functional domain electronic and electrical architecture forms. The vision fusion output module, the by-wire L2 decision-making module, and the vehicle control module, which belong to the chassis domain and the ADAS domain (Advanced Driving Assistance System), are all integrated into a domain controller with more powerful computing capabilities, realizing the integration of multiple control units on a single hardware domain control platform to achieve single domain controller control, which helps to reduce the complexity of vehicle layout, and at the same time reduces the product cost of multiple controllers, and realizes higher inter-core communication, transmission and interaction efficiency inside the chip and a simpler structure.

[0029] In some embodiments, the by-wire execution system includes a by-wire steering module, a by-wire braking module, and a by-wire driving module. The by-wire system replaces the traditional mechanical connection through sensors and electronic control units (ECUs), and transmits the driver's operation intention to the actuator through electrical signals, thereby realizing precise control of operations such as vehicle steering, acceleration, and braking.

[0030] In some embodiments, the human-machine interaction system includes a function button input module, an assisted driving function status display module, and a voice prompt interaction module. It serves to provide rich information display, convenient operation experience, enhance driving safety, and improve the user experience.

[0031] Please refer to Figure 2 , the embodiments of this specification also provide an L2-level assisted driving method based on the chassis central domain control, including the following steps: (A) When the system is powered on, each function enters self-check. When the system self-check conditions are met, it enters the standby state; otherwise, it reports a self-check fault and troubleshoots according to the prompt. (B) After the system enters the standby state, the by-wire L2 decision-making module receives visual camera and obstacle information, combines the vehicle status information, and controls the activation / exit of the function activation through the function activation on / off button. (C) When the button is turned on, if the system meets the L2-level assisted driving function activation conditions, the longitudinal and lateral functions are synchronously activated or deactivated, and the vehicle performs continuous longitudinal and lateral coordinated control for driving. If the L2-level assisted driving function activation entry conditions are not met, it enters other driving control modes for driving. (D) During driving, coupled speed limit control is performed, which includes a data acquisition module and a maximum speed calculation module, and the final longitudinal and lateral speed limit control is performed through these two modules. (E) Driving control: The vehicle control module transmits the target steering wheel angle, target deceleration, and target drive torque percentage output by the by-wire L2 decision-making module to the by-wire execution system. (F) Vehicle start / stop control: The system controls the vehicle to follow the target vehicle to stop or start according to the vehicle speed and longitudinal and lateral target information, and needs to switch the target gear and handbrake of the vehicle during stop or start control.

[0032] In step (D) of this embodiment, the data acquisition module obtains real-time road condition information by identifying road traffic speed limit signs, the current curvature of the road, and the curvature of the preview point, and identifies the current state of the vehicle by obtaining the current yaw angular velocity and longitudinal and lateral accelerations of the vehicle. The extreme speed calculation module couples and outputs the minimum target speed limit value according to the obtained road speed limit value, the cruise target speed set by the driver, and performs curve speed limit control according to the multi-point preview strategy and body attitude stability speed limit control according to the vehicle yaw angle; based on the coupled control of longitudinal and lateral functions, that is, collaborative control of LKA (Lane Keeping Assist System), ACC (Adaptive Cruise Control System), ISLC (Intelligent Speed Limit Control System), LDW (Lane Departure Warning System), and CMS (Collision Mitigation Control System) is performed to improve the safety and convenience of L2 assisted driving, and multiple longitudinal and lateral ADAS (Advanced Driver Assistance Systems) functions are integrated and coupled on a hardware domain control platform to solve the problems of single function and high cost of ADAS systems.

[0033] In some embodiments, in step (C), the vehicle performs continuous longitudinal and lateral collaborative control, and when there is a tendency to deviate from the lane line, the vehicle gives a lane departure warning. It has the function of keeping the vehicle driving on the lane during driving and improving intelligent safety.

[0034] In some embodiments, in step (C), when the L2-level assisted driving function is not satisfied, the vehicle reports the corresponding function activation failure cause prompt. It has the function of timely prompting and facilitating emergency handling of faults.

[0035] In some embodiments, in step (C), when it is recognized that there may be a risk of collision with the target during the vehicle operation synchronization, collision mitigation control is triggered. The deceleration braking stage starts at TTC = 2.0 s, and at this time, a deceleration suitable for the bus working condition is requested to brake the vehicle, and the maximum deceleration does not exceed 4 m / s². It has the function of intelligently controlling the vehicle speed in case of danger.

[0036] In some embodiments, the present invention satisfies the driving habits and adapts to the function interaction linkage control strategy of the bus operation scenario.

[0037] This specification embodiment also provides an L2-level assisted driving device based on the chassis central domain control, including a processor, and the processor is used to execute the L2-level assisted driving method.

[0038] This specification embodiment also provides a vehicle with L2-level assisted driving based on the chassis central domain control, including the L2-level assisted driving device.

