Four-in-one controller system and control method

Abstract

The invention discloses a four-in-one controller system and a control method, and belongs to the field of automotive electronics. The four-in-one controller system comprises a communication unit, a core computing unit, a storage unit and an interface module; the core computing unit performs external communication through the communication unit; the core calculation unit comprises a real-time operation module and a performance calculation module; the real-time operation module is used for performing communication processing with a vehicle machine and vehicle transverse and longitudinal control processing; the performance calculation module is used for fusing the vehicle external environment sensing data and planning a vehicle path; the storage unit is used for storing software codes, calibration data, data records and internal calculation data. According to the four-in-one controller system and the control method provided by the invention, the system delay can be reduced, the product use comfort can be improved, the problems of auxiliary driving, linkage control and cooperation among the headlamp HD module, the CMS electronic rearview mirror and the HUD module under the condition that no street lamp exists in a path at night are solved, and the interestingness of the product is increased.

Description

Technical Field

[0001] The present invention relates to a four-in-one controller system and a control method, and belongs to the field of automotive electronics. Background Art

[0002] Currently, driven by vehicle cost considerations and technological advancements, an increasing number of domain and regional controllers are being produced. However, there is little integration between headlamp projection, traditional intelligent driving, head-up displays, and CMS electronic rearview mirrors. Due to considerations of controller placement and cost, there is an urgent need for an innovative controller for the front cabin.

[0003] In existing technologies, the intelligent driving controller, headlight projection, CMS electronic rearview mirror, and head-up display are all independently controlled, resulting in high costs and hardware redundancy. Furthermore, the vehicle's headlight projection and head-up display often require image transmission from the vehicle's computer. Transmitting external environment perception data from the intelligent driving controller to the HD headlight projection is slow. Furthermore, the delay between the intelligent driving controller, headlight projection, CMS electronic rearview mirror, and head-up display is long, requiring compensation. Inadequate compensation can affect functional functionality. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology and provide a four-in-one controller system and control method, which can reduce the system delay between the intelligent driving controller, headlight projection, CMS electronic rearview mirror and head-up display, improve the comfort of product use, and solve the linkage control and coordination between assisted driving, headlight HD module, CMS electronic rearview mirror and HUD module in the case of no street lights on small roads at night, increase the fun of the product, and at the same time reduce the cost of the product.

[0005] In order to solve the above technical problems, the technical solution of the present invention is:

[0006] In one aspect, the present invention provides a four-in-one controller system, which includes a communication unit, a core computing unit, a storage unit, and an interface module;

[0007] The core computing unit communicates externally via the communication unit;

[0008] The core computing unit includes a real-time computing module and a performance computing module; the real-time computing module is used to perform communication processing with the vehicle computer and vehicle lateral and longitudinal control processing; the performance computing module is used to integrate vehicle external environment perception data, as well as vehicle path planning, vehicle external environment image rendering and image processing;

[0009] The storage unit is used to store software code, calibration data, data records and internal calculation data;

[0010] The interface module is used to connect the communication unit to the vehicle's front-view camera, CMS electronic rearview mirror module, headlight HD module, HUD module and vehicle computer.

[0011] Furthermore, the interface module includes a Fakra interface, a multi-pin interface, an HSD interface, an MTD interface and a Debug interface;

[0012] The Fakra interface is used to connect the communication unit with the front view camera, CMS electronic rearview mirror camera, HUD module, and vehicle computer;

[0013] The multi-pin interface is used to connect the communication unit to the headlight HD module and receive power and communication signals;

[0014] The HSD interface is used to connect the communication unit and the display screen;

[0015] The MTD interface is used for OTA upgrade;

[0016] The Debug interface is used for system debugging;

[0017] The CMS electronic rearview mirror camera includes a left CMS electronic rearview mirror camera and a right CMS electronic rearview mirror camera, the display screen includes a left display screen and a right display screen, and the headlight HD module includes a left HD module and a right HD module.

