Driving method of vehicle-mounted sensor, storage medium, controller, vehicle and product

Abstract

The invention relates to a vehicle-mounted sensor driving method, a storage medium, a controller, a vehicle and a product. The method comprises the following steps: acquiring equipment information of a plurality of vehicle-mounted sensors; and according to the equipment information of the plurality of vehicle-mounted sensors, carrying out sensor configuration on the vehicle so as to drive at least part of the plurality of vehicle-mounted sensors. Therefore, one-time configuration can be automatically carried out according to the equipment information of the multiple vehicle-mounted sensors so as to drive at least part of the sensors, the efficiency of matching the configuration information of the vehicle-mounted sensors can be effectively improved, and then the production efficiency of the vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electronics, and in particular to a driving method of a vehicle-mounted sensor, a storage medium, a controller, a vehicle and a product. BACKGROUND

[0002] At present, the sensor model used by each vehicle model is fixed, and is specified through a vehicle model configuration file. When the production line needs to use and replace other sensor models, a new configuration file needs to be obtained and updated. Since the configuration information of the existing vehicle sensor needs to be generated, written and maintained manually, and the number of vehicle sensors is large, the efficiency of manually adapting the configuration information of the vehicle sensor is low, which affects the production efficiency of the vehicle. SUMMARY

[0003] The embodiments of the present application provide a driving method of a vehicle-mounted sensor, which can effectively improve the efficiency of adapting the configuration information of the vehicle-mounted sensor, and further improve the production efficiency of the vehicle.

[0004] In order to achieve the above-mentioned purpose, according to a first aspect of the present application, a driving method of a vehicle-mounted sensor is provided, comprising: obtaining device information of a plurality of vehicle-mounted sensors; and performing sensor configuration for a vehicle according to the device information of the plurality of vehicle-mounted sensors, so as to drive at least part of the plurality of vehicle-mounted sensors.

[0005] Optionally, the performing sensor configuration for the vehicle according to the device information of the plurality of vehicle-mounted sensors, so as to drive at least part of the plurality of vehicle-mounted sensors, comprises: obtaining a target sensor from the plurality of vehicle-mounted sensors according to the device information of the plurality of vehicle-mounted sensors; and performing sensor configuration for the vehicle according to the target sensor, so as to drive the target sensor.

[0006] Optionally, the target sensor is located in a sensor white list.

[0007] Optionally, the method further comprises: in a case where the installation state of the vehicle-mounted sensor does not match a preset installation state, outputting installation position error information corresponding to the vehicle-mounted sensor.

[0008] Optionally, the method further comprises: if the device information comprises model information and address information, obtaining the installation state of the vehicle-mounted sensor according to the address information of the vehicle-mounted sensor; and obtaining the preset installation state of the vehicle-mounted sensor according to the model information of the vehicle-mounted sensor.

[0009] Optionally, the device information comprises model information and / or address information.

[0010] Optionally, the address information indicates the installation position of the vehicle-mounted sensor.

[0011] Optionally, one sensor model in the sensor whitelist corresponds to one installation location, and the method further includes: if the address information of the vehicle-mounted sensor does not match the installation location in the sensor whitelist, outputting installation location error information corresponding to the vehicle-mounted sensor.

[0012] Optionally, the method further includes: acquiring a misconfigured sensor from the multiple on-board sensors according to device information of the multiple on-board sensors, and outputting fault information corresponding to the misconfigured sensor.

[0013] Optionally, the misconfigured sensor is not in the sensor whitelist or the misconfigured sensor is installed in an incorrect position.

[0014] Optionally, there are multiple sensors, and different sensors correspond to different device information.

[0015] Optionally, obtaining device information of multiple vehicle-mounted sensors includes:

[0016] When the preset software of the vehicle is started, the plurality of vehicle-mounted sensors are accessed to obtain device information of the plurality of vehicle-mounted sensors.

[0017] Optionally, obtaining device information of multiple vehicle-mounted sensors includes:

[0018] If the vehicle-mounted sensor includes a vehicle-mounted camera, when the preset software is started, the vehicle-mounted camera is accessed through the inter-integrated circuit bus protocol to obtain device information of the vehicle-mounted camera.

[0019] Optionally, obtaining device information of multiple vehicle-mounted sensors includes:

[0020] If the multiple vehicle-mounted sensors include a vehicle-mounted laser radar, when the preset software is started, the vehicle-mounted laser radar is accessed through the Ethernet message protocol to obtain the device information of the vehicle-mounted laser radar.

[0021] Optionally, obtaining device information of multiple vehicle-mounted sensors includes:

[0022] If the multiple vehicle-mounted sensors include a vehicle-mounted ultrasonic radar, when the preset software is started, the vehicle-mounted ultrasonic radar is accessed through a serial communication protocol bus protocol to obtain device information of the vehicle-mounted ultrasonic radar.

[0023] Optionally, obtaining device information of multiple vehicle-mounted sensors includes:

[0024] If the plurality of vehicle-mounted sensors include a vehicle-mounted inertial measurement unit, when the preset software is started, the vehicle-mounted inertial measurement unit is accessed through a serial peripheral device interface protocol to obtain device information of the vehicle-mounted inertial measurement unit.

