Vehicle, separate autonomous driving control system and autonomous driving subsystem

Abstract

The application provides a vehicle, a detachable automatic driving control system and an automatic driving subsystem; the first automatic driving subsystem is provided with an interface connected with the detachable second automatic driving subsystem; the first automatic driving subsystem is used for controlling the automatic driving of the vehicle when the second automatic driving subsystem is separated; the detachable automatic driving control system is used for controlling the automatic driving of the vehicle by the first automatic driving subsystem and / or the second automatic driving subsystem when the second automatic driving subsystem is connected to the detachable automatic driving control system. The application is connected with the detachable second automatic driving subsystem through the interface, so that the automatic driving control system based on L2 research and development can be upgraded to the automatic driving control system based on L4 in the future, and the compatibility of the existing automatic driving control system is improved.

Description

Technical Field

[0001] This invention relates to the field of interactive technology, and in particular to a split-type automated driving control system in a vehicle, a vehicle, and a first automated driving subsystem of the split-type automated driving control system in a vehicle. Background Technology

[0002] In related technologies, most autonomous driving control systems are based on Level 2, which allows drivers to disengage their hands but ultimately bear the responsibility. As technology continues to develop, automakers' autonomous driving control systems will gradually evolve to Level 4, which represents a high degree of autonomous driving, with the ultimate responsibility borne by the autonomous driving system developer.

[0003] As automobiles are considered major consumer goods, consumers tend to replace them more frequently; this highlights the shortcomings of most current autonomous driving control systems on the market.

[0004] Currently, the autonomous driving control system developed based on L2 cannot meet the performance requirements of L4; when it is necessary to upgrade the autonomous driving control system to L4 in the future, there may be incompatibility issues. Summary of the Invention

[0005] In view of the above problems, a vehicle-mounted automated driving control system, a vehicle, and a first automated driving subsystem of the vehicle-mounted automated driving control system are proposed to overcome or at least partially solve the above problems, comprising:

[0006] A first autonomous driving subsystem of a split autonomous driving control system in a vehicle, the first autonomous driving subsystem being provided with an interface for connection to a detachable second autonomous driving subsystem;

[0007] The first autonomous driving subsystem is used to control the vehicle to drive autonomously when disconnected from the second autonomous driving subsystem;

[0008] The separate autonomous driving control system is used to control the vehicle's autonomous driving by the first autonomous driving subsystem and / or the second autonomous driving subsystem when the second autonomous driving subsystem is connected to the separate autonomous driving control system.

[0009] The present invention also provides a separate autonomous driving control system in a vehicle, the separate autonomous driving control system comprising: a first autonomous driving subsystem and a separable second autonomous driving subsystem;

[0010] The separate autonomous driving control system is used to control the vehicle's autonomous driving by the first autonomous driving subsystem when the second autonomous driving subsystem is disconnected; and to control the vehicle's autonomous driving by the first autonomous driving subsystem and / or the second autonomous driving subsystem when the second autonomous driving subsystem is connected to the separate autonomous driving control system.

[0011] Optionally, the separate autonomous driving control system is used to detect whether there is a fault in the first autonomous driving subsystem and the second autonomous driving subsystem when the second autonomous driving subsystem is connected to the separate autonomous driving control system; when the first autonomous driving subsystem has a fault, the second autonomous driving subsystem controls the vehicle to drive autonomously; when the second autonomous driving subsystem has a fault, the first autonomous driving subsystem controls the vehicle to drive autonomously.

[0012] Optionally, the separate autonomous driving control system is used to detect whether there is a fault in the first autonomous driving subsystem and the second autonomous driving subsystem when the second autonomous driving subsystem is connected to the separate autonomous driving control system; when there is a partial fault in the first autonomous driving subsystem and / or the second autonomous driving subsystem, the first autonomous driving subsystem and the second autonomous driving subsystem shall jointly control the autonomous driving of the vehicle.

[0013] Optionally, the first autonomous driving subsystem and the second autonomous driving subsystem are each provided with the same first functional unit;

[0014] The split-type autonomous driving control system is used to coordinate the autonomous driving of the vehicle by the first functional unit in the first autonomous driving subsystem that has not experienced a failure and the second autonomous driving subsystem when a first functional unit in the first autonomous driving subsystem fails.