[0018] Another aspect of the present invention provides a control method for a four-in-one controller system, which comprises the following steps:

[0019] Step S1: After the vehicle is started, a power-on self-test is performed. If the four-in-one controller system has no faults, the four-in-one controller system is turned on;

[0020] Step S2: After the vehicle self-check is completed, the four-in-one controller system automatically turns on the vehicle's CMS electronic rearview mirror module and controls the vehicle's headlight HD module to light up. The four-in-one controller system then confirms whether the vehicle computer has a welcome animation set. If the vehicle computer has a welcome animation set, the four-in-one controller system sends the welcome animation to the vehicle's headlight HD module.

[0021] Step S3: During vehicle driving, if the assisted driving lateral and longitudinal control function needs to be enabled, determining whether the current vehicle external environment meets the enabling conditions for the assisted driving lateral and longitudinal control function; if the enabling conditions for the assisted driving lateral and longitudinal control function are met, proceeding to step S4; if the enabling conditions for the assisted driving lateral and longitudinal control function are not met, proceeding to step S5;

[0022] Step S4: The vehicle computer sends an assisted driving lateral and longitudinal control function instruction to the four-in-one controller system. The four-in-one controller system sends lateral and longitudinal control requests to the EPS module and ESP module based on the road and target information collected by the vehicle's front-view camera. At the same time, the vehicle computer sends a head-up display function activation instruction to the four-in-one controller system.

[0023] Step S5: If the activation conditions for the assisted driving lateral and longitudinal control functions are not met, the vehicle's headlight HD module is subjected to a light blanket brightening operation until the current vehicle external environment meets the activation conditions for the assisted driving lateral and longitudinal control functions, and then step S4 is entered.

[0024] Furthermore, in step S3, the activation conditions of the assisted driving lateral and longitudinal control function are:

[0025] The vehicle's front-view camera can recognize lane lines, or the confidence level F of the recognized lane lines conf >f def , where f def is the confidence threshold of the lane line.

[0026] Furthermore, in step S5, a light carpet brightening operation is performed on the HD module of the vehicle's headlight, which specifically includes the following steps:

[0027] Turn on the wide-angle light blanket. The brightness of the light blanket is the default value L. def ;

[0028] Taking the center point of the rear axle of the vehicle as the coordinate origin, the horizontal width extending to the left and right sides is d h The longitudinal distance between the center point of the vehicle's positive contact surface and the lower edge of the light carpet is d l , then the lateral safety distance of the vehicle is:

[0029]

[0030] Among them, d h_safe is the lateral safety distance of the vehicle;

[0031] d h The distance extending to the left and right sides with the center point of the vehicle's rear axle as the coordinate origin;

[0032] Width Veh is the vehicle width;

[0033] When the vehicle's low beam headlights are turned on simultaneously, the front-view camera does not recognize the lane line, but recognizes the road edge, which is outside the light blanket. The road edge is then used as the lane line, and the lane line equation is calculated as follows:

[0034] y 路沿_左 =a0+a1*x+a2*x2 +a3*x 3 ;

[0035] Among them, y 路沿_左 is the predicted lateral distance of the left lane line;

[0036] x is the predicted longitudinal distance;

[0037] a0 is the lateral deviation of the left lane line;

[0038] a1 is the heading angle of the left lane line;

[0039] a2 is half of the curvature of the left lane line;

[0040] a3 is one-sixth of the curvature change rate of the left lane line;

[0041] y 路沿_右 =b0+b1*x+b2*x 2 +b3*x 3 ;

[0042] Among them, y 路沿_右 is the predicted lateral distance of the right lane line;

[0043] x is the predicted longitudinal distance;

[0044] b0 is the lateral deviation of the right lane line;

[0045] b1 is the heading angle of the right lane line;

[0046] b2 is half of the curvature of the right lane line;

[0047] b3 is one sixth of the curvature change rate of the right lane line;

[0048] When |a0+b0|≤S1, the longitudinal centerline equation of the light carpet is:

[0049]

[0050] When |a0+b0|>S1, the right lane line is the main one, and the longitudinal centerline equation of the light carpet is:

[0051] y 光毯 =b0+Δb+b1*x+b2*x 2 +b3*x 3 ;

[0052] Where S1 is the absolute difference threshold of the lateral deviation between the right lane line and the left lane line;

[0053] y 光毯 The longitudinal center line of the light blanket;

[0054] x is the predicted longitudinal distance;

[0055] a0 is the lateral deviation of the left lane line;

[0056] a1 is the heading angle of the left lane line;

[0057] a2 is half of the curvature of the left lane line;

[0058] a3 is one-sixth of the curvature change rate of the left lane line;

[0059] b0 is the lateral deviation of the right lane line;

[0060] Δb is the lateral deviation compensation of the right lane line;

[0061] b1 is the heading angle of the right lane line;

[0062] b2 is half of the curvature of the right lane line;

[0063] b3 is one sixth of the curvature change rate of the right lane line.