[0025] Optionally, obtaining device information of multiple vehicle-mounted sensors includes:

[0026] If the plurality of vehicle-mounted sensors include a vehicle-mounted global navigation satellite system, when the preset software is started, the vehicle-mounted global navigation satellite system is accessed through a serial communication protocol to obtain device information of the vehicle-mounted global navigation satellite system.

[0027] According to a second aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that when the computer program is executed by a processor, the steps of any one of the methods provided in the first aspect are implemented.

[0028] According to a third aspect of the present application, a controller is provided, comprising a processor and a memory, on which a computer program is stored. When the computer program is executed by the processor, the steps of any one of the methods provided in the first aspect are implemented.

[0029] According to a fourth aspect of the present application, a vehicle is provided, comprising the controller provided in the third aspect.

[0030] According to a fifth aspect of the present application, a computer program product is provided, comprising a computer program or instructions, which, when executed by a processor, implement the steps of any one of the methods provided in the first aspect.

[0031] To sum up, in the embodiment of the present application, the device information of multiple vehicle-mounted sensors is obtained through the above-mentioned technical solution; the sensor configuration of the vehicle is performed according to the device information of the multiple vehicle-mounted sensors to drive at least some of the multiple vehicle-mounted sensors; it can be seen that the above-mentioned technical solution is to automatically configure the vehicle's sensors according to the device information of the multiple vehicle-mounted sensors after obtaining the device information of the multiple vehicle-mounted sensors to drive at least some of the sensors, without the need for manual configuration, but automatically configure through a machine, thereby effectively improving the efficiency of adapting the configuration information of the vehicle-mounted sensors. There are many vehicle-mounted sensors used in the vehicle. On the basis of improving the efficiency of adapting the configuration information of the vehicle-mounted sensors, the probability of the vehicle-mounted sensors not being adapted, resulting in the next production process, will be effectively avoided, thereby effectively improving the production efficiency of the vehicle.

[0032] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0034] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0035] Figure 1 is a flowchart of a method for driving a vehicle-mounted sensor provided in an exemplary embodiment of the present disclosure;

[0036] Figure 2 is a schematic diagram of steps for obtaining a vehicle model configuration file provided in an exemplary embodiment of the present disclosure;

[0037] Figure 3 is a schematic structural diagram of a driving device for an on-vehicle sensor provided in an exemplary embodiment of the present disclosure;

[0038] Figure 4 is a schematic diagram of the steps of a method for driving a vehicle-mounted sensor provided in an exemplary embodiment of the present disclosure;

[0039] Figure 5 FIG. 1 is a schematic diagram of the architecture of a vehicle provided in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0041] This application provides a method for driving a vehicle-mounted sensor. Figure 1 The driving method of the vehicle-mounted sensor provided in the embodiment of the present application includes steps S100 to S200, which are described in detail below.

[0042] S100, obtaining device information of multiple vehicle-mounted sensors;

[0043] Specifically, the device information of multiple vehicle-mounted sensors can be obtained through active access, or multiple vehicle-mounted sensors can automatically report their own device information, thereby obtaining the device information of multiple vehicle-mounted sensors.

[0044] S200, according to the device information of the plurality of vehicle-mounted sensors, performing sensor configuration for the vehicle to drive at least part of the plurality of vehicle-mounted sensors.

[0045] Specifically, a vehicle model configuration file can be generated according to the device information of the plurality of vehicle-mounted sensors, and then the vehicle model configuration file is used to perform sensor configuration for the vehicle to drive at least part of the plurality of vehicle-mounted sensors.

[0046] Specifically, when generating the vehicle model configuration file, the vehicle model configuration file can be generated according to the device information of part or all of the plurality of vehicle-mounted sensors, so that part or all of the plurality of vehicle-mounted sensors can be driven by one-time configuration through the vehicle model configuration file.

[0047] In this way, through the above technical solution, after obtaining the device information of the plurality of vehicle-mounted sensors, the sensor configuration of the vehicle is automatically performed according to the device information of the plurality of vehicle-mounted sensors to drive at least part of the sensors, without manual configuration, but through machine to realize automatic configuration, thereby effectively improving the efficiency of adapting the configuration information of the vehicle-mounted sensors. On the basis of improving the efficiency of adapting the configuration information of the vehicle-mounted sensors, the probability of the vehicle-mounted sensors not being adapted to cause the next production process can be effectively avoided, and the production efficiency of the vehicle can be effectively improved.

[0048] In step S100, the plurality of vehicle-mounted sensors can be accessed when the preset software of the vehicle is started, so as to obtain the device information of the plurality of vehicle-mounted sensors. At this time, when accessing the plurality of vehicle-mounted sensors, the plurality of vehicle-mounted sensors in the vehicle can be accessed through a standard protocol or a wireless communication mode to obtain the device information of each vehicle-mounted sensor in the plurality of vehicle-mounted sensors.

