Integrated domain controller control system integrating multiple functions

Abstract

The invention relates to an integrated domain controller control system integrating multiple functions, and the system comprises a vehicle end video input module which comprises a surround view camera, a front view camera, an in-vehicle camera and a blind area camera which are connected with an integrated domain controller, and is used for obtaining the image data information of the periphery of a vehicle, the interior of the vehicle and a road in real time; the man-machine interaction output module is connected with the integrated domain controller and is used for outputting vehicle entertainment information, automatic driving reconstruction V2X early warning information display, virtual digital human, OMS early warning and intelligent voice service information; and the vehicle end audio input and output module is connected with the integrated domain controller and is used for acquiring and outputting data information of sound around the vehicle in real time. According to the invention, the integration level of the domain controller is improved, the part cost is reduced, and the vehicle operation networking flow cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to an integrated domain controller control system that integrates multiple functions. Background Technology

[0002] Currently, the autonomous vehicles that have been developed and produced consist of three independent devices on the vehicle side: the Parallel Driving Controller (RCU), the Onboard Unit (OBU), and the Human-Machine Interface (HMI).

[0003] In the prior art, Chinese patent (application number: 202110426364.6, publication number: CN 113238496A) discloses a parallel driving controller control system, method, and medium integrating an on-board unit (OBU). The system includes a vehicle-side perception module, a roadside information acquisition module, a vehicle-side interaction processing module, and a vehicle remote control module. The vehicle-side perception module acquires roadside environmental video information of the vehicle. The roadside information acquisition module acquires roadside information sent by roadside communication equipment and corresponding on-board information sent by the vehicle's on-board unit. The vehicle-side interaction processing module includes a display module and a remote control processing module that are communicatively connected to both the vehicle-side perception module and the roadside information acquisition module. The vehicle remote control module includes a lighting control module and a running control module that are communicatively connected to the remote control processing module. This parallel driving controller control system with an integrated on-board unit (OBU) replaces the previous separate parallel driving control system and OBU system. However, this solution does not integrate human-machine interaction functionality into the parallel driving controller.

[0004] In the prior art, Chinese patent (application number: 201910346680.5, publication number: CN 110239563A) discloses a remote driving control method and system. When the car is in remote control mode, it associates with a remote control terminal; it transmits the car's driving information to the remote control terminal in real time, including car status information and panoramic image information of the driving scene. The remote control terminal uses the received driving information combined with virtual reality technology to remotely simulate the car's driving situation. However, this solution's parallel driving controller does not integrate OBU (On-Board Unit) functionality or human-machine interaction; the parallel driving controller and OBU cannot share a SIM card; and the parallel driving controller lacks a 4G / 5G communication module, making it unsuitable for various network environments. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the present invention provides an integrated multi-functional domain controller control system, which not only improves the integration of the domain controller and reduces the cost of components, but also reduces the cost of network traffic for vehicle operation.

[0006] To achieve the above and other related objectives, the present invention provides the following technical solution: An integrated multi-functional domain controller control system, the system comprising: The vehicle-side video input module includes a surround-view camera, a front-view camera, an in-vehicle camera, and a blind-spot camera connected to an integrated domain controller, used to acquire real-time image data information of the vehicle's surroundings, interior, and road. The human-machine interaction output module connects to the integrated domain controller and is used to output in-vehicle entertainment information, autonomous driving reconstruction V2X warning information display, virtual digital human, OMS warning, and intelligent voice service information; The vehicle-side audio input and output module is connected to the integrated domain controller to acquire and output real-time sound data information about the vehicle's surroundings. A GNSS antenna, connected to an integrated domain controller, is used to output vehicle positioning data. The 4G / 5G / V2X antenna connects to the integrated domain controller to communicate with roadside equipment and obtain road traffic status data output by the roadside equipment.

[0007] Furthermore, the integrated domain controller includes a vehicle-side perception module, which is used to acquire image data information of the vehicle's surroundings, interior, and road, perform multimodal perception, and output data information of the vehicle's multimodal perception results.

[0008] Furthermore, the integrated domain controller includes a vehicle remote control module, used to acquire the vehicle's positioning data and road traffic status data, construct a remote driving control switching model, and remotely control the vehicle.