[0039] Please refer to Figure 3, to further improve the safety of function use, this specification also provides the function linkage control strategies between systems, which are described as follows: When the ACC (Adaptive Cruise Control System) function is turned on, the LKA (Lane Keeping Assist System) function is turned on synchronously, but the LKA can also be forced to turn off; When the ACC function exits, if the LKA function is activated, the LKA function exits synchronously, and the LDW (Lane Departure Warning System) remains in the current working state; When the ACC function is turned off, the LKA function is turned off synchronously (that is: the activation of the longitudinal control function will synchronously activate the lateral control function. The lateral control can be forced to turn off and only the longitudinal control is retained, but the lateral control cannot be activated alone without the activation of the longitudinal control. The LKA can only be used when the ACC is activated and cannot be used alone). When the LKA function is turned on, the LDW function is turned on synchronously, but the LDW can also be forced to turn off; The LDW can be turned on alone, regardless of whether the ACC / LKA is turned on and in what working state. Thus, the system linkage control, the function linkage control strategy that meets the driving and riding habits and adapts to the bus operation scenario, has higher safety.

[0040] It should be understood that the embodiments disclosed in the present invention are not limited to the specific processing steps or materials disclosed herein, but should extend to equivalent alternatives of such features understood by those of ordinary skill in the relevant art. It should also be understood that the terms used herein are for the purpose of describing specific embodiments only and do not imply limitation.

[0041] The "embodiments" mentioned in the specification mean that the specific features or characteristics described in connection with the embodiments are included in at least one embodiment of the present invention. Therefore, the phrase "embodiments" that appears throughout the specification does not necessarily refer to the same embodiment.

[0042] In addition, the described features or characteristics can be combined in any other suitable way into one or more embodiments. In the above description, some specific details, such as thickness, quantity, etc., are provided to provide a comprehensive understanding of the embodiments of the present invention. However, those skilled in the relevant art will understand that the present invention can be implemented without one or more of the above specific details or can also be implemented using other methods, components, materials, etc.

Claims

1. L2 level assisted driving system based on chassis central domain control, characterized by: include: The sensing system includes a visual camera for acquiring lane line information, a yaw rate sensor for collecting vehicle yaw angular velocity and lateral and longitudinal acceleration, and a millimeter wave radar; The chassis central domain controller includes a visual fusion output module, a wire control L2 decision module, and a vehicle control module. The visual camera and millimeter-wave radar are fused through the vehicle CAN2 by the visual fusion output module and then output the lateral and longitudinal obstacle information. The wire control L2 decision module performs continuous lateral and longitudinal coordinated control based on the external environment information and vehicle status information. The vehicle control module collects the basic status information of the vehicle through the vehicle CAN1. The wire control execution system receives the lateral and longitudinal control information from the decision control layer in the wire control L2 decision module and responds to the decision control instructions through the vehicle CAN3; Human-computer interaction system, which is used to provide control and information display functions.

2. The L2 level assisted driving system based on chassis central domain control according to claim 1 is characterized in that: The drive-by-wire execution system includes a drive-by-wire steering module, a drive-by-wire brake module and a drive-by-wire module.

3. The L2 level assisted driving system based on chassis central domain control according to claim 1 is characterized in that: The human-computer interaction system includes a function button input module, an assisted driving function status display module and a voice prompt interaction module.

4. The L2 level assisted driving function collaborative control method based on chassis central domain control is characterized by: The following steps are involved: (A) When the system is powered on, each function enters self-test. If the system self-test conditions are met, it enters standby mode. Otherwise, a self-test fault is reported. Troubleshoot according to the prompts. (B) After the system enters the standby state, the wire control L2 decision module receives the visual camera and obstacle information, combines the vehicle status information, and activates / exits the function through the function activation button control; (C) When the button is turned on, if the system meets the activation conditions of the L2 level assisted driving function, the lateral and longitudinal functions are activated or disabled simultaneously, and the vehicle performs continuous lateral and longitudinal coordinated control. If the activation conditions of the L2 level assisted driving function are not met, the vehicle enters other driving control modes for driving; (D) Coupled speed limit control is performed during driving, which includes a data acquisition module and a limit speed calculation module, and the final lateral and longitudinal speed limit control is performed through these two modules; (E) Driving control: The vehicle control module transmits the target steering wheel angle, target deceleration, and target drive torque percentage output by the wire control L2 decision module to the wire control execution system; (F) Vehicle start and stop control: The system controls the vehicle to stop or start following the target vehicle based on the vehicle speed and lateral and longitudinal target information, and to drive following the vehicle in front. When stopping or starting, the vehicle's target gear position and handbrake need to be switched.

5. The L2 level assisted driving method based on chassis central domain control according to claim 4 is characterized in that: In step (C), the vehicle performs continuous lateral and longitudinal coordinated control, and issues a lane departure warning when encountering a trend of deviating from the lane line.

6. The L2 level assisted driving method based on chassis central domain control according to claim 4 is characterized in that: In step (C), when the L2 level assisted driving function is not met, the vehicle will report that the corresponding function cannot be activated and the corresponding fault cause prompt.

7. The L2 level assisted driving method based on chassis central domain control according to claim 4 is characterized in that: In step (C), when the vehicle detects a possible collision risk with the target during operation, the collision mitigation control is triggered. The slow braking phase starts at TTC=2.0s. At this time, a deceleration suitable for bus conditions is requested to brake the vehicle, and the maximum deceleration does not exceed 4m / s².

8. An L2 driver assistance device based on chassis central domain control, including a processor, characterized in that: The processor is used to execute the L2 level assisted driving method as described in any one of claims 4 to 7.

9. L2 assisted driving vehicle based on chassis central domain control, characterized in that: Including the L2 level assisted driving device as described in claim 9.

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