[0049] In some embodiments, the vehicle can be a pure electric vehicle, a hybrid electric vehicle, etc., and the preset software can be intelligent control domain control software, vehicle control and monitoring software, vehicle data monitoring software, etc. Preferably, the preset software can be intelligent driving domain control software, and the vehicle is an electric vehicle equipped with intelligent driving function. Hereinafter, the preset software is taken as an example of intelligent driving domain control software.

[0050] In some embodiments, the device information includes the model information and / or address information of the vehicle-mounted sensor, wherein the device information may only include the model information of the vehicle-mounted sensor. Of course, to more efficiently identify mixed or misinstalled vehicle sensors, the device information may also include the address information of the vehicle-mounted sensor. In this way, the model information and address information of the vehicle-mounted sensor can be used to quickly identify whether the vehicle-mounted sensor is mixed or misinstalled, thereby improving the efficiency of identifying mixed or misinstalled vehicle sensors. In addition, the setting information may also include the device identification or manufacturer of the vehicle-mounted sensor, etc., which is not specifically limited in this specification.

[0051] Specifically, if a vehicle is equipped with intelligent driving features, it will have a large number of connected sensors. These sensors typically include cameras, lidar, millimeter-wave radar, ultrasonic radar, inertial measurement unit (IMU), and global navigation satellite system (GNSS). Twelve cameras are typically deployed, covering front, rear, side, and surround vision. One or three lidars are typically deployed: a main roof-mounted lidar, front bumper, or side blind spot detection lidars. One or five millimeter-wave radars are typically deployed: a front millimeter-wave radar and four corner millimeter-wave radars. Twelve ultrasonic radars are typically deployed, distributed around the vehicle. One IMU is typically deployed, either on the intelligent driving domain controller, or some front-facing cameras have built-in IMUs. One GNSS is typically deployed, also on the intelligent driving domain controller.

[0052] In step S100 , when accessing each vehicle-mounted sensor through a standard protocol, the standard protocol supported by the vehicle-mounted sensor is generally used for access, so that the acquired device information of the vehicle-mounted sensor is more accurate and real-time.

[0053] In one embodiment, if the vehicle-mounted sensor includes a vehicle-mounted camera, when the intelligent driving domain control software is started, the vehicle-mounted camera is accessed through the Inter-Integrated Circuit bus (i2c) protocol to obtain the device information of the vehicle-mounted camera.

[0054] In one embodiment, if the multiple vehicle-mounted sensors include a vehicle-mounted laser radar, when the intelligent driving domain control software is started, the vehicle-mounted laser radar is accessed through the Ethernet message protocol to obtain the device information of the vehicle-mounted laser radar.

[0055] Specifically, when the intelligent driving domain control software is started, the intelligent driving domain control software sends an Ethernet message to the on-board laser radar. After receiving the Ethernet message, the on-board laser radar replies with its own device information, allowing the intelligent driving domain control software to obtain the device information of the on-board laser radar.

[0056] In one embodiment, if multiple vehicle-mounted sensors include a vehicle-mounted millimeter-wave radar, when the intelligent driving domain control software is started, the vehicle-mounted millimeter-wave radar is accessed via the serial communication protocol bus (Controller Area Network, abbreviated as CAN) protocol to obtain device information of the vehicle-mounted millimeter-wave radar.

[0057] Specifically, when the intelligent driving domain control software is started, the intelligent driving domain control software sends a message to the on-board millimeter-wave radar through the CAN communication module. After receiving the message, the on-board millimeter-wave radar replies its own device information to the intelligent driving domain control software, so that the intelligent driving domain control software obtains the device information of the on-board millimeter-wave radar.

[0058] In one embodiment, if multiple vehicle-mounted sensors include an on-board ultrasonic radar (Ultrasonic Sensor System, referred to as uss), when the intelligent driving domain control software is started, the on-board ultrasonic radar is accessed through the CAN protocol to obtain the device information of the on-board ultrasonic radar.

[0059] Specifically, when the intelligent driving domain control software is started, the intelligent driving domain control software sends a message to the ultrasonic radar interface converter through the CAN communication module, and then converts the message and sends it to the on-board ultrasonic radar. After receiving the message, the on-board ultrasonic radar replies its own device information to the ultrasonic radar interface converter. Finally, the ultrasonic radar interface converter sends the device information of the on-board ultrasonic radar to the intelligent driving domain control software, so that the intelligent driving domain control software can obtain the device information of the on-board ultrasonic radar.

[0060] In one embodiment, if multiple vehicle-mounted sensors include a vehicle-mounted imu, when the intelligent driving domain control software is started, the vehicle-mounted imu is accessed through the serial peripheral interface (SPI) protocol to obtain the device information of the vehicle-mounted imu.

[0061] Specifically, when the intelligent driving domain control software is started, the intelligent driving domain control software sends a message to the on-board imu through the SPI bus. After receiving the message, the on-board imu replies its own device information to the intelligent driving domain control software.

[0062] In one embodiment, if multiple vehicle-mounted sensors include a vehicle-mounted GNSS, when the intelligent driving domain control software is started, the vehicle-mounted GNSS is accessed through the serial communication protocol to obtain the device information of the vehicle-mounted GNSS.