[0064] Furthermore, in step S5, when the vehicle headlamp HD module performs a light carpet brightening operation, when the longitudinal centerline equation of the vehicle light carpet changes, define c0=b0+Δb or Take appropriate measures based on the value range of c0, including the following steps:

[0065] When |c0|∈[0,0.05)m, the lane line does not change;

[0066] When |c0|∈[0.05,0.3)m,

[0067] Wherein, Δc0 is the maximum value of the lateral deviation change rate of the longitudinal centerline of the light carpet;

[0068] n is the number of sampling points;

[0069] i is the sampling point in the traversal n data window;

[0070] When |c0|∈[0.3,+∞)m, the vehicle exits the assisted driving lateral and longitudinal control function. At the same time, the headlight HD module reminds the driver to take over the vehicle through light carpet projection, and the HUD module provides a synchronous reminder through the head-up display.

[0071] Furthermore, in step S3, if the conditions for turning on the assisted driving lateral and longitudinal control functions are met and it is night, the assisted driving lateral and longitudinal control functions are turned on, and the external driving environment information is displayed in real time through the HUD module. At the same time, two lateral safety lines are set on the left and right sides of the vehicle, and the two lateral safety lines are consistent with the longitudinal driving line of the light carpet by default.

[0072] By adopting the above technical solution, the present invention has the following beneficial effects:

[0073] The functional control of the assisted driving, HD headlight module, CMS electronic rearview mirror, and HUD module is integrated into a four-in-one controller, enabling coordinated control and coordination among these three modules. This effectively reduces hardware redundancy, lowers product costs, and increases product appeal. It also reduces system latency between the assisted driving, HD headlight module, CMS electronic rearview mirror, and HUD modules, improving user comfort. When the vehicle's forward-facing camera cannot identify lane markings, the vehicle's HD headlight module brightens the light blanket, while simultaneously turning on the low beam headlights to identify road edges. This improves driving safety and reduces the risk of light blanket deviation. While performing lateral and longitudinal control of the assisted driving, a command to activate the head-up display function is sent to the four-in-one controller system, projected by the HUD module, allowing the driver to monitor vehicle driving safety in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Figure 1 This is a functional block diagram of the four-in-one controller system of the present invention;

[0075] Figure 2 This is an external communication block diagram of the four-in-one controller system of the present invention;

[0076] Figure 3 This is a flow chart of the control method of the four-in-one controller system of the present invention;

[0077] Figure 4 This is a diagram showing the light carpet and transverse security thread of the present invention;

[0078] Figure 5 This is a diagram showing the position and size of the light carpet of the present invention. DETAILED DESCRIPTION

[0079] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0080] Example 1

[0081] like Figure 1As shown, this embodiment provides a four-in-one controller system, including a communication unit, a core computing unit, a storage unit and an interface module;

[0082] The core computing unit communicates with the outside world through the communication unit, mainly for data exchange and signal control between the front camera, left CMS electronic rearview mirror camera, right CMS electronic rearview mirror camera and the core computing unit, as well as between the entire vehicle and the core computing unit. The communication unit mainly includes CAN communication and Ethernet communication.

[0083] The core computing unit uses an ASIL B functional safety level SOC chip, which includes a real-time computing module and a performance computing module. The real-time computing module is used for communication with the vehicle computer and vehicle lateral and longitudinal control processing. The performance computing module is used to integrate the vehicle's external environment perception data, as well as vehicle path planning, external environment image rendering and image processing.

