Control device, control system and intelligent driving device

Abstract

A control device, a control system and an intelligent driving device, the device comprising a first computing unit group and a second computing unit group; wherein the first type interface of the first computing unit group and the second computing unit group is used for receiving a first signal from a first pose sensor; the second type interface of the first computing unit group is used for receiving a second signal from a second pose sensor, and / or the third type interface of the second computing unit group is used for receiving the second signal; the first pose sensor and the second pose sensor are used for sensing the motion state information of the intelligent driving device; the first computing unit group and / or the second computing unit group generates control information according to the first signal or the second signal, and the control information is used for controlling the intelligent driving device. The scheme can be applied to the field of intelligent vehicles such as new energy vehicles and electric vehicles, which helps to reduce the probability of missing vehicle pose information, thereby improving the reliability and safety of the vehicle.

Description

Control device, control system and intelligent driving device TECHNICAL FIELD

[0001] The present application relates to the field of intelligent vehicles, and more particularly, to a control device, a control system and an intelligent driving device. BACKGROUND

[0002] An intelligent driving system of a vehicle includes three key parts of perception, planning and control, and the cooperation of the three parts realizes a complete system of intelligent decision and execution of the vehicle, thereby realizing automatic control of the vehicle. Failure or failure of any one of the perception, planning and control will affect the driving safety of the vehicle.

[0003] With the continuous improvement of intelligent driving levels, the intelligent driving functions of vehicles are gradually increasing. In order to realize various intelligent driving functions of vehicles, accurate and reliable vehicle pose (i.e. position and attitude) information becomes indispensable. The current vehicle pose information depends on the perception results of an inertial measurement unit (IMU). Once the IMU fails or the communication link between the IMU and the controller of the vehicle fails, the controller will not be able to obtain the pose information of the vehicle, thereby failing to realize certain intelligent driving functions, such as failing to accurately plan the driving path of the vehicle, and even possibly leading to loss of control of the vehicle.

[0004] In view of this, a highly reliable control scheme for intelligent driving is urgently needed to be developed.

[0005] SUMMARY

[0006] The present application provides a control device, a control system and an intelligent driving device, which helps to reduce the probability of vehicle pose information loss, thereby improving the reliability and safety of the vehicle.

[0007] In a first aspect, a control device is provided, which is applied to an intelligent driving device, and the device includes a first computing unit group and a second computing unit group; wherein a first type of interface of the first computing unit group and the second computing unit group is used to receive a first signal from a first pose sensor; a second type of interface of the first computing unit group is used to receive a second signal from a second pose sensor, and / or a third type of interface of the second computing unit group is used to receive the second signal; the first pose sensor and the second pose sensor are used to perceive motion state information of the intelligent driving device; the first computing unit group and / or the second computing unit group generates control information according to the first signal or the second signal, and the control information is used to control the intelligent driving device.

[0008] In some implementations, the first type of interface and the second type of interface (or the third type of interface) are different types of interfaces, for example, the first type of interface is a controller area network-flexible data (CAN-FD) interface, and the second type of interface (or the third type of interface) is any one of an Ethernet interface, an uncoordinated random access and transmission (URAT) interface, or a serial peripheral interface (SPI).

[0009] In the technical solution described above, the first computing unit group and the second computing unit group can both obtain signals from the first pose sensor, and at least one of the first computing unit group and the second computing unit group can obtain signals from the second pose sensor. In this way, when any one of the pose sensors fails, the control device can still obtain the motion state information of the intelligent driving device through the remaining one pose sensor, so as to control the intelligent driving device, thereby avoiding the intelligent driving device from losing control. In addition, when any one of the first computing unit group and the second computing unit group fails, the remaining one computing unit group can still generate control information according to the signals of the received pose sensor, and since the first pose sensor can communicate with both the first computing unit group and the second computing unit group, when one computing unit group fails, the other computing unit group can obtain sensor signals without switching the sensor source, thereby avoiding the risk of system instability caused by sensor switching. In addition, the two pose sensors communicate with the computing unit groups in the control device through two types of interfaces respectively, which helps to reduce the probability of common cause failure of the two pose sensors, and further reduces the risk of the intelligent driving device losing control.

[0010] In combination with the first aspect, in some implementations of the first aspect, the first pose sensor communicates with the first computing unit group and the second computing unit group through a third computing unit group or a first control unit of the first type of interface, respectively, and the third computing unit group and the first control unit are not included in the control device.

[0011] It can be understood that in the present implementation, the first pose sensor is arranged outside the control device.

[0012] In the technical solution described above, when the first pose sensor is arranged outside the control device, the first pose sensor can be arranged flat, which is conducive to ensuring the performance of the first pose sensor.

[0013] In combination with the first aspect, in some implementations of the first aspect, the third computing unit group or the first control unit, and the first pose sensor are all included in the combined positioning module.

[0014] In the technical solution, the pose sensor in the multiplexing combination positioning module helps to reduce the cost of the whole vehicle.