[0063] Specifically, when the intelligent driving domain control software is started, the intelligent driving domain control software sends a message to the on-board GNSS through the serial port. After receiving the message, the on-board GNSS replies its own device information to the intelligent driving domain control software.

[0064] In this way, for each on-board sensor, the intelligent driving domain control software accesses it through the standard protocol corresponding to the on-board sensor to obtain the device information of each on-board sensor.

[0065] After the device information of the plurality of vehicle-mounted sensors is acquired in step S100 , step S200 is executed.

[0066] In step S200, a vehicle model configuration file can be directly obtained based on the device information of the plurality of vehicle-mounted sensors. The vehicle model configuration file is then used to configure sensors for the vehicle to drive at least some of the plurality of vehicle-mounted sensors. The vehicle model configuration file includes configuration information for each of at least some of the sensors. The configuration information for each vehicle-mounted sensor is obtained based on the device information of the vehicle-mounted sensor.

[0067] In the embodiments of this specification, at least some sensors are multiple in number, and different sensors correspond to different device information. In some embodiments, when different sensors correspond to different device information, the different sensors may have different device models, different address information, or different device identifiers, etc., and this specification does not impose any specific limitations.

[0068] In some embodiments, when the device information includes model information, the configuration information of the vehicle-mounted sensor can be obtained according to the model information of the vehicle-mounted sensor; when the device information includes model information and address information, the vehicle-mounted sensor model information and address information can be used to obtain a vehicle type configuration file composed of the configuration information of at least part of the sensor, and then the vehicle type configuration file is used to perform a configuration to drive at least part of the vehicle-mounted sensor.

[0069] In some embodiments, the configuration information of the vehicle model sensor usually includes the vehicle sensor model (used to load the corresponding driver), the vehicle sensor data resolution (for example, whether the camera is 8M or 2M), the vehicle sensor i2c address (the i2c address assigned to the sensor by the vehicle system for accessing the sensor) and the data rate (different types of sensors have different data transmission rates) and other information.

[0070] In some embodiments, see Figure 2 , step S200 may further include the following steps:

[0071] S201, acquiring a target sensor from the plurality of vehicle-mounted sensors according to device information of the plurality of vehicle-mounted sensors;

[0072] S202 : Perform sensor configuration for the vehicle according to the target sensor to drive the target sensor.

[0073] In the embodiments of this specification, the target sensor is in the sensor whitelist, or some default sensor models are pre-set, and the model identification of multiple vehicle-mounted sensors is performed to obtain the target sensor. The sensor whitelist is specifically used as an example below.

[0074] Before executing step S201, a sensor whitelist is pre-set. The sensor whitelist contains at least the sensor model. Thus, after obtaining the device information of multiple on-board sensors, step S201 is executed. The model information included in the on-board sensor device information is used to search the sensor whitelist. If the corresponding sensor is found in the sensor whitelist, the on-board sensor is determined to be the target sensor. This query operation is performed for each on-board sensor to obtain all target sensors. There can be multiple target sensors.

[0075] In some embodiments, the sensor whitelist includes not only the sensor model information but also the sensor address information. In this case, fixed installation addresses are pre-assigned to onboard sensors at different locations on the vehicle. Thus, after obtaining the device information of multiple onboard sensors, step S201 is executed. In this case, the device information includes both model information and address information. The model information and address information of the onboard sensor can then be used to search the sensor whitelist. If the corresponding sensor is found in the sensor whitelist, the onboard sensor is determined to be the target sensor. The above query operation is performed for each onboard sensor to obtain all target sensors.

[0076] In the embodiments of this specification, the address information is used to indicate the installation location of the vehicle-mounted sensor; since fixed installation addresses are pre-assigned to the vehicle-mounted sensors at different locations of the vehicle, at this time, one sensor model in the sensor whitelist corresponds to one installation location, and different sensor models in the sensor whitelist correspond to different installation locations.

[0077] In actual applications, when setting up a sensor whitelist, the same type of sensor may have different models installed in different vehicle locations. Each sensor location has a corresponding whitelist. Sensors at different vehicle locations are pre-assigned fixed addresses. For a sensor at a particular location, after querying the model information using the address, the model is checked to see if it is in the sensor whitelist. If so, the sensor is considered a target sensor. If the model information does not match the address query, the sensor is considered a misconfigured sensor. Alternatively, the sensor whitelist can be searched for the model information first. If no model information is found, the sensor is considered a misconfigured sensor. If the model information is found in the sensor whitelist, the address is checked to see if it matches the installation location corresponding to the model information in the sensor whitelist. If so, the sensor is considered a target sensor. If not, the sensor is considered a misconfigured sensor.

[0078] In some embodiments, due to the presence of multiple onboard sensors, a sensor whitelist query operation needs to be performed for each onboard sensor, so that the number of target sensors obtained can be one or more. When the number of target sensors is multiple, the vehicle model configuration file includes the configuration information of the multiple target sensors. For example, if the multiple onboard sensors include camera A1, camera A2, camera A3, camera A4, lidar B1, and lidar B2, and after obtaining the model information and address information of the multiple onboard sensors, the model information and address information are used to detect whether each onboard sensor is in the sensor whitelist. If camera A1, camera A2, camera A3, and lidar B2 are detected to be in the sensor whitelist, then the target sensors obtained from the multiple onboard sensors are camera A1, camera A2, camera A3, and lidar B2.

