Intelligent driving domain control device and vehicle

Abstract

The present application relates to the field of intelligent driving technology, and in particular to an intelligent driving domain control device and a vehicle. The intelligent driving domain control device includes: a floating board-to-board connector, an intelligent driving domain controller, a rigid shell of the device, a first rigid connector, a second rigid connector, and a calibrated INS module; the INS module is fixed to the inner bottom side of the rigid shell of the device through the first rigid connector, and is located between the bottom of the rigid shell of the device and the intelligent driving domain controller; the INS module is connected to the intelligent driving domain controller through a floating board-to-board connector; the intelligent driving domain controller is fixed to the inner bottom side of the rigid shell of the device through the second rigid connector; the INS module is used to obtain the positioning parameters of the vehicle and calculate the fused positioning information; the intelligent driving domain controller is used to control the vehicle's movement based on the fused positioning information. Therefore, the present application can effectively solve the problem of low accuracy of collected data caused by the existing installation method of the INS system.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to an intelligent driving domain control device and a vehicle. Background Art

[0002] In the field of intelligent driving, the typical positioning methods commonly used by mainstream automobile manufacturers include GNSS (global navigation satellite system) positioning, inertial navigation, radar positioning, visual positioning, etc. Because the sensors used in each positioning method have certain defects. In order to improve positioning accuracy and stability, an INS system that uses multiple sensors for fusion positioning is generally used to achieve the complementary advantages of each sensor positioning. The INS system (inertial navigation system) includes a high-precision GNSS satellite navigation unit and a high-precision IMU unit (inertial measurement unit), which accurately outputs position, vehicle speed and attitude information to the intelligent driving domain controller for use by the intelligent driving domain controller for path planning and vehicle control.

[0003] However, during the assembly process of the INS system, the calibrated INS module needs to be hot-sticked on the intelligent driving domain controller motherboard. The IMU unit uses accelerometers and gyroscopes to collect inertial observations. As an important component of the INS combined positioning system, it directly determines the upper limit of the INS combined positioning accuracy. If the IMU chip is not calibrated, or is assembled with hot-sticks after calibration, it will directly affect the data acquisition accuracy of the IMU unit. Due to the influence of high temperature or stress, the micro-electromechanical structure in the IMU chip is affected, causing the gap between the capacitor plates to increase or decrease, thereby causing the acceleration to increase or decrease, and it will also have a certain impact on the gyroscope. Utility Model Content

[0004] In view of this, the embodiments of the present application provide an intelligent driving domain control device and a vehicle, which can effectively solve the problem of low accuracy of collected data caused by the existing installation method of the INS system.

[0005] In a first aspect, an embodiment of the present application provides an intelligent driving domain control device, including:

[0006] A floating board-to-board connector, an intelligent driving domain controller, a device rigid housing, a first rigid connector, a second rigid connector, and a calibrated INS module;

[0007] The INS module is fixed to the inner side of the bottom of the rigid shell of the device through the first rigid connector, and is located between the bottom of the rigid shell of the device and the intelligent driving domain controller; the INS module is communicatively connected to the intelligent driving domain controller through the floating board-to-board connector;

[0008] The intelligent driving domain controller is fixed to the inner side of the bottom of the rigid shell of the device through the second rigid connector;

[0009] The INS module is used to obtain the positioning parameters of the vehicle and calculate the fused positioning information;

[0010] The intelligent driving domain controller is used to control the vehicle movement based on the fused positioning information.

[0011] In some embodiments, the INS module includes: a PCB board, a combined navigation and positioning module, a main control unit, and a module rigid housing;

[0012] The integrated navigation and positioning module is communicatively connected to the main control unit, and one end of the floating board-to-board connector, the integrated navigation and positioning module and the main control unit are all mounted on the PCB by reflow soldering to form an INS module mainboard;

[0013] Fixing the INS module mainboard in the module rigid housing;

[0014] An opening is provided on one side of the rigid shell of the module, and the main control unit is connected to the intelligent driving domain controller through the opening via the floating board-to-board connector, so as to send the fused positioning information calculated according to the positioning parameters output by the combined navigation and positioning module to the intelligent driving domain controller.

[0015] In some embodiments, the integrated navigation and positioning module includes a global navigation satellite unit and an inertial measurement unit;

[0016] The global navigation satellite unit and the inertial measurement unit are both mounted on the PCB board by reflow soldering.

[0017] In some embodiments, the INS module further comprises a third rigid connector;

[0018] The module rigid shell includes an upper shell and a lower shell; the upper shell, the lower shell and the INS module mainboard are assembled through the third rigid connecting member.

[0019] In some embodiments, the INS module mainboard further includes an antenna short-circuit detection unit mounted on the PCB board by reflow soldering; the antenna short-circuit detection unit is communicatively connected to the main control unit.

[0020] In some embodiments, the module rigid shell is a cuboid;

[0021] The length of the module rigid shell is less than the first preset length value, the width of the module rigid shell is less than the second preset length value, and the height of the module rigid shell is less than the third preset length value; the first preset length value is less than the length value of the intelligent driving domain controller; the third preset length value is less than or equal to half of the height value of the rigid shell of the device.

[0022] In some embodiments, the first rigid connector includes a first bolt assembly;

[0023] A first bolt hole combination is provided on the inner side of the bottom of the rigid shell of the device; a first bolt hole combination is provided at a corresponding position of the INS module;

[0024] The INS module and the device rigid housing are fixed by the first bolt combination, the first bolt hole combination and the first bolt hole combination.