[0009] Furthermore, the construction of the remote driving control switching model for remote driving control of the vehicle includes: M1. Based on the vehicle's location data and the road traffic status data, construct a traffic status matrix for the vehicle's current location and output the traffic status matrix data for the vehicle's current location; M2. Input the traffic state matrix data information of the current location of the vehicle into the remote driving control switching model, calculate the remote driving control switching threshold value, and obtain the data information of the remote driving control switching threshold value; M3. Based on the data information of the remote driving control switching threshold, a preset threshold is set. If the remote driving control switching threshold is less than the preset threshold, the traffic condition at the current location is good and remote driving control is not required. If the remote driving control switching threshold is greater than the preset threshold, the traffic condition at the current location is poor and remote driving control is required.

[0010] Furthermore, in step M2, the remote driving control switching model includes: M21. Based on the traffic state matrix data information of the vehicle's current location, extract the feature values ​​of the state matrix to obtain the feature value data information of the traffic state matrix of the vehicle's current location; M22. Based on the eigenvalues ​​of the traffic state matrix at the current vehicle location, a remote driving control switching threshold function G is constructed. , Where x represents the eigenvalues ​​of the traffic state matrix at the current location of the vehicle, and α, β, and λ are weighting coefficients. M23. Based on the remote driving control switching threshold function G, the remote driving control switching threshold is calculated to obtain the data information of the remote driving control switching threshold.

[0011] Furthermore, the integrated domain controller includes a vehicle-to-cloud interaction module, which is used to receive image data information from the vehicle's surroundings, interior, and road, as well as sound data information from the vehicle's surroundings, for data storage and feedback of vehicle operating status data information.

[0012] Furthermore, the integrated domain controller includes a V2X scenario implementation stack module, a human-machine interaction module, and an autonomous driving reconfiguration module. The V2X scenario implementation stack module is used for information interaction between the vehicle and roadside equipment. The human-machine interaction module is used for information interaction between the vehicle and passengers, acquiring passengers' voice information and providing real-time feedback. The autonomous driving reconfiguration module is used for initializing autonomous vehicle control information and providing feedback on vehicle execution commands.

[0013] Furthermore, the initialization of the autonomous vehicle control information involves vehicle startup, safety verification of preset vehicle startup parameters, and validity verification of various vehicle control parameters. If all vehicle control parameters and vehicle startup parameters pass verification, vehicle initialization is successful; otherwise, vehicle initialization fails and vehicle startup fails. The feedback of vehicle execution commands is as follows: if the vehicle control command exceeds a preset range value, an anomaly is reported; if the vehicle control command is within the preset range value, a normal response is reported.

[0014] Furthermore, the integrated domain controller includes a device management module and a diagnostic application module. The device management module is used for integrated management of the vehicle-side video input module, human-machine interaction output module, vehicle-side audio input and output module, GNS antenna, and 4G / 5G / V2X antenna. The diagnostic application module is used for fault diagnosis and troubleshooting of the vehicle-side video input module, human-machine interaction output module, vehicle-side audio input and output module, GNS antenna, and 4G / 5G / V2X antenna.

[0015] Furthermore, the integrated domain controller adopts a main SOC + AI chip mode. The main SOC chip needs to be compatible with both Linux and Android systems. The computing power requirements of the main control chip SOC are: AI computing power ≥16TOPS, CPU computing power ≥28KDMIPS, GPU computing power ≥214GFLOPS, EMMC ≥32G, and DDR ≥6G.

[0016] Furthermore, the system also includes a video processing controller and a remote driving controller. The video processor is used for video encoding, image stitching, and format conversion, while the remote driving controller is used for lighting control, vehicle acceleration, vehicle braking, and vehicle steering.

[0017] The present invention has the following positive effects: This invention integrates the vehicle-side video input module, human-machine interaction output module, vehicle-side audio input and output module, GNS antenna, and 4G / 5G / V2X antenna onto an integrated domain controller, thereby achieving the integration of the parallel driving controller, OBU, and human-machine interaction controller. This not only improves the integration of the domain controller and reduces component costs, but also reduces the cost of vehicle operation network traffic by having the parallel driving controller, OBU, and human-machine interaction controller share a single SIM card. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the system framework of the present invention; Figure 2 This is a schematic diagram of the hardware structure of the present invention; Figure 3 This is the overall software architecture diagram of the present invention; Figure 4 This is a schematic diagram illustrating the workflow of constructing the remote driving control switching model of the present invention; Figure 5 This is a schematic diagram of the calculation process of the remote driving control switching model of the present invention. Detailed Implementation

[0019] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0020] Example 1: As Figure 1 As shown, an integrated multi-functional domain controller control system includes: The vehicle-side video input module includes a surround-view camera, a front-view camera, an in-vehicle camera, and a blind-spot camera connected to an integrated domain controller, used to acquire real-time image data information of the vehicle's surroundings, interior, and road. The human-machine interaction output module connects to the integrated domain controller and is used to output in-vehicle entertainment information, autonomous driving reconstruction V2X warning information display, virtual digital human, OMS (CMS) warning, intelligent voice service and other information; The vehicle-side audio input and output module is connected to the integrated domain controller to acquire and output real-time sound data information about the vehicle's surroundings. A GNSS antenna, connected to an integrated domain controller, is used to output vehicle positioning data. The 4G / 5G / V2X antenna connects to the integrated domain controller to communicate with roadside equipment and obtain road traffic status data output by the roadside equipment.