[0079] In this way, when the sensor model information and address information are stored in the sensor whitelist, it is possible to quickly determine whether there are mixed or misconnected sensors among the on-board sensors. After identifying the mixed or misconnected sensors, they can be quickly reinstalled, which can effectively improve the efficiency of correctly installing on-board sensors, thereby promoting an increase in the production efficiency of vehicle models.

[0080] In some embodiments, some default sensor models are pre-set, and a fixed installation address is assigned to each default sensor model, so that each default sensor model has a preset installation status for indicating the installation address of the default sensor model; in this way, after obtaining the device information of multiple vehicle-mounted sensors, when it is determined that the model information of the vehicle-mounted sensor matches the default sensor model, if it is detected that the installation status of the vehicle-mounted sensor does not match the preset installation status, the installation position error information corresponding to the vehicle-mounted sensor is output.

[0081] Specifically, when the device information includes model information and address information, the pre-installation status of the vehicle-mounted sensor is first obtained based on the model information of the vehicle-mounted sensor; and the installation status of the vehicle-mounted sensor is obtained based on the address information of the vehicle-mounted sensor. If the installation status is detected to be inconsistent with the preset installation status, an installation position error message corresponding to the vehicle-mounted sensor is output; if the installation status is detected to be consistent with the preset installation status, the vehicle-mounted sensor is determined to be the target sensor.

[0082] Specifically, first, a corresponding default sensor model is acquired according to the model information of the vehicle-mounted sensor, and a preset installation state of the corresponding default sensor model is used as the pre-installation state of the vehicle-mounted sensor.

[0083] After the target sensor is acquired in step S201 , step S202 is executed.

[0084] In step S202, if the device information only includes model information, the target sensor's configuration information can be obtained based on the target sensor's model information. If the device information includes both model information and address information, the target sensor's configuration information can be obtained based on the model information and address information. A vehicle model configuration file is then assembled based on the obtained configuration information for all target sensors. After obtaining the vehicle configuration file, a single configuration is performed using the vehicle model configuration file to drive the target sensors. If there are multiple target sensors, a single configuration using the vehicle model configuration file can be used to drive multiple target sensors.

[0085] In some embodiments, after the vehicle type configuration file is obtained in step S202, the target sensor may be initialized using the vehicle type configuration file. In this case, if there are multiple target sensors, each target sensor may be initialized.

[0086] Specifically, after obtaining the vehicle configuration file, the vehicle configuration file will be sent to the corresponding sensor driver, the target sensor will be initialized by the sensor driver, and then the target sensor will be driven to collect data.

[0087] In some embodiments, step S200 may further include the following steps:

[0088] S203 . Acquire a misconfigured sensor from the plurality of vehicle-mounted sensors according to device information of the plurality of vehicle-mounted sensors, and output fault information corresponding to the misconfigured sensor.

[0089] In some embodiments, the misconfigured sensor may not be in the sensor whitelist, or the misconfigured sensor may be installed in a wrong location.

[0090] Specifically, the setting of the sensor whitelist can refer to the statement below step S201. Since there are multiple vehicle-mounted sensors, it is necessary to perform a sensor whitelist query operation for each vehicle-mounted sensor. At this time, some vehicle-mounted sensors may be in the sensor whitelist, while some vehicle-mounted sensors are not in the sensor whitelist. In this way, all vehicle-mounted sensors in the sensor whitelist can be marked as target sensors, and all vehicle-mounted sensors not in the sensor whitelist can be marked as misconfigured sensors; the operation of step S202 is performed for the target sensor, and the operation of step S203 is performed for the misconfigured sensor to obtain and output the fault information of the misconfigured sensor.

[0091] In some embodiments, when the device information includes model information and address information, if the address information of the vehicle-mounted sensor is found to be inconsistent with the installation location in the sensor whitelist, installation location error information corresponding to the vehicle-mounted sensor is output.

[0092] Specifically, when the device information includes model information and address information, the model information and address information of the vehicle-mounted sensor can be used to search in the sensor whitelist. If the model information of the vehicle-mounted sensor is in the sensor whitelist, but the address information of the vehicle-mounted sensor does not match the installation location in the sensor whitelist, the installation location error information corresponding to the vehicle-mounted sensor is output.

[0093] In some embodiments, the fault information may be a diagnostic trouble code (DTC). Of course, the fault information may be fault prompt information such as sensor installation position error information and / or model error information.

[0094] For example, if multiple vehicle-mounted sensors include camera A1, camera A2, camera A3, camera A4, lidar B1, and lidar B2, and after obtaining the model information and address information of the multiple vehicle-mounted sensors, the model information and address information are used to detect whether each vehicle-mounted sensor is in the sensor whitelist. If it is detected that camera A1, camera A2, camera A3, and lidar B2 are in the sensor whitelist, then the target sensors obtained from the multiple vehicle-mounted sensors are camera A1, camera A2, camera A3, and lidar B2; and the misconfigured sensors obtained from the multiple vehicle-mounted sensors are camera A4 and lidar B1.