[0084] The storage unit includes ROM chips and RAM chips. Due to the limited resources of the real-time computing module and performance computing module, DDR chips and eMMC chips are used to connect to the core computing unit. The capacity can be adjusted according to product requirements. The eMMC chip provides non-volatile storage services for the storage unit to ensure that data is not lost in the event of a power outage. It is used to store software code, calibration data, and data records. The DDR chip provides high-speed temporary data storage services for storing internal computing data. Storing software code ensures normal system startup and operation, while storing calibration data is crucial for accurate system operation and parameter calibration. Storing data records, including system status data and operation records during operation, facilitates subsequent data analysis and troubleshooting.

[0085] The interface module is used to connect the communication unit to the vehicle's front-view camera, CMS electronic rearview mirror module, headlight HD module, HUD module and vehicle computer.

[0086] like Figure 2 As shown, the CMS electronic rearview mirror module of the vehicle in this embodiment includes a CMS electronic rearview mirror camera and a display screen;

[0087] The CMS electronic rearview mirror camera includes a left CMS electronic rearview mirror camera and a right CMS electronic rearview mirror camera, which are used to collect external environment and road information behind the vehicle;

[0088] The display screen includes a left display screen and a right display screen, which are used to display the external environment and road information behind the vehicle collected by the CMS electronic rearview mirror camera;

[0089] The front-view camera of the vehicle of this embodiment is used to collect information about the external environment and road ahead of the vehicle;

[0090] The input end of the four-in-one controller system of the vehicle of this embodiment is also connected to the output end of the vehicle computer, and the input end of the vehicle computer is connected to the output end of the horizontal and vertical control switches;

[0091] The vehicle's transverse and longitudinal control switches of this embodiment are used to turn on and off the assisted driving transverse and longitudinal control functions;

[0092] The vehicle computer of the vehicle of this embodiment is used to send the assisted driving lateral and longitudinal control function instructions to the four-in-one controller system according to the assisted driving lateral and longitudinal control function switch signal sent by the lateral and longitudinal control switch;

[0093] The vehicle's four-in-one controller system of this embodiment is used to control the opening of the CMS electronic rearview mirror module and the lighting of the headlight HD module after the vehicle completes self-test. Furthermore, upon receiving an assisted driving lateral and longitudinal control function instruction, the system determines whether the assisted driving lateral and longitudinal control activation conditions are met based on the external environment and road information in front of the vehicle collected by the front-view camera. Based on the determination result, the system then sends corresponding control instructions to the ESP module, EPS module, HUD module, headlight HD module, and CMS electronic rearview mirror module.

[0094] The full name of the vehicle's headlamp HD module in this embodiment is "High-Resolution Digital Lighting System," which includes a left HD module and a right HD module for light carpet projection;

[0095] The HUD module of the vehicle of this embodiment is used for head-up display of driving information;

[0096] The ESP module of the vehicle in this embodiment is a vehicle stability system, which is used to control acceleration and deceleration and stability of the vehicle;

[0097] The EPS module of the vehicle in this embodiment is a power steering system, which is used to control the vehicle laterally.

[0098] like Figure 1 As shown, the interface module of this embodiment includes a Fakra interface, a multi-pin interface, an HSD interface, an MTD interface, and a Debug interface;

[0099] The Fakra interface is used to connect the communication unit with the front-view camera, CMS electronic rearview mirror camera, HUD module, and vehicle computer;

[0100] The multi-pin interface is used to connect the communication unit to the headlamp HD module and receive power and communication signals;

[0101] The HSD interface is used to connect the communication unit and the display screen;

[0102] The MTD interface is used for OTA upgrades;

[0103] The Debug interface is used for system debugging.

[0104] Example 2

[0105] like Figure 3 As shown, this embodiment provides a control method for the four-in-one controller system as in the first embodiment, which includes the following steps:

[0106] Step S1: After the vehicle is started, a power-on self-test is performed. If the four-in-one controller system has no faults, the four-in-one controller system is turned on.

[0107] Step S2: After the vehicle self-check is completed, the four-in-one controller system automatically turns on the vehicle's CMS electronic rearview mirror module and controls the vehicle's headlight HD module to light up. The four-in-one controller system then confirms whether the vehicle computer has set a welcome animation. If the vehicle computer has set a welcome animation, the four-in-one controller system sends the welcome animation to the vehicle's headlight HD module, which then projects it.