[0015] Optionally, the first functional unit in the first autonomous driving subsystem includes a first system-on-a-chip unit and a first microcontroller unit;

[0016] The first functional unit in the second autonomous driving subsystem includes a second system-on-a-chip unit and a second microcontroller unit.

[0017] Optionally, the first functional unit in the first autonomous driving subsystem further includes any one of the following: a first power management integrated circuit, a first embedded multimedia card, a first non-volatile data storage unit, a first synchronous dynamic random access memory, a first temperature unit, a first sensor power supply unit, and a first controller area network physical layer transceiver.

[0018] The first functional unit in the second autonomous driving subsystem further includes any one of the following: a second power management integrated circuit, a second embedded multimedia card, a second non-volatile data storage unit, a second synchronous dynamic random access memory, a second temperature unit, a second sensor power supply unit, and a second controller area network physical layer transceiver.

[0019] Optionally, the first autonomous driving subsystem further includes a second functional unit, which includes any one of the following:

[0020] Global navigation satellite system, inertial measurement unit, Ethernet switch, deserializer, serializer, Ethernet transceiver.

[0021] Optionally, the deserializer is connected to the first autonomous driving subsystem and the second autonomous driving subsystem, respectively;

[0022] The serializer is connected to the first autonomous driving subsystem and the second autonomous driving subsystem, respectively.

[0023] Optionally, the first functional unit in the first autonomous driving subsystem further includes: a first deserializer and a first serializer;

[0024] The first functional unit in the second autonomous driving subsystem further includes: a second deserializer and a second serializer.

[0025] Optionally, the first autonomous driving subsystem is provided with an interface for connecting to the second autonomous driving subsystem; the interface includes any one of the following:

[0026] Camera access interface, Ethernet interface, hub interface, heartbeat monitoring interface, fault communication interface.

[0027] The present invention also provides a vehicle including the separate automated driving control system as described above, or the first automated driving subsystem as described above.

[0028] The present invention has the following advantages:

[0029] In this invention, a first autonomous driving subsystem is provided with an interface for connecting to a detachable second autonomous driving subsystem. The first autonomous driving subsystem is used to control the vehicle's autonomous driving when disconnected from the second autonomous driving subsystem. A detachable autonomous driving control system is used to control the vehicle's autonomous driving by the first and / or second autonomous driving subsystems when the second autonomous driving subsystem is connected to the detachable autonomous driving control system. This invention, by connecting to the detachable second autonomous driving subsystem through the interface, allows the L2-based autonomous driving control system to be upgraded to an L4 autonomous driving control system in the future, thereby improving the compatibility of existing autonomous driving control systems. Attached Figure Description

[0030] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the structure of a split-type automatic driving control system in a vehicle according to an embodiment of the present invention;

[0032] Figure 2 This is a partial structural schematic diagram of a vehicle according to an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the structure of a first autonomous driving subsystem according to an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of an autonomous driving control system based on a first autonomous driving subsystem according to an embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram of the structure of a second autonomous driving subsystem according to an embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of the structure of an interface according to an embodiment of the present invention.

[0037] Explanation of reference numerals in the attached diagram:

[0038] 1 – Split-type automated driving control system; 2 – First automated driving subsystem; 3 – Second automated driving subsystem; 4 – First power management integrated circuit; 5 – Second power management integrated circuit; 6 – First embedded multimedia card; 7 – First non-volatile data storage unit; 8 – First synchronous dynamic random access memory; 9 – First temperature unit; 10 – First sensor power supply unit; 11 – First controller area network physical layer transceiver; 12 – Third power management integrated circuit; 13 – Fourth power management integrated circuit; 14 – Second embedded multimedia card; 15 – Second non-volatile data storage unit; 16 – Second synchronous dynamic random access memory. Storage, 17 - Second temperature unit, 18 - Second sensor power supply unit, 19 - Second controller LAN physical layer transceiver, 20 - Interface, 21 - Global Navigation Satellite System, 22 - Inertial Measurement Unit, 23 - Ethernet switch, 24 - Deserializer, 25 - Serializer, 26 - Ethernet transceiver, 27 - Camera path interface, 28 - Ethernet interface, 29 - Hub interface, 30 - Heartbeat monitoring interface, 31 - Fault communication interface, 32 - Sensor, 33 - Actuator, 34 - First system-on-a-chip unit, 35 - First microcontroller unit, 36 - Second system-on-a-chip unit, 37 - Second microcontroller unit. Detailed Implementation

[0039] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0040] To accommodate the current needs of L2 autonomous driving control systems while also considering the future requirements of L4 autonomous driving control systems, this invention provides a first autonomous driving subsystem of a separable autonomous driving control system in a vehicle. This first autonomous driving subsystem is provided with an interface for connecting to a separable second autonomous driving subsystem.