[0095] At this point, the configuration information of each target sensor can be obtained based on the model information and address information of each sensor in camera A1, camera A2, camera A3 and lidar B2. The configuration information of the above four target sensors can be spliced ​​into an overall configuration file, namely the vehicle model configuration file. Then the vehicle model configuration file is sent to the camera driver and lidar driver to initialize camera A1, camera A2, camera A3 and lidar B2, thereby driving camera A1, camera A2, camera A3 and lidar B2, and then controlling camera A1, camera A2, camera A3 and lidar B2 to start collecting data.

[0096] At this time, when the incorrectly configured sensors are obtained as camera A4 and lidar B1, if the model information of camera A4 is in the sensor whitelist, but the address information of camera A4 does not match the installation position corresponding to the model information of A4 in the sensor whitelist, the installation position error information corresponding to camera A4 is output; if the model information of lidar B1 is not in the sensor whitelist, the model error information of lidar B1 is reported.

[0097] In this way, through the detection of the sensor whitelist, the identified target sensor can automatically obtain the vehicle model configuration file without the need to manually adapt the configuration information of each on-board sensor. Instead, the configuration information of each target sensor is automatically obtained by the machine, thereby effectively improving the efficiency of adapting the configuration information of the on-board sensors. There are many on-board sensors used in vehicles. On the basis of improving the efficiency of adapting the configuration information of the on-board sensors, the probability of the next production process being affected by the non-adaptation of the on-board sensors will be effectively avoided, thereby effectively improving the production efficiency of the vehicle.

[0098] In addition, through the detection of the sensor whitelist, incorrectly configured sensors can be quickly identified and the corresponding fault information can be output. In this way, it is possible to quickly identify whether there are mixed or misconnected sensors among the on-board sensors. After identifying the mixed or misconnected sensors, they can be quickly reinstalled, which can effectively improve the efficiency of correctly installing on-board sensors, thereby promoting the improvement of the production efficiency of vehicle models.

[0099] In some embodiments, see Figure 3The embodiment of the application provides a structural diagram of a driving device of a vehicle-mounted sensor, comprising: an intelligent driving domain controller 300 arranged in a vehicle, wherein the intelligent driving domain controller 300 is electrically connected with 12 cameras, i.e. a camera 1 to a camera 12, and is electrically connected with a laser radar 1, a laser radar 2 and a laser radar 3, and is electrically connected with 12 ultrasonic radars, i.e. an ultrasonic radar uss1 to an ultrasonic radar uss12, and is electrically connected with 5 millimeter wave radars, i.e. a millimeter wave radar 1 to a millimeter wave radar 5, and the intelligent driving domain controller 300 is further electrically connected with an imu and a gnss.

[0100] Specifically, the intelligent driving domain controller 300 comprises a vehicle model configuration file dynamic generation 301, the vehicle model configuration file dynamic generation 301 is connected with a camera driving 401 and a deserializer 402 in sequence through an i2c bus, the deserializer 402 is connected with 12 cameras through a Gigabit Multimedia Serial Link (GMSL). In addition, the vehicle model configuration file dynamic generation 301 is connected with a laser radar driving 403 and a swtich 404 (an Ethernet switch) in sequence through an Ethernet line, and the swtich 404 is connected with 3 laser radars through an Ethernet line.

[0101] Specifically, the vehicle model configuration file dynamic generation 301 is connected with an ultrasonic radar driving 405 and a CAN communication module 407 in sequence through a CAN bus, the CAN communication module 407 is connected with 2 uss through an ultrasonic radar interface converter. In addition, the vehicle model configuration file dynamic generation 301 is connected with a millimeter wave radar driving 406 and the CAN communication module 407 in sequence through a CAN bus, and the CAN communication module 407 is connected with 5 millimeter wave radars through a CAN bus. Further, the vehicle model configuration file dynamic generation 301 is further connected with an imu through an imu driving 408 and is connected with a gnss through a gnss driving 409.

[0102] In actual application, when the intelligent driving domain control software is started, the intelligent driving domain controller 300 queries the models of corresponding sensors through different protocols, the camera uses an i2c bus, the laser radar uses an Ethernet protocol, the millimeter wave uses a CAN protocol, the ultrasonic radar uses a CAN protocol, the imu uses an SPI protocol and the gnss uses a serial communication. After all the sensors are traversed, detection is performed through a sensor white list 410, all target sensors are screened out, then the configuration information of all the target sensors is spliced together, an overall vehicle model configuration file 411 is acquired, and the vehicle model configuration file 411 is transmitted to a driving framework for initialization. In addition, detection is performed through the sensor white list 410, each configuration error sensor is screened out, and then a DTC is reported.

[0103] In some embodiments, the sensor whitelist typically includes all sensor models currently supported by the intelligent driving domain control software, such as the front-view camera supports three models A / B / C, the lidar supports two signals D / E, and the millimeter-wave radar supports the F model.