[0108] Step S3: During vehicle driving, if the assisted driving lateral and longitudinal control function needs to be enabled, determining whether the current vehicle external environment meets the enabling conditions for the assisted driving lateral and longitudinal control function; if the enabling conditions for the assisted driving lateral and longitudinal control function are met, proceeding to step S4; if the enabling conditions for the assisted driving lateral and longitudinal control function are not met, proceeding to step S5;

[0109] Specifically, the conditions for enabling the assisted driving lateral and longitudinal control functions are:

[0110] The vehicle's front-view camera can recognize the lane line, or the confidence level F of the recognized lane line conf >f def , where f def is the confidence threshold of the lane line;

[0111] If the conditions for enabling the assisted driving lateral and longitudinal control function are met and it is night time, the assisted driving lateral and longitudinal control function will be turned on, and the HUD module will display the external driving environment information in real time. At the same time, two horizontal safety lines will be set on the left and right sides of the vehicle. L and l R , and the two horizontal safety lines are by default consistent with the longitudinal driving line of the light carpet. Taking the light carpet as an example, the distance between the light carpet and the vehicle is 10m, the appearance of the light carpet and the horizontal safety lines is as follows Figure 4 shown.

[0112] Step S4: The vehicle computer sends assisted driving lateral and longitudinal control function instructions to the four-in-one controller system. The four-in-one controller system sends lateral and longitudinal control requests to the EPS module and ESP module based on the road and target information collected by the vehicle's front-view camera. At the same time, the vehicle computer sends a head-up display function activation instruction to the four-in-one controller system, which is projected by the HUD module.

[0113] Step S5: If the activation conditions for the assisted driving lateral and longitudinal control function are not met, the vehicle's headlamp HD module is subjected to a light carpet brightening operation until the current vehicle external environment meets the activation conditions for the assisted driving lateral and longitudinal control function. Then, the process proceeds to step S4. The light carpet brightening operation can identify whether there is a target within the light carpet range, thereby improving vehicle driving safety.

[0114] Specifically, performing a light blanket brightening operation on the HD module of the vehicle's headlights includes the following steps:

[0115] Turn on the wide-angle light blanket. The brightness of the light blanket is the default value L. def , the specific definition of the position and size of the light blanket is as follows Figure 5 As shown;

[0116] Taking the center point of the rear axle of the vehicle as the coordinate origin, the horizontal width extending to the left and right sides is d h The longitudinal distance between the center point of the vehicle's positive contact surface and the lower edge of the light carpet is d l , d l It is generally set to 7 to 15 meters, so the lateral safety distance of the vehicle is:

[0117]

[0118] Among them, d h_safe The lateral safety distance of the vehicle is generally required to be greater than 0.3m;

[0119] d h The distance extending to the left and right sides with the center point of the vehicle's rear axle as the coordinate origin;

[0120] Width Veh is the vehicle width;

[0121] Specifically, turning on the vehicle's low beam simultaneously can increase the brightness within a short distance. At this time, the front-view camera does not recognize the lane line, but recognizes the road edge, and the road edge is outside the light carpet. In this case, the road edge is used as the lane line, and the lane line equation is calculated as follows:

[0122] y 路沿_左 =a0+a1*x+a2*x 2 +a3*x 3 ;

[0123] Among them, y 路沿_左 is the predicted lateral distance of the left lane line, which represents the lateral distance between the left lane line and the center point of the vehicle's rear axle. It is used to predict the lateral position of the left lane line at any position x in front of the vehicle.

[0124] x is the predicted longitudinal distance, which represents the distance extending forward along the direction of travel with the center point of the vehicle's rear axle as the origin;

[0125] a0 is the lateral deviation of the left lane line;

[0126] a1 is the heading angle of the left lane line;

[0127] a2 is half of the curvature of the left lane line;

[0128] a3 is one-sixth of the curvature change rate of the left lane line;

[0129] y 路沿_右 =b0+b1*x+b2*x 2 +b3*x 3 ;

[0130] Among them, y 路沿_右 is the predicted lateral distance of the right lane line, which represents the lateral distance between the right lane line and the center point of the vehicle's rear axle. It is used to predict the lateral position of the right lane line at any position x in front of the vehicle.