[0021] In this embodiment, the integrated domain controller includes a vehicle-side perception module, which is used to acquire image data information of the vehicle's surroundings, interior, and road, perform multimodal perception, and output data information of the vehicle's multimodal perception results.

[0022] In this embodiment, the integrated domain controller includes a vehicle remote control module, which is used to acquire the vehicle's positioning data and the road traffic status data, construct a remote driving control switching model, and remotely control the vehicle.

[0023] In an embodiment, such as Figure 4 As shown, the construction of the remote driving control switching model for remote driving control of the vehicle includes: M1. Based on the vehicle's location data and the road traffic status data, construct a traffic status matrix for the vehicle's current location and output the traffic status matrix data for the vehicle's current location; M2. Input the traffic state matrix data information of the current location of the vehicle into the remote driving control switching model, calculate the remote driving control switching threshold value, and obtain the data information of the remote driving control switching threshold value; M3. Based on the data information of the remote driving control switching threshold, a preset threshold is set. If the remote driving control switching threshold is less than the preset threshold, the traffic condition at the current location is good and remote driving control is not required. If the remote driving control switching threshold is greater than the preset threshold, the traffic condition at the current location is poor and remote driving control is required.

[0024] In this embodiment, as Figure 5 As shown, in step M2, the remote driving control switching model includes: M21. Based on the traffic state matrix data information of the vehicle's current location, extract the feature values ​​of the state matrix to obtain the feature value data information of the traffic state matrix of the vehicle's current location; M22. Based on the eigenvalues ​​of the traffic state matrix at the current vehicle location, a remote driving control switching threshold function G is constructed. , Where x represents the eigenvalues ​​of the traffic state matrix at the current location of the vehicle, and α, β, and λ are weighting coefficients. M23. Based on the remote driving control switching threshold function G, the remote driving control switching threshold is calculated to obtain the data information of the remote driving control switching threshold.

[0025] In this embodiment, the traditional remote driving system retains the video processing controller (main functions: video encoding, image stitching, format conversion, etc.), remote driving controller (lighting control, remote driving control: including acceleration, braking, steering), vehicle information uploading (vehicle speed, battery level, mileage, location, etc.), wireless transmission communication OBU function (built-in configurable 4G / V2X / 5G integration), and human-machine interaction functions (autonomous driving reconfiguration, DMS function, OMS function, etc.). This integrated domain controller supports 8 video input ports, receiving video information from 8 high-definition digital cameras (1080P), 4 1080P video output functions, 2 audio inputs, and 4 audio outputs; it communicates with other controllers in the vehicle via CAN and Ethernet.

[0026] Example 2: Based on the integrated multi-functional domain controller control system of Example 1, the present invention will be further described and explained below.

[0027] like Figure 1 As shown, an integrated multi-functional domain controller control system includes: The vehicle-side video input module includes a surround-view camera, a front-view camera, an in-vehicle camera, and a blind-spot camera connected to an integrated domain controller, used to acquire real-time image data information of the vehicle's surroundings, interior, and road. The human-machine interaction output module connects to the integrated domain controller and is used to output in-vehicle entertainment information, autonomous driving reconstruction V2X warning information display, virtual digital human, OMS (CMS) warning, intelligent voice service and other information; The vehicle-side audio input and output module is connected to the integrated domain controller to acquire and output real-time sound data information about the vehicle's surroundings. A GNSS antenna, connected to an integrated domain controller, is used to output vehicle positioning data. The 4G / 5G / V2X antenna connects to the integrated domain controller to communicate with roadside equipment and obtain road traffic status data output by the roadside equipment.

[0028] In this embodiment, the integrated domain controller includes a vehicle-to-cloud interaction module, which is used to receive image data information of the vehicle's surroundings, interior, and road, as well as sound data information of the vehicle's surroundings, and to store and provide feedback on the vehicle's operating status.