[0104] In some embodiments, see Figure 4 , also provides a schematic diagram of the steps of a driving method of a vehicle-mounted sensor, which specifically includes the following steps:

[0105] S401: Load the sensor whitelist in the intelligent driving domain control software;

[0106] Specifically, after the intelligent driving domain control software is started, the sensor whitelist information is parsed from the version package and loaded into the memory for subsequent whitelist checks.

[0107] S402: Camera basic initialization;

[0108] Specifically, after the intelligent driving domain control software is started, the intelligent driving domain control software powers on and performs basic initialization of the camera through the camera driver for subsequent I2C access;

[0109] S403: Obtaining device information of the camera;

[0110] Specifically, after the camera is initialized, the intelligent driving domain control software accesses the camera through i2c through the camera driver and reads the camera device information. At this time, the device information may include the camera manufacturer, camera model, lens model, serializer and deserializer model and address and other information.

[0111] For example, see Figure 3 , the intelligent driving domain controller 300 accesses 12 cameras through the camera driver 401 and obtains the device information of each of the 12 cameras.

[0112] S404: Access the laser radar;

[0113] Specifically, after the intelligent driving domain control software is started, the intelligent driving domain control software sends Ethernet messages to the lidar through the lidar driver to obtain the lidar model and address information.

[0114] S405: Obtaining the device information of the laser radar;

[0115] Specifically, the lidar receives the Ethernet message forwarded by the switch, and its own firmware runs to obtain the model information and address information, and replies to the lidar driver via Ethernet. The lidar driver then returns the lidar model information and address information to the intelligent driving domain control software.

[0116] For example, refer to Figure 3 The intelligent driving domain controller 300 accesses 3 laser radars through the laser radar driver 403, each of which returns its own model information and address information through Ethernet, so that the intelligent driving domain controller 300 obtains the device information of each of the 3 laser radars.

[0117] S406: Accessing the ultrasonic radar;

[0118] Specifically, after the intelligent driving domain control software is started, the ultrasonic radar driver of the intelligent driving domain control software sends a CAN message to the ultrasonic radar interface converter for obtaining the model information and address information of the ultrasonic radar.

[0119] S407: Obtaining the device information of the ultrasonic radar;

[0120] Specifically, after the ultrasonic radar interface converter receives the CAN message, it is forwarded to the ultrasonic radar, which obtains its own model information and address information and other device information and replies to the ultrasonic radar interface converter, which in turn returns the device information of the ultrasonic radar to the intelligent driving domain control software through the ultrasonic radar driver.

[0121] S408: Accessing the imu;

[0122] Specifically, the imu driver sends a message to the imu through the SPI bus for obtaining the model information and address information and other device information of the imu.

[0123] S409: Obtaining the device information of the imu;

[0124] Specifically, after the imu receives the message, it obtains its own model information and address information and other device information and replies to the imu driver, which in turn returns the device information to the intelligent driving domain control software.

[0125] S410: Accessing the gnss;

[0126] Specifically, the gnss driver sends a message to the gnss through the serial port for obtaining the model information and address information and other device information of the gnss.

[0127] S411: Obtaining the device information of the gnss;

[0128] Specifically, after the gnss receives the message, it obtains its own model information and address information and other device information and replies to the gnss driver, which in turn returns the device information to the intelligent driving domain control software.

[0129] S412: Sensor white list matching;

[0130] Specifically, after the intelligent driving domain control software collects the device information of each sensor, it uses the sensor model and address information to perform whitelist detection to check whether each sensor is in the sensor whitelist.

[0131] S413: reporting fault DTC;

[0132] Specifically, the intelligent driving domain control software detects that a certain sensor model is not in the sensor whitelist and reports a fault DTC.

[0133] S414: Obtain vehicle model configuration file;

[0134] Specifically, the intelligent driving domain control software assembles legal sensor information into a vehicle model configuration file.

[0135] S415: Sensor initialization.

[0136] Specifically, the intelligent driving domain control software will send the obtained vehicle configuration file to the driver, initialize the sensor, and drive the sensor to output data.

[0137] In actual application, for example, there are 20 sensors on a vehicle. When the sensor whitelist is used for detection and 3 sensors are detected not in the sensor whitelist, they are removed as misconfigured sensors and the fault DTC is reported. The remaining 17 sensors continue to be used normally as target sensors. The device information of the 17 sensors is spliced ​​into a vehicle model configuration file, and then the vehicle model configuration file is used for a configuration to drive the 17 sensors.

[0138] From the above solution, it can be seen that the sensor model connected to the vehicle no longer uses a fixed configuration file. Instead, the model is automatically detected by the intelligent driving domain control software, dynamically obtained according to the actual connected sensor model, and then passed to the driving framework for initialization. This avoids the modification and maintenance of the configuration file in the production line and after-sales stages, greatly reducing the workload and complexity of the production line and after-sales, and reducing production and maintenance costs.

[0139] An embodiment of the present application further provides a computer-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned driving method of the vehicle-mounted sensor.

[0140] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0141] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0142] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0143] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0144] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0145] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0146] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology for information storage. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media such as modulated communication signals and carrier waves.