[0015] In combination with the first aspect, in some implementations of the first aspect, the control device includes a first pose sensor, and the control device further includes a second control unit, the first pose sensor communicates with the first calculation unit group and the second calculation unit group respectively through a first type of interface of the second control unit.

[0016] In some implementations, the first pose sensor and the second control unit communicate through an SPI or UART interface, and the second control unit transmits the signal of the first pose sensor to the first calculation unit group and the second calculation unit group respectively through a network forwarding unit. The second control unit and the network forwarding unit, and the network forwarding unit and the first calculation unit group and the second calculation unit group communicate through the first type of interface. Exemplarily, the first type of interface is an Ethernet interface.

[0017] In the technical solution, since the control unit has high reliability, the first pose sensor communicates with the first calculation unit group and the second calculation unit group respectively through the control unit, which can reduce the risk of failure of the communication link of the first pose sensor, and in the case of failure of one calculation unit group, the other calculation unit group can still receive the signal of the first pose sensor.

[0018] In combination with the first aspect, in some implementations of the first aspect, the control device includes a second pose sensor, and the control device further includes a second control unit, the second pose sensor communicates with at least one of the first calculation unit group and the second calculation unit group through a second type of interface of the second control unit.

[0019] In some implementations, the second pose sensor and the second control unit communicate through an SPI or UART interface, and the second control unit transmits the signal of the second pose sensor to the first calculation unit group and the second calculation unit group respectively through a network forwarding unit. The second control unit and the network forwarding unit, and the network forwarding unit and the first calculation unit group and the second calculation unit group communicate through the second type of interface. Exemplarily, the second type of interface is an Ethernet interface. It can be understood that in this implementation, the first pose sensor is arranged outside the control device, and the first type of interface can be a CAN-FD interface.

[0020] In the technical solution, the second pose sensor is arranged inside the control device and communicates with at least one of the first calculation unit group and the second calculation unit group through the control unit in the control device, and since the control unit has high reliability, the risk of failure of the communication link of the second pose sensor can be reduced.

[0021] With reference to the first aspect, in some implementations of the first aspect, the second control unit communicates with the first computing unit group and the second computing unit group through a fourth type of interface; the second control unit receives the control information through the fourth type of interface, or the second control unit receives the control information through a fifth type of interface; when the second control unit does not fail, the device transmits the control information through the second control unit.

[0022] In the above technical solution, since the second control unit has a higher functional safety level, transmitting the control information through the second control unit helps to improve the reliability of the control device.

[0023] With reference to the first aspect, in some implementations of the first aspect, the control device comprises a second pose sensor.

[0024] In some implementations, the first pose sensor is also arranged in the control device, and the first pose sensor communicates with the first computing unit group and the second computing unit group through the first interface of the second control unit respectively; the second pose sensor directly communicates with the first computing unit group through the second type of interface.

[0025] In the above technical solution, when the first pose sensor and the second pose sensor are both arranged inside the control device, it helps to deploy the fusion of the positioning algorithm, thereby reducing the cost of the control system.

[0026] With reference to the first aspect, in some implementations of the first aspect, the first computing unit group transmits the second signal to the second computing unit group through a third type of interface.

[0027] With reference to the first aspect, in some implementations of the first aspect, when the first pose sensor and the second pose sensor both do not fail, the first computing unit group and / or the second computing unit group generates the control information according to the first signal.

[0028] In the above technical solution, when the two pose sensors both do not fail, the signal of the first pose sensor is preferentially used to generate the control information, without considering the signal of the other pose sensor, which helps to reduce the processing complexity; and since the first pose sensor can communicate with the first computing unit group and the second computing unit group, both computing unit groups can generate the control information, when one computing unit group fails, the other computing unit group can control the intelligent driving equipment without switching the sensor source, which helps to improve the reliability and safety of the intelligent driving equipment.

[0029] The second aspect provides a control system, which comprises the device in any possible implementation of the first aspect, and a first pose sensor and a second pose sensor.

[0030] In a third aspect, a control method is provided, which is applied to a control device, the device comprising a first computing unit group and a second computing unit group; wherein a first type of interface of the first computing unit group and the second computing unit group is configured to receive a first signal from a first pose sensor; a second type of interface of the first computing unit group is configured to receive a second signal from a second pose sensor, and / or a third type of interface of the second computing unit group is configured to receive the second signal; the first pose sensor and the second pose sensor are configured to perceive motion state information of an intelligent driving device. The method comprises:

[0031] when the first pose sensor is not malfunctioning, sending first control information, the first control information being configured to control the intelligent driving device, the first control information being generated according to the first signal; or when the first pose sensor is malfunctioning, sending second control information, the second control information being configured to control the intelligent driving device, the second control information being generated according to the second signal.

[0032] In combination with the third aspect, in some implementations of the third aspect, the method further comprises: when at least one of the first computing unit group and the second computing unit group is not malfunctioning, sending the first control information or the second control information by the first computing unit group or the second computing unit group.