[0029] In this embodiment, the integrated domain controller includes a V2X scenario implementation stack module, a human-machine interaction module, and an autonomous driving reconfiguration module. The V2X scenario implementation stack module is used for information interaction between the vehicle and roadside equipment. The human-machine interaction module is used for information interaction between the vehicle and passengers, acquiring passengers' voice information and providing real-time feedback. The autonomous driving reconfiguration module is used for initializing autonomous vehicle control information and providing feedback on vehicle execution commands.

[0030] In this embodiment, the initialization of the autonomous vehicle control information is vehicle startup. This involves performing safety verification on preset vehicle startup parameters and validity verification on various vehicle control parameters. If all vehicle control parameters and startup parameters pass verification, vehicle initialization is successful; otherwise, vehicle initialization fails and vehicle startup fails. The feedback of vehicle execution commands is as follows: if the vehicle control command exceeds a preset range, an anomaly is reported; if the vehicle control command is within the preset range, a normal response is provided.

[0031] In this embodiment, the integrated domain controller includes a device management module and a diagnostic application module. The device management module is used for integrated management of the vehicle-side video input module, human-machine interaction output module, vehicle-side audio input and output module, GNS antenna, and 4G / 5G / V2X antenna. The diagnostic application module is used for fault diagnosis and troubleshooting of the vehicle-side video input module, human-machine interaction output module, vehicle-side audio input and output module, GNS antenna, and 4G / 5G / V2X antenna.

[0032] In this embodiment, the integrated domain controller adopts a main SOC + AI chip mode. The main SOC chip needs to be compatible with both Linux and Android systems. The computing power requirements of the main control chip SOC are: AI computing power ≥ 16 TOPS, CPU computing power ≥ 28 KDMIPS, GPU computing power ≥ 214 GFLOPS, EMMC ≥ 32G, and DDR ≥ 6G.

[0033] In this embodiment, as Figure 3The following are the steps for creating an integrated domain controller that combines OBU, human-machine interaction, and parallel driving functions: Step 1: First, analyze the computing power requirements of the parallel driving controller RCU, on-board unit (OBU), and HMI hardware, as well as the design requirements of the communication module for 4G / 5G / V2X communication, and meet the memory requirements for V2X scenarios and the computing power requirements of the HMI algorithm; Step 2: System hardware design. This mainly includes SOC peripheral circuit design, MCU peripheral circuit design, power supply circuit design, CAN communication circuit design, driver circuit design, image acquisition and display circuit design, and audio input / output design; Step 3: System software design. This mainly includes vehicle-side perception software, vehicle remote control software, vehicle-side cloud interaction software, V2X scenario implementation protocol stack software, HMI / OMS algorithm software, autonomous driving reconfiguration software, equipment management software, diagnostic application software, functional safety design software, and driver software.

[0034] In this embodiment, as Figure 2 As shown, the system hardware design is an integrated domain controller combining parallel driving, OBU, and human-machine interaction functions. The main control chip's computing power requirements are: AI computing power ≥ 16 TOPS, CPU computing power ≥ 28 KDMIPS, GPU computing power ≥ 214 GFLOPS, eMMC ≥ 32G, and DDR ≥ 6G. Currently available cockpit SOC chips cannot meet these requirements; therefore, a dual SOC chip mode is considered, employing a main SOC + AI chip approach. The parallel driving operating system will use Linux, while the human-machine interaction system will use Android. The main SOC chip needs to be compatible with both Linux and Android systems.

[0035] In this embodiment, the system further includes a video processing controller and a remote driving controller. The video processor is used for video encoding, image stitching, and format conversion, while the remote driving controller is used for lighting control, vehicle acceleration, vehicle braking, and vehicle steering.

[0036] In summary, this invention not only improves the integration of domain controllers and reduces component costs, but also reduces network traffic costs for vehicle operations.

[0037] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. An integrated multi-functional domain controller control system, characterized in that, The system includes: The vehicle-side video input module includes a surround-view camera, a front-view camera, an in-vehicle camera, and a blind-spot camera connected to an integrated domain controller, used to acquire real-time image data information of the vehicle's surroundings, interior, and road. The human-machine interaction output module connects to the integrated domain controller and is used to output in-vehicle entertainment information, autonomous driving reconstruction V2X warning information display, virtual digital human, OMS warning, and intelligent voice service information; The vehicle-side audio input and output module is connected to the integrated domain controller to acquire and output real-time sound data information about the vehicle's surroundings. A GNSS antenna, connected to an integrated domain controller, is used to output vehicle positioning data. The 4G / 5G / V2X antenna connects to the integrated domain controller to communicate with roadside equipment and obtain road traffic status data output by the roadside equipment.