[0147] An embodiment of the present application further provides a controller, comprising a processor and a memory, on which a computer program is stored. When the computer program is executed by the processor, the driving method of the vehicle-mounted sensor is implemented.

[0148] In addition, according to the embodiment of the present application, Figure 5 As shown, a vehicle 50 is also provided, which may include the controller described above. In this embodiment, the vehicle may be a fuel vehicle, a plug-in hybrid vehicle, or a new energy vehicle, etc., which is not specifically limited in this disclosure.

[0149] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0150] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0151] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0152] The above are merely preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A method for driving a vehicle-mounted sensor, characterized in that: include: Get device information of multiple vehicle-mounted sensors; Perform sensor configuration for the vehicle according to the device information of the plurality of vehicle-mounted sensors to drive at least some of the plurality of vehicle-mounted sensors.

2. The method according to claim 1, wherein The step of configuring sensors for the vehicle based on the device information of the plurality of vehicle-mounted sensors to drive at least some of the plurality of vehicle-mounted sensors includes: acquiring a target sensor from the plurality of vehicle-mounted sensors according to device information of the plurality of vehicle-mounted sensors; A sensor configuration is performed for the vehicle according to the target sensor to drive the target sensor.

3. The method according to claim 2, wherein The target sensor is in the sensor whitelist.

4. The method according to claim 1, wherein The method further comprises: When the installation state of the vehicle-mounted sensor does not match the preset installation state, output installation position error information corresponding to the vehicle-mounted sensor.

5. The method according to claim 4, wherein The method further comprises: If the device information includes model information and address information, the installation status of the vehicle-mounted sensor is obtained according to the address information of the vehicle-mounted sensor; and the pre-installation status of the vehicle-mounted sensor is obtained according to the model information of the vehicle-mounted sensor.

6. The method according to claim 1, wherein The device information includes model information and / or address information.

7. The method according to claim 6, wherein The address information indicates an installation location of the vehicle-mounted sensor.

8. The method according to claim 3, wherein In the sensor whitelist, one sensor model corresponds to one installation location, and the method further includes: If the address information of the vehicle-mounted sensor does not match the installation location in the sensor whitelist, error information of the installation location corresponding to the vehicle-mounted sensor is output.

9. The method according to claim 1, wherein The method further comprises: According to the device information of the multiple vehicle-mounted sensors, a misconfigured sensor is acquired from the multiple vehicle-mounted sensors, and fault information corresponding to the misconfigured sensor is output.

10. The method according to claim 9, wherein The misconfigured sensor is not included in the sensor whitelist or the misconfigured sensor is installed in an incorrect position.

11. The method according to any one of claims 1 to 10, wherein: There are multiple sensors, and different sensors correspond to different device information.

12. The method according to any one of claims 1 to 10, wherein: The obtaining of device information of multiple vehicle-mounted sensors includes: When the preset software of the vehicle is started, the plurality of vehicle-mounted sensors are accessed to obtain device information of the plurality of vehicle-mounted sensors.

13. The method according to claim 12, wherein: The obtaining of device information of multiple vehicle-mounted sensors includes: If the vehicle-mounted sensor includes a vehicle-mounted camera, when the preset software is started, the vehicle-mounted camera is accessed through the inter-integrated circuit bus protocol to obtain device information of the vehicle-mounted camera.

14. The method according to claim 12, wherein: The obtaining of device information of multiple vehicle-mounted sensors includes: If the multiple vehicle-mounted sensors include a vehicle-mounted laser radar, when the preset software is started, the vehicle-mounted laser radar is accessed through the Ethernet message protocol to obtain the device information of the vehicle-mounted laser radar.

15. The method according to claim 12, wherein The obtaining of device information of multiple vehicle-mounted sensors includes: If the multiple vehicle-mounted sensors include a vehicle-mounted ultrasonic radar, when the preset software is started, the vehicle-mounted ultrasonic radar is accessed through a serial communication protocol bus protocol to obtain device information of the vehicle-mounted ultrasonic radar.

16. The method according to claim 12, wherein The obtaining of device information of multiple vehicle-mounted sensors includes: If the plurality of vehicle-mounted sensors include a vehicle-mounted inertial measurement unit, when the preset software is started, the vehicle-mounted inertial measurement unit is accessed through a serial peripheral device interface protocol to obtain device information of the vehicle-mounted inertial measurement unit.

17. The method according to claim 12, wherein The obtaining of device information of multiple vehicle-mounted sensors includes: If the plurality of vehicle-mounted sensors include a vehicle-mounted global navigation satellite system, when the preset software is started, the vehicle-mounted global navigation satellite system is accessed through a serial communication protocol to obtain device information of the vehicle-mounted global navigation satellite system.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 17 are implemented.

19. A controller comprising a processor and a memory, wherein a computer program is stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 17 are implemented.

20. A vehicle, characterized in that: Comprising a controller as claimed in claim 19.

21. A computer program product, characterized in that The method comprises a computer program or instructions, which implements the steps of the method according to any one of claims 1 to 17 when executed by a processor.

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