[0041] The first autonomous driving subsystem is used to control the vehicle's autonomous driving when separated from the second autonomous driving subsystem;

[0042] The split-type automated driving control system is used to enable the first and / or second automated driving subsystems to control the vehicle's automated driving when the second automated driving subsystem is connected to the split-type automated driving control system.

[0043] In addition, embodiments of the present invention also provide a separate autonomous driving control system in a vehicle, the separate autonomous driving control system comprising: a first autonomous driving subsystem and a separable second autonomous driving subsystem;

[0044] A split-type autonomous driving control system is used to control the vehicle's autonomous driving by the first autonomous driving subsystem when the second autonomous driving subsystem is disconnected; and to control the vehicle's autonomous driving by the first autonomous driving subsystem and / or the second autonomous driving subsystem when the second autonomous driving subsystem is connected to the split-type autonomous driving control system.

[0045] By setting up an interface on the first autonomous driving subsystem and setting up a separable second autonomous driving subsystem, the autonomous driving control system developed based on L2 can be upgraded to an L4 autonomous driving control system in the future, thereby improving the compatibility of the existing autonomous driving control system.

[0046] Reference Figure 1 The diagram shows a schematic representation of a split-type automatic driving control system in a vehicle according to an embodiment of the present invention.

[0047] like Figure 1 As shown, the separate automated driving control system 1 in the vehicle may include the following components: a first automated driving subsystem 2 and a separable second automated driving subsystem 3.

[0048] The separate autonomous driving control system 1 is used to control the vehicle's autonomous driving by the first autonomous driving subsystem 2 when the second autonomous driving subsystem 3 is disconnected; and to control the vehicle's autonomous driving by the first autonomous driving subsystem 2 and / or the second autonomous driving subsystem 3 when the second autonomous driving subsystem 3 is connected to the separate autonomous driving control system 1.

[0049] In this embodiment of the invention, the separate autonomous driving control system 1 may consist of a fixed first autonomous driving subsystem 2 and a separable second autonomous driving subsystem 3; wherein, the separable second autonomous driving subsystem 3 may be connected to the separate autonomous driving control system 1 and the first autonomous driving subsystem 2 based on actual needs; or, it may be separate from the separate autonomous driving control system 1 and not connected to the first autonomous driving subsystem 2 or other components in the separate autonomous driving control system 1.

[0050] When the second autonomous driving subsystem 3 is separated from the separate autonomous driving control system 1, the separate autonomous driving control system 1 can act as an L2 autonomous driving system to realize the autonomous driving control of the vehicle based on the first autonomous driving subsystem 2.

[0051] When the second autonomous driving subsystem 3 is connected to the separate autonomous driving control system 1, the separate autonomous driving control system 1, based on the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3, can function as an L4 autonomous driving system to achieve autonomous driving control of the vehicle. The second autonomous driving subsystem 3 can serve as a backup system, performing the function of parking the vehicle at the side of the road when the first autonomous driving subsystem 2 malfunctions. Of course, when the first autonomous driving subsystem 2 is functioning correctly, the second autonomous driving subsystem 3 can also cooperate with the first autonomous driving subsystem 2 to control the vehicle and achieve autonomous driving.

[0052] For example, when the second autonomous driving subsystem 3 is connected to the separate autonomous driving control system 1, the separate autonomous driving control system 1 can be controlled by the first autonomous driving subsystem 2 to achieve autonomous driving, or by the second autonomous driving subsystem 3 to achieve autonomous driving, or by the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 working together to control the vehicle to achieve autonomous driving. This embodiment of the invention does not limit this.