[0131] x is the predicted longitudinal distance, which represents the distance extending forward along the direction of travel with the center point of the vehicle's rear axle as the origin;

[0132] b0 is the lateral deviation of the right lane line;

[0133] b1 is the heading angle of the right lane line;

[0134] b2 is half of the curvature of the right lane line;

[0135] b3 is one sixth of the curvature change rate of the right lane line;

[0136] When |a0+b0|≤S1, the equation for calculating the longitudinal centerline of the light carpet is:

[0137]

[0138] Taking the average of the left and right lane line parameters can ensure that the light carpet is centered and covers the driving path, reducing the risk of light carpet deviation;

[0139] When |a0+b0|>S1, the right lane line is taken as the main factor, and the equation for calculating the longitudinal center line of the light carpet is:

[0140] y 光毯=b0+Δb+b1*x+b2*x 2 +b3*x 3 ;

[0141] In most traffic rules, the right side is considered the safe side. Giving priority to the right lane marking can avoid the risk of intruding into the opposite lane.

[0142] Where S1 is the absolute difference threshold of the lateral deviation between the right lane line and the left lane line, which is generally within 0.3m;

[0143] y 光毯 The longitudinal center line of the light blanket;

[0144] x is the predicted longitudinal distance;

[0145] a0 is the lateral deviation of the left lane line;

[0146] a1 is the heading angle of the left lane line;

[0147] a2 is half of the curvature of the left lane line;

[0148] a3 is one-sixth of the curvature change rate of the left lane line;

[0149] b0 is the lateral deviation of the right lane line;

[0150] Δb is the lateral deviation compensation of the right lane line, generally ranging from 0.1 to 0.5m;

[0151] b1 is the heading angle of the right lane line;

[0152] b2 is half of the curvature of the right lane line;

[0153] b3 is one sixth of the curvature change rate of the right lane line;

[0154] After the vehicle's headlamp HD module performs the light carpet brightening operation, the vehicle can start the lateral and longitudinal assisted driving, and the light carpet will increase the longitudinal distance d between the center point of the vehicle's positive contact surface and the lower edge of the light carpet. l , the predicted lateral distance y of the left lane line 路沿_左 The predicted lateral distance y from the right lane line 路沿_右 All of them are displayed to the driver through the HUD module, allowing the driver to monitor the safety of the vehicle in real time;

[0155] Specifically, in the process of performing light carpet brightening operation on the HD module of the vehicle's headlight, in order to prevent the vehicle's light carpet from jumping, when the longitudinal centerline equation of the vehicle's light carpet changes, it is defined as c0=b0+Δb or Take appropriate measures based on the value range of c0, including the following steps:

[0156] When |c0|∈[0,0.05)m, the lane line does not change;

[0157] When |c0|∈[0.05,0.3)m,

[0158] Wherein, Δc0 is the maximum value of the lateral deviation change rate of the longitudinal centerline of the light carpet;

[0159] n is the number of sampling points, which represents the size of the data window used to calculate the rate of change of lateral deviation;

[0160] i is the sampling point in the traversal n data window;

[0161] When |c0|∈[0.3,+∞)m, the vehicle exits the assisted driving lateral and longitudinal control function. At the same time, the headlamp HD module reminds the driver to take over the vehicle through light carpet projection, and the HUD module synchronously reminds the driver through the head-up display. The reminder time is TBD1 second and the reminder frequency is TBD2 Hz. TBD1 and TBD2 are calibrated values and are set according to actual conditions.

[0162] The working principle of the present invention is as follows:

[0163] After the vehicle is started, a power-on self-test is performed. If the four-in-one controller system has no faults, the four-in-one controller system is turned on. After the vehicle self-test is completed, the four-in-one controller system automatically turns on the vehicle's CMS electronic rearview mirror module and controls the vehicle's headlight HD module to light up. During vehicle driving, if the assisted driving lateral and longitudinal control function needs to be turned on, it is determined whether the current external environment of the vehicle meets the conditions for turning on the assisted driving lateral and longitudinal control function. If the conditions for turning on the assisted driving lateral and longitudinal control function are met, the vehicle computer sends an assisted driving lateral and longitudinal control function instruction to the four-in-one controller system, and the four-in-one controller system sends a lateral and longitudinal control request to the EPS module and ESP module. At the same time, the vehicle computer sends a head-up display function turn-on instruction to the four-in-one controller system. If the conditions for turning on the assisted driving lateral and longitudinal control function are not met, the vehicle's headlight HD module is brightened with a light blanket until the current external environment of the vehicle meets the conditions for turning on the assisted driving lateral and longitudinal control function.