[0033] In combination with the third aspect, in some implementations of the third aspect, the control device further comprises a second control unit, the second control unit being in communication with the first computing unit through a fourth type of interface, and the second control unit being in communication with the second computing unit group through a fifth type of interface; the second control unit receives control information through the fourth type of interface, or the second control unit receives control information through the fifth type of interface; the method further comprises: when the second control unit is not malfunctioning, and at least one of the first computing unit group and the second computing unit group is not malfunctioning, sending the first control information or the second control information by the second control unit.

[0034] In some implementations, sending the first control information or the second control information by the first computing unit group or the second computing unit group comprises: when the second control unit is malfunctioning, sending the first control information or the second control information by the first computing unit group or the second computing unit group.

[0035] In combination with the third aspect, in some implementations of the third aspect, when the first computing unit group is malfunctioning, the first control information or the second control information is generated by the second computing unit group; or when the second computing unit group is malfunctioning, the first control information or the second control information is generated by the first computing unit group.

[0036] With reference to the third aspect, in some implementations of the third aspect, the method is performed by the control device in any possible implementation of the first aspect, or the method is performed by the control system in any possible implementation of the second aspect.

[0037] In the fourth aspect, a control device is provided, which includes a processor configured to execute a computer program stored in a memory to cause the device to perform the method in any possible implementation of the fourth aspect.

[0038] With reference to the fourth aspect, in some implementations of the fourth aspect, the control device further includes a memory.

[0039] In the fifth aspect, a controller is provided, which includes the device in any possible implementation of the first aspect or the fourth aspect. In actual implementation, the controller can be a domain controller, or can also be a vehicle-mounted central computer.

[0040] In the sixth aspect, an intelligent driving device is provided, which includes the device in any possible implementation of the first aspect or the fourth aspect, or the intelligent driving device includes the system in any possible implementation of the second aspect, or the intelligent driving device includes the controller in any possible implementation of the fifth aspect.

[0041] With reference to the sixth aspect, in some implementations of the sixth aspect, the intelligent driving device is a vehicle.

[0042] In the seventh aspect, a computer program product is provided, which includes computer program codes, and when the computer program codes are run on a computer or a processor, the computer or the processor performs the method in any possible implementation of the fourth aspect.

[0043] It should be noted that the computer program codes can be stored in the storage medium in whole or in part, and the storage medium can be packaged together with the processor, or can be packaged separately from the processor.

[0044] In the eighth aspect, a computer readable medium is provided, which stores instructions, and when the instructions are executed by a processor, the processor implements the method in any possible implementation of the fourth aspect.

[0045] In the ninth aspect, a chip system is provided, which includes a circuit configured to perform the method in any possible implementation of the fourth aspect.

[0046] The beneficial effects not described in the second aspect to the ninth aspect can be referred to the description in the first aspect, and will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0047] FIG. 1 is a functional schematic block diagram of a vehicle according to an embodiment of the present application;

[0048] FIG. 2 is a schematic block diagram of a control device according to an embodiment of the present application;

[0049] FIG. 3 is another schematic block diagram of a control device according to an embodiment of the present application;

[0050] FIG. 4 is still another schematic block diagram of a control device according to an embodiment of the present application;

[0051] FIG. 5 is still another schematic block diagram of a control device according to an embodiment of the present application;

[0052] FIG. 6 is still another schematic block diagram of a control device according to an embodiment of the present application;

[0053] FIG. 7 is still another schematic block diagram of a control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0055] FIG. 1 is a functional block diagram of a vehicle according to an embodiment of the present application. As shown in FIG. 1, the vehicle 100 can include a perception system 120 and a computing platform 150, wherein the perception system 120 can include several sensors for sensing information of the environment around the vehicle 100. For example, the perception system 120 can include a positioning system, which can be a global positioning system (GPS), a Beidou system or other positioning system. For another example, the perception system 120 can further include one or more of an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar and a camera.

[0056] Some or all of the functionality of the vehicle 100 can be controlled by the computing platform 150. The computing platform 150 can include processors 151-15n, which are circuits that have the capability to process signals. In one implementation, the processors can be circuits that have the capability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a type of microprocessor), a digital signal processor (DSP), or the like. In another implementation, the processors can be circuits that implement functionality through fixed or reconfigurable logic, such as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD) such as a field programmable gate array (FPGA). In reconfigurable hardware circuits, the processors load configuration documents to implement the configuration of the hardware circuits, which can be understood as the processors loading instructions to implement the functionality of some or all of the units described above. Additionally, the processors can be hardware circuits designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), or the like. Additionally, the computing platform 150 can include a memory that stores instructions that can be called by some or all of the processors 151-15n to implement corresponding functionality.