[0053] In this embodiment of the invention, the separable autonomous driving control system 1 includes: a first autonomous driving subsystem 2 and a separable second autonomous driving subsystem 3; the separable autonomous driving control system 1 is used to control the vehicle's autonomous driving by the first autonomous driving subsystem 2 when the second autonomous driving subsystem 3 is separated; and to control the vehicle's autonomous driving by the first autonomous driving subsystem 2 and / or the second autonomous driving subsystem 3 when the second autonomous driving subsystem 3 is connected to the separable autonomous driving control system 1. This embodiment of the invention connects to the separable second autonomous driving subsystem via an interface, thereby enabling the L2-based autonomous driving control system to be upgraded to an L4 autonomous driving control system in the future, thus improving the compatibility of existing autonomous driving control systems.

[0054] In one embodiment of the present invention, the separate autonomous driving control system 1 is used to detect whether the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 are faulty when the second autonomous driving subsystem 3 is connected to the separate autonomous driving control system 1; when the first autonomous driving subsystem 2 is faulty, the second autonomous driving subsystem 3 controls the vehicle to drive autonomously; when the second autonomous driving subsystem 3 is faulty, the first autonomous driving subsystem 2 controls the vehicle to drive autonomously.

[0055] In some feasible embodiments, the first autonomous driving subsystem 2 can serve as the main channel of the autonomous driving control system 1; the second autonomous driving subsystem 3 can serve as the secondary channel of the autonomous driving control system 1.

[0056] In practical applications, it is possible to first detect whether the second autonomous driving subsystem 3 is connected to the separate autonomous driving control system 1; if the second autonomous driving subsystem 3 is connected to the separate autonomous driving control system 1, it is possible to further detect whether the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 have faults, that is, whether the first autonomous driving subsystem 2 or the second autonomous driving subsystem 3 has faults that may prevent the vehicle from completing autonomous driving.

[0057] If the first autonomous driving subsystem 2 malfunctions, but the second autonomous driving subsystem 3 does not malfunction, then the second autonomous driving subsystem 3 can take over control of the vehicle to achieve autonomous driving. Specifically, since the separate autonomous driving control system 1 has malfunctioned, in order to ensure the safety of the vehicle and the users inside the vehicle, when the second autonomous driving subsystem 3 takes over control of the vehicle to achieve autonomous driving, it can control the vehicle to complete the parking maneuver.

[0058] In one embodiment of the present invention, the separate autonomous driving control system 1 is used to detect whether the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 have faults when the second autonomous driving subsystem 3 is connected to the separate autonomous driving control system 1; when the first autonomous driving subsystem 2 and / or the second autonomous driving subsystem 3 have partial faults, the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 cooperate to control the vehicle's autonomous driving.

[0059] In some feasible embodiments, some components in the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 may be the same; therefore, the split autonomous driving control system 1 can coordinate the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 to control the vehicle's autonomous driving when there is a partial failure in the first autonomous driving subsystem 2 and / or the second autonomous driving subsystem 3.

[0060] Specifically, when the first autonomous driving subsystem 2 has a partial fault, that is, when some components are faulty, the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 can work together to control the vehicle's autonomous driving.

[0061] When the second autonomous driving subsystem 3 has a partial fault, that is, when some components are faulty, the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 can work together to control the vehicle's autonomous driving.

[0062] When both the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 have partial faults, the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 can work together to control the vehicle's autonomous driving.

[0063] In one embodiment of the present invention, the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 are respectively provided with the same first functional unit;

[0064] A split-type automated driving control system 1 is used to coordinate the automated driving of the vehicle by the first functional unit in the first automated driving subsystem 2 that has not experienced a failure and the second automated driving subsystem 3.

[0065] In some feasible embodiments, the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 may each be provided with the same first functional unit; for example, the first functional unit in the first autonomous driving subsystem 2 may include a first system-on-a-chip unit 34 and a first microcontroller unit 35; the first functional unit in the second autonomous driving subsystem 3 may include a second system-on-a-chip unit 36 ​​and a second microcontroller unit 37.

[0066] Among them, the first system-on-a-chip and the second system-on-a-chip are the same first functional unit, namely system-on-a-chip; the system-on-a-chip is used to undertake the functions of "diagnosis", "perception", "fusion" and "decision planning" in the separate autonomous driving control system 1.

[0067] The first microcontroller unit 35 and the second microcontroller unit 37 are the same first functional unit; that is, microcontrollers; the microcontrollers are used to undertake the functions of "control" and "diagnosis" in the separate automatic driving control system 1.