2. The integrated multi-functional domain controller control system according to claim 1, characterized in that: The integrated domain controller includes a vehicle-side perception module, which is used to acquire image data information of the vehicle's surroundings, interior, and road, perform multimodal perception, and output data information of the vehicle's multimodal perception results.

3. The integrated multi-functional domain controller control system according to claim 1, characterized in that: The integrated domain controller includes a vehicle remote control module, which is used to acquire the vehicle's location data and road traffic status data, construct a remote driving control switching model, and remotely control the vehicle.

4. The integrated multi-functional domain controller control system according to claim 3, characterized in that, The construction of the remote driving control switching model for remote vehicle driving control includes: M1. Based on the vehicle's location data and the road traffic status data, construct a traffic status matrix for the vehicle's current location and output the traffic status matrix data for the vehicle's current location; M2. Input the traffic state matrix data information of the current location of the vehicle into the remote driving control switching model, calculate the remote driving control switching threshold value, and obtain the data information of the remote driving control switching threshold value; M3. Based on the data information of the remote driving control switching threshold, a preset threshold is set. If the remote driving control switching threshold is less than the preset threshold, the traffic condition at the current location is good and remote driving control is not required. If the remote driving control switching threshold is greater than the preset threshold, the traffic condition at the current location is poor and remote driving control is required.

5. The integrated multi-functional domain controller control system according to claim 4, characterized in that, In step M2, the remote driving control switching model includes: M21. Based on the traffic state matrix data information of the vehicle's current location, extract the feature values ​​of the state matrix to obtain the feature value data information of the traffic state matrix of the vehicle's current location; M22. Based on the eigenvalues ​​of the traffic state matrix at the current vehicle location, a remote driving control switching threshold function G is constructed. ， Where x represents the eigenvalues ​​of the traffic state matrix at the current location of the vehicle, and α, β, and λ are weighting coefficients. M23. Based on the remote driving control switching threshold function G, the remote driving control switching threshold is calculated to obtain the data information of the remote driving control switching threshold.

6. The integrated multi-functional domain controller control system according to claim 1, characterized in that: The integrated domain controller includes a V2X scenario implementation stack module, a human-machine interaction module, and an autonomous driving reconfiguration module. The V2X scenario implementation stack module is used for information interaction between the vehicle and roadside equipment. The human-machine interaction module is used for information interaction between the vehicle and passengers, acquiring passengers' voice information and providing real-time feedback. The autonomous driving reconfiguration module is used for initializing autonomous vehicle control information and providing feedback on vehicle execution commands. The integrated domain controller also includes a vehicle-to-cloud interaction module, which receives image data information from the vehicle's surroundings, interior, and road, as well as sound data information from the vehicle's surroundings, stores the data, and provides feedback on the vehicle's operating status.

7. The integrated multi-functional domain controller control system according to claim 6, characterized in that: The initialization of the autonomous vehicle control information involves vehicle startup, safety verification of preset vehicle startup parameters, and validity verification of various vehicle control parameters. If all vehicle control parameters and vehicle startup parameters pass verification, vehicle initialization is successful; otherwise, vehicle initialization fails and vehicle startup fails. The feedback of vehicle execution commands is as follows: if the vehicle control command exceeds a preset range value, an anomaly is reported; if the vehicle control command is within the preset range value, a normal response is reported.

8. The integrated multi-functional domain controller control system according to claim 1, characterized in that: The integrated domain controller includes a device management module and a diagnostic application module. The device management module is used for integrated management of the vehicle-side video input module, human-machine interaction output module, vehicle-side audio input and output module, GNS antenna, and 4G / 5G / V2X antenna. The diagnostic application module is used for fault diagnosis and troubleshooting of the vehicle-side video input module, human-machine interaction output module, vehicle-side audio input and output module, GNS antenna, and 4G / 5G / V2X antenna.

9. The integrated multi-functional domain controller control system according to claim 1, characterized in that: The integrated domain controller adopts a main SOC + AI chip mode. The main SOC chip needs to be compatible with both Linux and Android systems. The computing power requirements of the main control chip SOC are: AI computing power ≥16TOPS, CPU computing power ≥28 KDMIPS, GPU computing power ≥214GFLOPS, EMMC ≥32G, and DDR ≥6G.

10. The integrated multi-functional domain controller control system according to claim 9, characterized in that: The system also includes a human-machine interface controller and a remote driving controller. The video processor is used for video encoding, image stitching and format conversion, and the remote driving controller is used for lighting control, vehicle acceleration, vehicle braking and vehicle steering.

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