[0057] The computing platform 150 can include at least one of an advanced driving domain controller (ADC), or a mobile data center (MDC); a vehicle domain controller (VDC); and a cockpit domain controller (CDC). The ADC or MDC is used to implement intelligent driving related perception, decision and control functions, and in actual implementation, the ADC or MDC can also be other names, such as a special equipment system (SAS), an intelligent driving server ICAS2, an ADAS super core, etc. The VDC is used to implement vehicle control functions, and the VDC can be regarded as an integration of a power domain, a chassis domain and a body domain, and in actual implementation, the VDC can also be other names, such as a body controller (BDC), a vehicle control server ICAS1, a body super core (BSC), etc. The CDC is used to implement cockpit intelligent functions such as human-computer interaction, and in actual implementation, the CDC can also be other names, such as a media graphics unit (MGU), an intelligent cockpit server ICAS3, a cockpit super core (CSC), etc. The ICAS is an in-car application server (ICAS). Alternatively, the computing platform 150 can also be a central computing platform, for example, can include a vehicle central computer (VCC).

[0058] Exemplarily, taking the MDC as an example, the computing platform 150 can control the operation of the intelligent driving system. The intelligent driving system can include an advanced driving assistant system (ADAS) and an autonomous driving system (ADS). The intelligent driving system uses various sensors on the vehicle (including but not limited to laser radar, millimeter wave radar, camera, ultrasonic sensor, global positioning system, inertial measurement unit) to obtain information from the surroundings of the vehicle, and analyzes and processes the obtained information, to realize functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring / reminding, etc., thereby improving the safety, automation level and comfort of vehicle driving.

[0059] At different automatic driving levels (L0-L5), the intelligent driving system can realize different levels of automatic driving assistance based on artificial intelligence algorithms and information obtained by multiple sensors. The automatic driving levels (L0-L5) are based on the classification standard of the Society of Automotive Engineers (SAE). Among them, L0 level is non-automation; L1 level is driving assistance; L2 level is partial automation; L3 level is conditional automation; L4 level is high automation; L5 level is complete automation. The tasks of monitoring road conditions and reacting at L1 to L3 levels are completed by the driver and the system together, and the driver needs to take over the dynamic driving task. L4 and L5 levels can completely change the role of the driver to a passenger. At present, the functions that can be realized by ADAS mainly include but are not limited to: adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, front intersection traffic warning / braking, rear intersection traffic warning / braking, front vehicle collision warning, lane departure warning, lane keeping assistance, rear vehicle collision warning, traffic sign recognition, traffic congestion assistance, highway assistance, etc. It should be understood that the above various functions can have specific modes at different automatic driving levels (L0-L5), and the higher the automatic driving level, the more intelligent the corresponding mode.

[0060] As described above, in order to realize various intelligent driving functions of the vehicle, accurate and reliable vehicle pose information becomes indispensable. The pose information of the current vehicle generally depends on the perception results of an IMU. When the IMU fails or the communication link between the IMU and the controller (such as the MDC) of the vehicle fails, the controller will not be able to obtain the pose information of the vehicle, which may lead to the implementation of certain intelligent driving functions, and even may lead to the loss of control of the vehicle.

[0061] In view of this, the embodiments of the present application provide a control device which can reduce the probability of the loss of pose information of an intelligent driving device (such as a vehicle), thereby improving the reliability and safety of the intelligent driving device.

[0062] For ease of understanding, the control device provided by the present application is described in detail below in combination with FIGS. 2 to 6.

[0063] FIG. 2 shows a schematic block diagram of a control device according to an embodiment of the present application. As shown in FIG. 2, the device includes a first computing unit group and a second computing unit group. The first type interface of the first computing unit group and the second computing unit group is configured to receive a first signal from a first pose sensor; the second type interface of the first computing unit group is configured to receive a second signal from a second pose sensor, and / or the third type interface of the second computing unit group is configured to receive the second signal; the first pose sensor and the second pose sensor are configured to sense motion state information of an intelligent driving device; the first computing unit group and / or the second computing unit group generates control information according to the first signal or the second signal, and the control information is configured to control the intelligent driving device.

[0064] In some implementations, when neither the first pose sensor nor the second pose sensor fails, the first computing unit group and / or the second computing unit group generates the control information according to the first signal. When the first pose sensor fails, the first computing unit group and / or the second computing unit group generates the control information according to the second signal.

[0065] For example, when neither the first computing unit group nor the second computing unit group fails, the control information is sent by the first computing unit group or the second computing unit group; or when one of the first computing unit group or the second computing unit group fails, the control information is sent by the computing unit group that does not fail, and the control information sent by the computing unit group is generated by the computing unit group according to the first signal or the second signal.

[0066] In some implementations, the device further includes a second control unit, the second control unit communicates with the first computing unit through a fourth type interface, and the second control unit communicates with the second computing unit group through a fifth type interface; the second control unit receives the control information through the fourth type interface, or the second control unit receives the control information through the fifth type interface; when the second control unit does not fail, the device sends the control information through the second control unit. When the second control unit fails, the control information is sent by the first computing unit group or the second computing unit group.