[0164] The functional control of the assisted driving, HD headlight module, CMS electronic rearview mirror, and HUD module is integrated into a four-in-one controller, enabling coordinated control and coordination among these three modules. This effectively reduces hardware redundancy, lowers product costs, and increases product appeal. It also reduces system latency between the assisted driving, HD headlight module, CMS electronic rearview mirror, and HUD modules, improving user comfort. When the vehicle's forward-facing camera cannot identify lane markings, the vehicle's HD headlight module brightens the light blanket, while simultaneously turning on the low beam headlights to identify road edges. This improves driving safety and reduces the risk of light blanket deviation. While performing lateral and longitudinal control of the assisted driving, a command to activate the head-up display function is sent to the four-in-one controller system, projected by the HUD module, allowing the driver to monitor vehicle driving safety in real time.

[0165] The specific embodiments described above further illustrate the technical problems, technical solutions and beneficial effects solved by the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A four-in-one controller system, characterized in that: It includes a communication unit, a core computing unit, a storage unit and an interface module; The core computing unit communicates externally via the communication unit; The core computing unit includes a real-time computing module and a performance computing module; The real-time computing module is used for communication processing with the vehicle computer and vehicle lateral and longitudinal control processing; The performance calculation module is used to perform fusion of vehicle external environment perception data, vehicle path planning, vehicle external environment image rendering and image processing; The storage unit is used to store software code, calibration data, data records and internal calculation data; The interface module is used to connect the communication unit to the vehicle's front-view camera, CMS electronic rearview mirror module, headlight HD module, HUD module and vehicle computer.

2. The four-in-one controller system according to claim 1, characterized in that: The interface module includes a Fakra interface, a multi-pin interface, an HSD interface, an MTD interface and a Debug interface; The Fakra interface is used to connect the communication unit with the front view camera, CMS electronic rearview mirror camera, HUD module, and vehicle computer; The multi-pin interface is used to connect the communication unit to the headlight HD module and receive power and communication signals; The HSD interface is used to connect the communication unit and the display screen; The MTD interface is used for OTA upgrade; The Debug interface is used for system debugging; The CMS electronic rearview mirror camera includes a left CMS electronic rearview mirror camera and a right CMS electronic rearview mirror camera, the display screen includes a left display screen and a right display screen, and the headlight HD module includes a left HD module and a right HD module.

3. A control method for a four-in-one controller system according to any one of claims 1 to 2, characterized in that: It includes the following steps: Step S1: After the vehicle is started, a power-on self-test is performed. If the four-in-one controller system has no faults, the four-in-one controller system is turned on; Step S2: After the vehicle self-check is completed, the four-in-one controller system automatically turns on the vehicle's CMS electronic rearview mirror module and controls the vehicle's headlight HD module to light up. The four-in-one controller system then confirms whether the vehicle computer has a welcome animation set. If the vehicle computer has a welcome animation set, the four-in-one controller system sends the welcome animation to the vehicle's headlight HD module. Step S3: During vehicle driving, if the assisted driving lateral and longitudinal control function needs to be enabled, determining whether the current vehicle external environment meets the enabling conditions for the assisted driving lateral and longitudinal control function; if the enabling conditions for the assisted driving lateral and longitudinal control function are met, proceeding to step S4; if the enabling conditions for the assisted driving lateral and longitudinal control function are not met, proceeding to step S5; Step S4: The vehicle computer sends an assisted driving lateral and longitudinal control function instruction to the four-in-one controller system. The four-in-one controller system sends lateral and longitudinal control requests to the EPS module and ESP module based on the road and target information collected by the vehicle's front-view camera. At the same time, the vehicle computer sends a head-up display function activation instruction to the four-in-one controller system. Step S5: If the activation conditions for the assisted driving lateral and longitudinal control functions are not met, the vehicle's headlight HD module is subjected to a light blanket brightening operation until the current vehicle external environment meets the activation conditions for the assisted driving lateral and longitudinal control functions, and then step S4 is entered.