[0068] In practical applications, if some of the first functional units of the first autonomous driving subsystem 2 malfunction, the separate autonomous driving control system 1 can be coordinated to control the vehicle's autonomous driving by the first functional units in the first autonomous driving subsystem 2 that have not malfunctioned and the second autonomous driving subsystem 3. For example, if the first system-on-a-chip in the first autonomous driving subsystem 2 malfunctions but the first microcontroller unit 35 does not malfunction, and the second system-on-a-chip in the second autonomous driving subsystem 3 does not malfunction but the second microcontroller unit 37 malfunctions, then the separate autonomous driving control system 1 can be coordinated to control the vehicle's autonomous driving by the second system-on-a-chip and the first microcontroller unit 35.

[0069] For example, if the first system-on-a-chip in the first autonomous driving subsystem 2 fails but the first microcontroller unit 35 does not fail, and the second system-on-a-chip in the second autonomous driving subsystem 3 does not fail and the second microcontroller unit 37 does not fail, then the split autonomous driving control system 1 can be controlled by the second system-on-a-chip and the first microcontroller unit 35 in a coordinated manner to control the autonomous driving of the vehicle. The embodiments of the present invention do not limit the specific unit scheduling strategy, that is, it can control the autonomous driving of the vehicle in a coordinated manner or it can be controlled by a separate autonomous driving subsystem.

[0070] In one embodiment of the present invention, the first functional unit in the first autonomous driving subsystem 2 further includes any one of the following: a first power management integrated circuit, a first embedded multimedia card 6, a first non-volatile data storage unit 7, a first synchronous dynamic random access memory 8, a first temperature unit 9, a first sensor power supply unit 10, and a first controller local area network physical layer transceiver 11.

[0071] The first functional unit in the second autonomous driving subsystem 3 further includes any one of the following: a second power management integrated circuit, a second embedded multimedia card 14, a second non-volatile data storage unit 15, a second synchronous dynamic random access memory 16, a second temperature unit 17, a second sensor power supply unit 18, and a second controller area network physical layer transceiver 19.

[0072] In some feasible embodiments, the first functional unit in the first autonomous driving subsystem 2 may further include any of the following:

[0073] The first power management integrated circuit (PMIC) is used for power management of the first system-on-a-chip and the first microcontroller unit 35.

[0074] The first embedded multimedia card 6: namely EMMC (embedded Multi Media Card) is used for large-capacity data storage of the first system-on-a-chip.

[0075] First non-volatile data storage unit 7: Used for non-volatile data storage.

[0076] The first synchronous dynamic random access memory 8 can be LPDDR4 (Low Power Double Data Rate 4, fourth generation low power double data rate synchronous dynamic random access memory) for the RAM (Random Access Memory) required for the real-time operation of the first system-on-a-chip.

[0077] First temperature unit 9: Used to provide temperature information.

[0078] First sensor power supply unit 10: used to supply power to sensor 32.

[0079] First Controller Area Network Physical Layer Transceiver 11: CAN (Controller Area Network) transceiver.

[0080] The first functional unit in the second autonomous driving subsystem 3 may also include any of the following:

[0081] Second power management integrated circuit: used for power management of the second system-on-a-chip and the second microcontroller unit 37.

[0082] Second embedded multimedia card 14: for large-capacity data storage of the second system-on-a-chip.

[0083] Second non-volatile data storage unit 15: used for non-volatile data storage.

[0084] The second synchronous dynamic random access memory 16 can be LPDDR4, used for the RAM memory required for the real-time operation of the second system-on-a-chip.

[0085] Second temperature unit 17: used to provide temperature information.

[0086] Second sensor power supply unit 18: used to supply power to sensor 32.

[0087] Second Controller Area Network Physical Layer Transceiver 19: CAN transceiver.

[0088] In one embodiment of the present invention, the first functional unit in the first autonomous driving subsystem 2 further includes: a first deserializer and a first serializer 25;

[0089] The first functional unit in the second autonomous driving subsystem 3 also includes: a second deserializer and a second serializer 25.

[0090] In some feasible embodiments, the first functional unit in the first autonomous driving subsystem 2 may further include: a first deserializer and a first serializer 25; the first functional unit in the second autonomous driving subsystem 3 may further include: a second deserializer and a second serializer 25.