[0067] In an example, the first computing unit group can further receive information indicative of the working state of the second control unit through the fourth type of interface, and then the first computing unit group determines whether the second control unit has failed according to the information indicative of the working state of the second control unit. In another example, the second computing unit group can further receive information indicative of the working state of the control unit through the fifth type of interface to monitor whether the second control unit has failed, and in addition, the second computing unit group can send the monitoring result of the second control unit to the first computing unit group. Further, the first computing unit group determines whether the second control unit has failed according to the monitoring result from the second computing unit group and the reception of the information indicative of the working state of the second control unit by the first computing unit group. For example, the information indicative of the working state of the control unit can be a heartbeat packet transmitted periodically, and when the monitoring result indicates that the second control unit has failed and the reception of the heartbeat packet by the first computing unit group indicates that the second control unit has failed (for example, the first computing unit group has not received the heartbeat packet from the second control unit in n heartbeat packet transmission periods, and n is greater than 1), the first computing unit group determines that the second control unit has failed.

[0068] In some implementations, the fourth type of interface and the fifth type of interface can be the same interface, or can also be different interfaces.

[0069] In actual implementation, the second control unit can also receive information indicative of the working state of the first computing unit group and the second computing unit group through the fourth type of interface and the fifth type of interface respectively, so that the second control unit determines whether the first computing unit group and / or the second computing unit group has failed.

[0070] Exemplarily, the computing unit group (such as the first computing unit group and the second computing unit group) involved in the present application can include at least one system-on-a-chip (SoC), and the control unit involved in the present application can be a micro controller unit (MCU). The control device can be any one of the MDC, the VCC in the foregoing embodiments, or the control device can also be a single board arranged in the MDC or the VCC. In addition, the control device can also be other devices with the domain controller function of the MDC and the like; or the control device can also be other devices with the function of the central computing platform of the VCC and the like. In some implementation manners, the control device can be the VDC or the CDC, or can also be a device with or integrated with the VDC and / or CDC function. The motion state information can include at least one of the position, the attitude angle, the speed and the acceleration. Exemplarily, the first pose sensor and the second pose sensor can be an IMU, or the first pose sensor and the second pose sensor can also be other sensors with the function of sensing the motion state information of the intelligent driving device (such as a vehicle).

[0071] The communication relationship between the computing unit group (or the control unit) in the control device and the pose sensor provided in the embodiments of the present application is introduced above, and the possible setting mode and position of the pose sensor are introduced in detail below.

[0072] In some implementation manners, the first pose sensor is arranged outside the control device.

[0073] In an example, the second pose sensor directly communicates with the first computing unit group. Specifically, as shown in FIG. 3, the first pose sensor communicates with the first computing unit group and the second computing unit group through the third computing unit group or the first control unit of the first type interface, and the third computing unit group and the first control unit are not included in the control device. Moreover, the control device includes the second pose sensor. The first pose sensor and the first control unit or the third computing unit group can communicate through a communication link (hereinafter referred to as a URAT link) between the URAT interfaces or a communication link (hereinafter referred to as a SPI link) between the SPI interfaces, and the first control unit or the third computing unit group and the first computing unit group and the second computing unit group communicate through a communication link (hereinafter referred to as a CAN-FD link) between the CAN-FD interfaces. The second pose sensor accesses the first computing unit group through the SPI link or the URAT link, and the second pose sensor sends signals to the first computing unit group through the SPI or the URAT interface, that is, the first type interface is the SPI or the URAT interface. Exemplarily, the first computing unit group can send the signals of the second pose sensor to the network forwarding unit through the Ethernet interface, and the network forwarding unit sends the signals of the second pose sensor to the second computing unit group through the Ethernet interface.

[0074] It can be understood that the CAN-FD interface in the embodiment can be regarded as an example of the first type of interface, the SPI or UART interface can be regarded as some examples of the second type of interface, and the Ethernet interface can be regarded as an example of the third type of interface.

[0075] In the embodiment, when the first pose sensor does not fail and the communication link between the first pose sensor and the computing unit group also does not fail, the first computing unit group and / or the second computing unit group determines the control information through the signal of the first pose sensor. When the first pose sensor fails, or the communication link between the first pose sensor and the computing unit group fails (such as the communication link between the pose sensor and the first control unit or the third computing unit group fails, the communication link between the first control unit or the third computing unit group and the control device fails), the first computing unit group and / or the second computing unit group determines the control information through the signal of the second pose sensor. Since the chip connected with the first pose sensor (the chip in the first control unit or the third computing unit group) and the chip connected with the second pose sensor (the chip in the second control unit) are not the same chip, and the signal transmission paths of the two are different, there is no possibility of common cause failure between the first pose sensor and the second pose sensor, which helps to improve the reliability of the control system including the pose sensor, thereby improving the safety of the intelligent driving device.

[0076] It should be noted that the failure of the pose sensor can include power supply failure, clock failure, communication failure, or processing module failure, etc. Among them, the power supply failure refers to the failure of the power supply module or the power supply line, which causes the pose sensor to be unable to supply power, the communication failure refers to the software or hardware failure that causes the pose sensor to be unable to communicate with the outside world, the clock failure refers to the inaccuracy or inability of the sensor clock to work, which causes the clock synchronization to be unable to be realized, and the processing module failure refers to the software or hardware failure that causes the sensor to be unable to process data. Among them, the communication failure of the pose sensor is slightly different from the communication link failure between the pose sensor and the control device. The communication failure of the pose sensor is caused by the pose sensor itself, which causes the pose sensor to be unable to communicate with the outside world. The communication link failure includes the failure of the pose sensor itself, which causes the pose sensor to be unable to communicate with the control device, and also includes the failure of other components (such as the first control unit or the third computing unit group) in the communication link, which causes the pose sensor to be unable to communicate with the control device.