4. The control method of the four-in-one controller system according to claim 3, characterized in that: In step S3, the activation conditions of the assisted driving lateral and longitudinal control functions are: The vehicle's front-view camera can recognize lane lines, or the confidence level F of the recognized lane lines conf >f def , where f def is the confidence threshold of the lane line.

5. The control method of the four-in-one controller system according to claim 4, characterized in that: In step S5, a light blanket brightening operation is performed on the HD module of the vehicle's headlights, specifically comprising the following steps: Turn on the wide-angle light blanket. The brightness of the light blanket is the default value L. def ; Taking the center point of the rear axle of the vehicle as the coordinate origin, the horizontal width extending to the left and right sides is d h The longitudinal distance between the center point of the vehicle's positive contact surface and the lower edge of the light carpet is d l , then the lateral safety distance of the vehicle is: Among them, d h_safe is the lateral safety distance of the vehicle; d h The distance extending to the left and right sides with the center point of the vehicle's rear axle as the coordinate origin; Width Veh is the vehicle width; When the vehicle's low beam headlights are turned on simultaneously, the front-view camera does not recognize the lane line, but recognizes the road edge, which is outside the light blanket. The road edge is then used as the lane line, and the lane line equation is calculated as follows: y 路沿_左 =a0+a1*x+a2*x 2 +a3*x 3 ; Among them, y 路沿_左 is the predicted lateral distance of the left lane line; x is the predicted longitudinal distance; a0 is the lateral deviation of the left lane line; a1 is the heading angle of the left lane line; a2 is half of the curvature of the left lane line; a3 is one-sixth of the curvature change rate of the left lane line; y 路沿_右 =b0+b1*x+b2*x 2 +b3*x 3 ; Among them, y 路沿_右 is the predicted lateral distance of the right lane line; x is the predicted longitudinal distance; b0 is the lateral deviation of the right lane line; b1 is the heading angle of the right lane line; b2 is half of the curvature of the right lane line; b3 is one sixth of the curvature change rate of the right lane line; When |a0+b0|≤S1, the longitudinal centerline equation of the light carpet is: When |a0+b0|>S1, the right lane line is the main one, and the longitudinal centerline equation of the light carpet is: y 光毯 =b0+Δb+b1*x+b2*x 2 +b3*x 3 ; Where S1 is the absolute difference threshold of the lateral deviation between the right lane line and the left lane line; y 光毯 The longitudinal center line of the light blanket; x is the predicted longitudinal distance; a0 is the lateral deviation of the left lane line; a1 is the heading angle of the left lane line; a2 is half of the curvature of the left lane line; a3 is one-sixth of the curvature change rate of the left lane line; b0 is the lateral deviation of the right lane line; Δb is the lateral deviation compensation of the right lane line; b1 is the heading angle of the right lane line; b2 is half of the curvature of the right lane line; b3 is one sixth of the curvature change rate of the right lane line.

6. The control method of the four-in-one controller system according to claim 5, characterized in that: In the step S5, when the vehicle headlamp HD module performs the light carpet brightening operation, when the longitudinal centerline equation of the vehicle light carpet changes, define c0=b0+Δb or Take appropriate measures based on the value range of c0, including the following steps: When |c0|∈[0,0.05)m, the lane line does not change; When |c0|∈[0.05,0.3)m, Wherein, Δc0 is the maximum value of the lateral deviation change rate of the longitudinal centerline of the light carpet; n is the number of sampling points; i is the sampling point in the traversal n data window; When |c0|∈[0.3,+∞)m, the vehicle exits the assisted driving lateral and longitudinal control function. At the same time, the headlight HD module reminds the driver to take over the vehicle through light carpet projection, and the HUD module provides a synchronous reminder through the head-up display.

7. The control method of the four-in-one controller system according to claim 6, characterized in that: In step S3, if the conditions for turning on the assisted driving lateral and longitudinal control functions are met and it is night, the assisted driving lateral and longitudinal control functions are turned on, and the external driving environment information is displayed in real time through the HUD module. At the same time, two lateral safety lines are set on the left and right sides of the vehicle, and the two lateral safety lines are consistent with the longitudinal driving line of the light carpet by default.

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