[0091] The first deserializer is used to deserialize the serialized data from the GMSL (Gigabit Multimedia Serial Link) camera and transmit it to the first system-on-a-chip for processing.

[0092] First serializer 25: Used to provide serial conversion of image data output from the first system-on-a-chip and transmit it to HU (Hub Interface 29).

[0093] Second deserializer: Used to deserialize the GMSL camera serialized data and transmit it to the second system-on-a-chip for processing.

[0094] Second serializer 25: Used to provide serial conversion of image data output from the second system-on-a-chip and transmit it to HU.

[0095] In one embodiment of the present invention, the first autonomous driving subsystem 2 is further provided with a second functional unit, the second functional unit including any one of the following:

[0096] Global Navigation Satellite System 21, Inertial Measurement Unit 22, Ethernet Switch 23, Deserializer 24, Serializer 25, Ethernet Transceiver 26.

[0097] In some feasible embodiments, the first autonomous driving subsystem 2 may further include a second functional unit; the second functional unit may include any of the following:

[0098] Global Navigation Satellite System 21 (GNSS) is used to provide GPS positioning information.

[0099] Inertial Measurement Unit 22: This unit provides acceleration and gyroscope information from inertial measurements.

[0100] Ethernet Switch 23: The Switch (Ethernet Switch 23) is used to provide routing of Ethernet data for multiple protocol ports.

[0101] Deserializer 24: Used to provide deserialization of GMSL camera serialized data and transmit it to the first system-on-a-chip for processing.

[0102] Serializer 25: Used to provide serial conversion of image data output from the first system-on-a-chip and transmit it to the HU.

[0103] Ethernet transceivers 26: namely ETH PHYs (Ethernet Physical Layers), are responsible for handling the physical connections and signal transmissions in Ethernet communication.

[0104] In practical applications, since the first autonomous driving subsystem 2 already has a second functional unit, it is not necessary to set up the same second functional unit in the second autonomous driving subsystem 3.

[0105] In one embodiment of the present invention, the deserializer 24 is connected to the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 respectively;

[0106] The serializer 25 is connected to the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 respectively.

[0107] In some feasible embodiments, when the deserializer 24 and the serializer 25 are only set in the first autonomous driving subsystem 2, the deserializer 24 can be connected to the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 respectively, and the serializer 25 can also be connected to the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 respectively, so as to meet the requirement of being able to pull over to the side of the road in the event of a single fault.

[0108] In one embodiment of the present invention, the first autonomous driving subsystem 2 is provided with an interface 20 for connection to the second autonomous driving subsystem 3; the interface 20 includes any one of the following:

[0109] Camera access interface 27, Ethernet interface 28, hub interface 29, heartbeat monitoring interface 30, fault communication interface 31.

[0110] Among them, the camera access interface 27 and the hub interface 29 are used by the second autonomous driving subsystem 3 to obtain data camera data from the first autonomous driving subsystem 2.

[0111] Ethernet interface 28 is used for communication between the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3.

[0112] Heartbeat monitoring interface 30 is used for heartbeat monitoring between the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3.

[0113] The fault communication interface 31 is used for fault communication between the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3.

[0114] In one embodiment of the present invention, a vehicle is also provided, the vehicle including any of the separate automatic driving control systems 1 mentioned in the above embodiments.

[0115] For example, such as Figure 2 The diagram shows a vehicle according to an embodiment of the present invention. The vehicle may include a sensor 32, a separate automatic driving control system 1, and an actuator 33.

[0116] The sensor 32 may include, for example, a camera, a lidar, or a millimeter-wave radar; the actuator 33 may include a braking actuator and a steering actuator.

[0117] The split autonomous driving control system 1 may include a first autonomous driving subsystem 2 and a second autonomous driving subsystem 3; wherein, the first autonomous driving subsystem 2 may include a first system-on-a-chip unit 34 and a first microcontroller unit 35; and the second autonomous driving subsystem 3 may include a second system-on-a-chip unit 36 ​​and a second microcontroller unit.

[0118] The first system-level chip unit 34 and the second system-level chip unit 36 ​​are used to undertake the functions of "diagnosis", "perception", "fusion" and "decision planning" in the separate autonomous driving control system 1.