[0077] For the control device shown in FIG. 3, the first computing unit group can generate control information a from the signals from the first or second pose sensor, the control information a being used to control at least one of the steering mechanism, the power assistance mechanism, and the braking mechanism of the intelligent driving device. The second computing unit group can generate control information b from the signals from the first or second pose sensor, the control information b being used to control at least one of the steering mechanism, the power assistance mechanism, and the braking mechanism of the intelligent driving device. In the case where the control device does not include the second control unit and neither the first computing unit group nor the second computing unit group has failed, the control device sends the control information a through the first computing unit group, so that, in the case where the first pose sensor has failed and the signals of the second pose sensor are not transmitted to the second computing unit group, the control device does not need to switch the computing unit group.

[0078] In some scenarios, the control device shown in FIG. 3 further includes the second control unit, and the device sends the control information through the second control unit when the second control unit has not failed. In the case where the second control unit has failed, the control information is sent through the first computing unit group or the second computing unit group.

[0079] In yet another example, the control device includes the second control unit, and the second pose sensor communicates with at least one of the first computing unit group and the second computing unit group through a second type of interface of the second control unit. As shown in FIG. 4, the second pose sensor accesses the second control unit through an SPI link or a UART link, and the second control unit sends the signals of the second pose sensor to the first computing unit group and / or the second computing unit group through a network forwarding unit. The network forwarding unit sends the signals of the second pose sensor to the first computing unit group and the second computing unit group through an Ethernet interface, respectively. Exemplarily, the network forwarding unit can be a local area network switch (LSW), or the network forwarding unit can also be another unit with an Ethernet forwarding function. It should be noted that the link relationship between the first pose sensor and the control device can refer to the description of the corresponding part of FIG. 3, which will not be described here. It can be understood that the CAN-FD interface in the present embodiment can be regarded as an example of the first type of interface, and the Ethernet interface can be regarded as an example of the second type of interface and the third type of interface.

[0080] It should be noted that the first pose sensor and the first control unit / third computing unit group shown in FIG. 3 and FIG. 4 can be integrated into one positioning module. In an example, the positioning module can be a combined positioning module (or combined navigation module), that is, the positioning module further includes a positioning system, which accesses the first control unit / third computing unit group through an SPI link or a UART link. The positioning system can include a global navigation satellite system (GNSS), such as the aforementioned GPS, Beidou system, etc. The positioning module can provide centimeter-level positioning information based on the sensing results of the positioning system (such as GNSS) and the IMU, or can also combine high-precision maps and various sensor data. In another example, the positioning module can also be another electronic control unit (ECU) that can provide IMU sensor data.

[0081] In yet some implementations, the control device includes a first pose sensor, and the control device further includes a second control unit, the first pose sensor communicates with the first computing unit group and the second computing unit group through a first type of interface of the second control unit, respectively. In addition, the control device further includes a second pose sensor.

[0082] As shown in FIG. 5, the control device includes a first pose sensor and a second pose sensor. The linking relationship of the first pose sensor in the control device in FIG. 5 and the transmission path of the signal of the first pose sensor can refer to the description of the second pose sensor in FIG. 4, and the difference between the first pose sensor in FIG. 5 and the second pose sensor in FIG. 4 is that the first pose sensor in FIG. 5 communicates with the first computing unit group and the second computing unit group through the second control unit and the network forwarding unit, that is, the first computing unit group and the second computing unit group in FIG. 5 can both obtain the signal of the first pose sensor; the linking relationship of the second pose sensor in the control device in FIG. 5 and the transmission path of the signal of the second pose sensor can refer to the description of the second pose sensor in FIG. 3, which will not be described here. In an example, the control device further includes a positioning system 1, which accesses the second control unit through an SPI link or a UART link, and provides positioning information of the intelligent driving device for the control device; in another example, the control device communicates with a positioning system 2 through a CAN-FD link or an Ethernet link, and the positioning system 2 provides positioning information of the intelligent driving device for the control device. Exemplarily, the positioning system 1 or the positioning system 2 can be a GNSS.

[0083] It can be understood that the Ethernet interface in the present embodiment can be regarded as an example of the first type of interface, the SPI or UART interface can be regarded as some examples of the second type of interface, and the Ethernet interface can be regarded as an example of the third type of interface.

[0084] When the control device comprises a second control unit, the second control unit is capable of monitoring the working status of the first computing unit group and the second computing unit group, for example, for monitoring whether the first computing unit group and the second computing unit group are faulty. When the second control unit is not faulty, the control device sends the vehicle control information through the second control unit. More specifically, when the first computing unit group, the second computing unit group and the control module are all not faulty, the second control unit sends the control information a from the first computing unit group or the control information b from the second computing unit group. When it is determined that the first computing unit group or the second computing unit group is faulty, the second control unit sends the control information from the computing unit group that is not faulty. In addition, the second control unit is also capable of monitoring its own working status, and when the second control unit determines that it is faulty, it can be controlled to enter a silent state, i.e., no longer send the vehicle control information. When the second control unit is faulty, the control device sends the vehicle control information through the first computing unit group or the second computing unit group. More specifically, the first computing unit group and the second computing unit group are capable of monitoring the working status of the second control unit, and when the first computing unit group and the second computing unit group both determine that the second control unit is faulty, the first computing unit group sends the control information a or the control information b, or the second computing unit group sends the control information a or the control information b. Exemplarily, when the first computing unit group does not receive the heartbeat packet from the second control unit within a certain time length (such as n heartbeat packet transmission periods, n>1), and the first computing unit group receives the information from the second computing unit group indicating that the second control unit is faulty, the first computing unit group determines that the control unit is faulty, and then controls the first computing unit group to send the control information a.

[0085] It should be noted that the fault or abnormal working status of the control unit (or the computing unit group) involved in the embodiments of the present application can include: the software loaded in the control unit (or the computing unit group) is faulty and / or the hardware loaded in the control unit (or the computing unit group) is faulty. More specific fault types can include: power supply fault, clock fault, communication fault, or processing module fault of the control unit (or the computing unit group). Among them, the power supply fault refers to the failure of the power supply module or the power supply circuit to supply power to the control unit (or the computing unit group), the communication fault refers to the failure of the software or hardware to enable the control unit (or the computing unit group) to communicate with the outside world, the clock fault refers to the inaccuracy or failure of the clock of the control unit (or the computing unit group) to work, resulting in the failure to achieve clock synchronization, etc., and the processing module fault refers to the failure of the software or hardware to enable the processing module to process data.

[0086] In some implementations, the control device can include two control units, and each of the two control units can be in communication with the two groups of computing units respectively to obtain the control information from the groups of computing units. Further, the first pose sensor can be arranged in the manner shown in FIG. 3 or FIG. 4, and the second pose sensor can be arranged in the manner shown in FIG. 3 or FIG. 4; or the first pose sensor and the second pose sensor can be arranged in the manner shown in FIG. 5 respectively. Taking the case where the first pose sensor and the second pose sensor are arranged in the same manner as in FIG. 5 as an example, the architecture of the control device of the embodiment can be as shown in FIG. 6. The control device can include a second control unit and a third control unit, and the third control unit can access the network forwarding unit through an Ethernet link. It can be understood that, in the case where the second control unit does not fail, the control device can send the control information through the second control unit; and in the case where the second control unit fails, the control device can send the control information generated according to the signal of the second pose sensor through the third control unit. Since the control units have higher functional safety, adding the control units can help improve the reliability of the control device, thereby improving the safety of the intelligent driving equipment.

[0087] The architecture of the control device and the communication relationship between the components of the control device provided in the embodiments of the application are described above in combination with FIGS. 2 to 6. Based on the foregoing control device, the embodiments of the application further provide a control method. The method can include: in the case where the first pose sensor does not fail, sending first control information, the first control information being used to control the intelligent driving equipment and being generated according to a first signal; or in the case where the first pose sensor fails, sending second control information, the second control information being used to control the intelligent driving equipment and being generated according to a second signal.

[0088] Exemplarily, the first control information and the second control information can be some examples of the foregoing control information.

[0089] In some implementations, the method further includes: in the case where at least one of the first group of computing units and the second group of computing units does not fail, sending the first control information or the second control information through the first group of computing units or the second group of computing units.

[0090] In some implementations, in the case where the control device includes a second control unit, the method further includes: in the case where the second control unit does not fail and at least one of the first group of computing units and the second group of computing units does not fail, sending the first control information or the second control information through the second control unit.

[0091] For more detailed implementation of the method, reference can be made to the description in the foregoing embodiments, which will not be repeated here.

[0092] In various embodiments of the present application, the terms and / or descriptions among various embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0093] Fig. 7 is another schematic block diagram of the control device provided by the embodiments of the present application. The control device 2100 shown in Fig. 7 can include a processor 2110, a transceiver 2120 and a memory 2130. The processor 2110, the transceiver 2120 and the memory 2130 are connected through internal connection paths. The memory 2130 is configured to store instructions, and the processor 2110 is configured to execute the instructions stored in the memory 2130 to implement the control method in the above embodiments. Alternatively, the memory 2130 can be coupled to the processor 2110 through an interface, or the memory 2130 and the processor 2110 can be integrated together.

[0094] It should be noted that the transceiver 2120 can include but is not limited to a transceiving device such as an input / output interface to realize the communication between the device 2100 and other devices or communication networks.

[0095] The memory 2130 can be volatile memory and / or nonvolatile memory. The nonvolatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically EPROM (EEPROM), or flash memory, for example. The volatile memory can be random access memory (RAM), for example. The RAM can be used as external cache memory, for example. By way of example and not limitation, RAM includes forms of memory such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0096] The transceiver 2120 uses a transceiving device such as, but not limited to, a transceiver to enable communication between the device 2100 and other devices or communication networks to receive / send data / information for implementing the methods in the above-described embodiments.