[0119] The first microcontroller unit 35 and the second microcontroller unit 37 are used to undertake the "control" and "diagnostic" functions in the separate automated driving control system 1. The first system-on-a-chip can output corresponding data to the first microcontroller unit 35 for the first microcontroller unit 35 to perform control, diagnostic, and other functions. The second system-on-a-chip can output corresponding data to the second microcontroller unit 37 for the first microcontroller unit 35 to perform control, diagnostic, and other functions.

[0120] The first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 can be connected via interface 20. Data output from sensor 32 can be output to the first autonomous driving subsystem 2 and the second autonomous driving subsystem respectively; the first autonomous driving subsystem 2 and the second autonomous driving subsystem 3 can control actuator 33 respectively.

[0121] The first autonomous driving subsystem 2 can serve as the main channel for the autonomous driving control system 1, and can independently undertake the tasks of the L2-level autonomous driving control system 1. For example... Figure 3 As shown, the first autonomous driving subsystem 2 may include a first system-on-a-chip unit 34, a first microcontroller unit 35, a first power management integrated circuit (a first power management integrated sub-circuit 4 and a second power management integrated sub-circuit 5; the first power management integrated sub-circuit 4 is used to manage the power supply of the first system-on-a-chip unit 34, and the second power management integrated sub-circuit 5 is used to manage the power supply of the first microcontroller unit 35), a first embedded multimedia card 6, a first non-volatile data storage unit 7, a first synchronous dynamic random access memory 8, a first temperature unit 9, a first sensor power supply unit 10, a first controller area network physical layer transceiver 11, a global navigation satellite system 21, an inertial measurement unit 22, an Ethernet switch 23, a deserializer 24, a serializer 25, and an Ethernet transceiver 26.

[0122] The first autonomous driving subsystem 2 is also provided with an interface 20 for connecting with the second autonomous driving subsystem 3.

[0123] When using the first autonomous driving subsystem 2 alone, the vehicle can... Figure 4 As shown:

[0124] The data output by sensor 32 can be sent to the first system-on-a-chip unit 34 in the first autonomous driving subsystem 2. The first system-on-a-chip unit 34 can perform functions such as perception, diagnosis, fusion, decision planning, etc., and output data to the first microcontroller unit 35. The first microcontroller unit 35 can perform functions such as diagnosis and control, and control the actuator 33 to control the vehicle's steering and braking, thereby completing the autonomous driving control of the vehicle.

[0125] like Figure 5 This illustration shows a second autonomous driving subsystem 3 according to an embodiment of the present invention. Since the Global Navigation Satellite System 21, Inertial Measurement Unit 22, Ethernet Switch 23, Deserializer 24, Serializer 25, and Ethernet Transceiver 26 have already been deployed in the first autonomous driving subsystem 2, the second autonomous driving subsystem 3 only needs to deploy the second system-on-a-chip unit 36, the second microcontroller unit 37, the second power management integrated circuit (including the third power management integrated sub-circuit 12 and the fourth power management integrated sub-circuit 13; the third power management integrated sub-circuit 12 is used to manage the power of the second system-on-a-chip unit 36, and the fourth power management integrated sub-circuit 13 is used to manage the power of the second microcontroller unit 37), the second embedded multimedia card 14, the second non-volatile data storage unit 15, the second synchronous dynamic random access memory 16, the second temperature unit 17, the second sensor power supply unit 18, and the second controller area network physical layer transceiver 19.

[0126] like Figure 6 The illustration shows an interface 20 according to an embodiment of the present invention. Interface 20 may include a camera access interface 27, an Ethernet interface 28, a hub interface 29, a heartbeat monitoring interface 30, and a fault communication interface 31. In actual hardware design, it can be designed as a connector for easy installation.

[0127] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0128] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0129] The above provides a detailed description of a separate automated driving control system for a vehicle, a vehicle, and a first automated driving subsystem of the separate automated driving control system for a vehicle. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A first autonomous driving subsystem of a split-type autonomous driving control system in a vehicle, characterized in that, The first autonomous driving subsystem is provided with an interface for connection to a detachable second autonomous driving subsystem; The first autonomous driving subsystem is used to control the vehicle to drive autonomously when disconnected from the second autonomous driving subsystem; The separate autonomous driving control system is used to control the vehicle's autonomous driving by the first autonomous driving subsystem and / or the second autonomous driving subsystem when the second autonomous driving subsystem is connected to the separate autonomous driving control system.