[0097] Embodiments of the present application also provide a controller, which includes the control device in the above-described embodiments. Exemplarily, the controller can be a domain controller, or can also be a vehicle-mounted central computer.

[0098] Embodiments of the present application also provide a smart driving device, which includes the control device in the above-described embodiments, or the smart driving device can also include the controller in the above-described embodiments.

[0099] The intelligent driving device related to the embodiments of the present application can include a road vehicle, a water vehicle, an air vehicle, an industrial device, an agricultural device, or an entertainment device, etc. For example, the intelligent driving device can be a vehicle, which is a general concept of a vehicle, and can be a vehicle (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying vehicle, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural device (such as a mower, a harvester, etc.), an entertainment device, a toy vehicle, etc. The embodiments of the present application do not specifically limit the type of the vehicle.

[0100] In some implementations, the intelligent driving device includes the vehicle 100 shown in FIG. 1.

[0101] The embodiments of the present application also provide a computer program product, which includes computer program codes, and when the computer program codes are run on a computer, the computer is caused to implement the method in the above embodiments of the present application.

[0102] The embodiments of the present application also provide a computer readable storage medium, which stores computer instructions, and when the computer instructions are run on a computer, the computer is caused to implement the method in the above embodiments of the present application.

[0103] The embodiments of the present application also provide a chip, which includes a circuit for executing the method in the above embodiments of the present application.

[0104] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein.

[0105] In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" herein is a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent: A alone, A and B exist at the same time, and B alone. In the present application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or similar expressions means any combination of these items, including any combination of single item or multiple items. For example, at least one of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0106] The prefix of "first", "second" and the like in the embodiments of the present application are merely used to distinguish different description objects, and do not have the limitation on the position, order, priority, number or content of the described objects. The use of the prefix of ordinal numbers and the like for distinguishing the description objects in the embodiments of the present application does not constitute the limitation on the described objects, and the description of the described objects should refer to the description in the context of the claims or embodiments, and should not constitute the redundant limitation because of the use of the prefix.

[0107] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the described device embodiments are merely schematic, and the division of the units is merely a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0108] In each embodiment of the present application, the terms and / or descriptions between different embodiments are consistent and can be mutually referred to, and the technical features in different embodiments can be combined to form a new embodiment according to the inherent logical relationship, if there is no special description and logical conflict.

[0109] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e. can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0110] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0111] The above is merely specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control device characterized by comprising: The device is applied to an intelligent driving equipment, and comprises a first computing unit group and a second computing unit group. A first type interface of the first computing unit group and the second computing unit group is configured to receive a first signal from a first pose sensor. A second type interface of the first computing unit group is configured to receive a second signal from a second pose sensor, and / or a third type interface of the second computing unit group is configured to receive the second signal. The first pose sensor and the second pose sensor are configured to perceive motion state information of the intelligent driving equipment. The first computing unit group and / or the second computing unit group generates control information according to the first signal or the second signal, and the control information is configured to control the intelligent driving equipment.

2. The apparatus of claim 1, wherein, The first pose sensor communicates with the first computing unit group and the second computing unit group through a third computing unit group or a first control unit, and the third computing unit group and the first control unit are not included in the control device.

3. The apparatus of claim 2, wherein, The third computing unit group or the first control unit and the first pose sensor are included in a combined positioning module.

4. The apparatus of claim 1, wherein, The control device comprises the first pose sensor, and further comprises a second control unit, and the first pose sensor communicates with the first computing unit group and the second computing unit group through the first type interface of the second control unit.

5. The apparatus of any one of claims 1 to 3, wherein, The control device comprises the second pose sensor, and further comprises a second control unit, and the second pose sensor communicates with at least one of the first computing unit group and the second computing unit group through the second type interface of the second control unit.

6. The apparatus of claim 4 or 5, wherein, The second control unit communicates with the first computing unit through a fourth type interface, and communicates with the second computing unit group through a fifth type interface. The second control unit receives the control information through the fourth type interface, or the second control unit receives the control information through the fifth type interface. When the second control unit does not fail, the device transmits the control information through the second control unit.

7. The apparatus of any one of claims 1 to 4, wherein, The control device comprises the second pose sensor.

8. The apparatus of claim 7, wherein, The first computing unit group transmits the second signal to the second computing unit group through the third type interface.

9. The apparatus of any one of claims 1 to 8, wherein, When the first pose sensor and the second pose sensor do not fail, the first computing unit group and / or the second computing unit group generates the control information according to the first signal.

10. A control system characterized by, The device comprises the first pose sensor and the second pose sensor.

11. A controller characterized by comprising: The device comprises the first pose sensor and the second pose sensor.

12. An intelligent driving device, characterized by comprising: The device comprises the first pose sensor and the second pose sensor. The device comprises the first pose sensor and the second pose sensor.

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