2. A split-type automatic driving control system for a vehicle, characterized in that, The split-drive autonomous driving control system includes: a first autonomous driving subsystem and a detachable second autonomous driving subsystem; The separate autonomous driving control system is used to control the vehicle's autonomous driving by the first autonomous driving subsystem when the second autonomous driving subsystem is disconnected; and to control the vehicle's autonomous driving by the first autonomous driving subsystem and / or the second autonomous driving subsystem when the second autonomous driving subsystem is connected to the separate autonomous driving control system.

3. The separate automatic driving control system according to claim 2, characterized in that, The separate autonomous driving control system is used to detect whether there is a fault in the first autonomous driving subsystem and the second autonomous driving subsystem when the second autonomous driving subsystem is connected to the separate autonomous driving control system; when the first autonomous driving subsystem has a fault, the second autonomous driving subsystem controls the vehicle to drive autonomously; when the second autonomous driving subsystem has a fault, the first autonomous driving subsystem controls the vehicle to drive autonomously.

4. The split-type automatic driving control system according to claim 2, characterized in that, The separate autonomous driving control system is used to detect whether there is a fault in the first autonomous driving subsystem and the second autonomous driving subsystem when the second autonomous driving subsystem is connected to the separate autonomous driving control system; when there is a partial fault in the first autonomous driving subsystem and / or the second autonomous driving subsystem, the first autonomous driving subsystem and the second autonomous driving subsystem shall jointly control the autonomous driving of the vehicle.

5. The split-type automatic driving control system according to claim 4, characterized in that, The first autonomous driving subsystem and the second autonomous driving subsystem are each provided with the same first functional unit; The split-type autonomous driving control system is used to coordinate the autonomous driving of the vehicle by the first functional unit in the first autonomous driving subsystem that has not experienced a failure and the second autonomous driving subsystem when a first functional unit in the first autonomous driving subsystem fails.

6. The split-type automatic driving control system according to claim 5, characterized in that, The first functional unit in the first autonomous driving subsystem includes a first system-on-a-chip unit and a first microcontroller unit; The first functional unit in the second autonomous driving subsystem includes a second system-on-a-chip unit and a second microcontroller unit.

7. The split-type automatic driving control system according to claim 6, characterized in that, The first functional unit in the first autonomous driving subsystem further includes any one of the following: a first power management integrated circuit, a first embedded multimedia card, a first non-volatile data storage unit, a first synchronous dynamic random access memory, a first temperature unit, a first sensor power supply unit, and a first controller area network physical layer transceiver; The first functional unit in the second autonomous driving subsystem further includes any one of the following: a second power management integrated circuit, a second embedded multimedia card, a second non-volatile data storage unit, a second synchronous dynamic random access memory, a second temperature unit, a second sensor power supply unit, and a second controller area network physical layer transceiver.

8. The split-type automatic driving control system according to claim 7, characterized in that, The first autonomous driving subsystem also includes a second functional unit, which includes any one of the following: Global navigation satellite system, inertial measurement unit, Ethernet switch, deserializer, serializer, Ethernet transceiver.

9. The split-type automatic driving control system according to claim 8, characterized in that, The deserializers are connected to the first autonomous driving subsystem and the second autonomous driving subsystem, respectively; The serializer is connected to the first autonomous driving subsystem and the second autonomous driving subsystem, respectively.

10. The split-type automatic driving control system according to claim 7, characterized in that, The first functional unit in the first autonomous driving subsystem further includes: a first deserializer and a first serializer; The first functional unit in the second autonomous driving subsystem further includes: a second deserializer and a second serializer.

11. The split-type automatic driving control system according to any one of claims 1-10, characterized in that, The first autonomous driving subsystem is provided with an interface for connecting to the second autonomous driving subsystem; the interface includes any one of the following: Camera access interface, Ethernet interface, hub interface, heartbeat monitoring interface, fault communication interface.

12. A vehicle, characterized in that, This includes the first autonomous driving subsystem as described in claim 1, or the separate autonomous driving control system as described in any one of claims 2-11.

Images