[0025] In some embodiments, the second rigid connector includes a second bolt assembly;

[0026] A support column assembly is also provided on the inner side of the bottom of the rigid shell of the device; a connection hole is provided inside each support column; the connection hole is provided with an internal thread; and an external thread corresponding to the internal thread is provided on the outer periphery of each bolt of the second bolt assembly;

[0027] The height of the support column is greater than the height of the INS module; a second bolt hole combination is provided at a corresponding position of the intelligent driving domain controller;

[0028] The intelligent driving domain controller and the rigid shell of the device are fixed by the second bolt combination, the second bolt hole combination and the connecting hole combination.

[0029] In some embodiments, the third rigid connecting member includes a third bolt combination; corresponding positions of the upper shell, the lower shell and the INS module mainboard are provided with a third bolt hole combination, and the upper shell, the lower shell and the INS module mainboard are fixed by the third bolt combination and the third bolt hole combination.

[0030] In a second aspect, an embodiment of the present application provides a vehicle, comprising: an intelligent driving domain control device provided in the first aspect of the present application.

[0031] The embodiments of the present application have the following beneficial effects:

[0032] The INS module described in this application is fixed to the inner bottom side of the rigid shell of the device through the first rigid connector; the intelligent driving domain controller is fixed to the inner bottom side of the rigid shell of the device through the second rigid connector. After calibration, the INS module does not require secondary high-temperature patches, is not affected by high temperatures and mechanical stress during installation, and has high data collection accuracy. In addition, the INS module is connected to the intelligent driving domain controller through the floating board-to-board connector to reduce the impact of the vehicle vibration environment on the INS module and further improve accuracy. Finally, the INS module and the intelligent driving domain controller are integrated together, which greatly reduces costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 A structural block diagram of the intelligent driving domain control device according to an embodiment of the present application is shown;

[0035] Figure 2 A schematic diagram of a rigid housing of a module in an intelligent driving domain control device according to an embodiment of the present application is shown;

[0036] Figure 3 The structural block diagram of the INS module in the intelligent driving domain control device of the embodiment of the present application is shown;

[0037] Figure 4 A schematic diagram of the structure of the intelligent driving domain control device according to an embodiment of the present application is shown;

[0038] Figure 5 A schematic diagram of the assembly structure of the INS module in the intelligent driving domain control device of an embodiment of the present application is shown.

[0039] Description of main component symbols:

[0040] 100-intelligent driving domain control device; 110-intelligent driving domain controller; 120-INS module; 130-floating board-to-board connector; 140-device rigid shell; 121-MCU main control unit; 122-GNSS satellite navigation unit; 123-IMU unit; 124-antenna short-circuit detection unit; 125-antenna receiving socket; 126-PCB board; 131-floating board-to-board connector A seat; 132-floating board-to-board connector B seat; 127-third bolt hole; 150-first bolt hole; 160-support column. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0042] The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0043] Hereinafter, the terms "including", "having" and their cognates that can be used in various embodiments of the present application are intended only to indicate specific features, numbers, steps, operations, elements, components or a combination of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or a combination of the foregoing items or increasing the possibility of one or more features, numbers, steps, operations, elements, components or a combination of the foregoing items. In addition, the terms "first", "second", "third" and the like are only used to distinguish descriptions and cannot be understood as indicating or implying relative importance.

[0044] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present application belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present application.

[0045] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0046] On the one hand, the price of an independent INS system box is relatively high. On the other hand, the INS system integrated on the intelligent driving domain controller motherboard through patching requires a second high-temperature patching after a high-temperature patching and calibration procedure, which increases the risk of damage to the IMU chip in the INS system; more importantly, after the INS system is successfully calibrated, it is reflow soldered again. Before and after reflow soldering, the module PCB board generates mechanical stress at high temperature, which reduces the measurement accuracy and calibration effect of the IMU.

[0047] Therefore, the present application proposes an intelligent driving domain control device and vehicle, which can effectively solve the problems of low data collection accuracy and high cost caused by the existing installation method of the INS system.

[0048] The intelligent driving domain control device 100 is described below with reference to some specific embodiments.

[0049] Figure 1 A structural block diagram of the intelligent driving domain control device 100 of an embodiment of the present application is shown.

[0050] Exemplarily, the intelligent driving domain control device 100 includes:

[0051] The intelligent driving domain controller 110, the floating board-to-board connector 130, the device rigid housing 140, the first rigid connector, the second rigid connector and the calibrated INS module 120. The INS module 120 is an inertial navigation system (INS for short).

[0052] The INS module 120 is fixed to the inner side of the bottom of the rigid shell 140 of the device through the first rigid connector, and is located between the bottom of the rigid shell 140 of the device and the intelligent driving domain controller 110; the INS module 120 is communicatively connected to the intelligent driving domain controller 110 through the floating board-to-board connector 130.

[0053] The intelligent driving domain controller 110 is fixed to the inner bottom side of the device rigid shell 140 through the second rigid connector.

[0054] The INS module 120 is used to obtain the positioning parameters of the vehicle and calculate the fused positioning information, and send the fused positioning information to the intelligent driving domain controller 110. The INS module 120 belongs to the category of positioning modules and is assembled inside the intelligent driving domain controller 110.

[0055] The intelligent driving domain controller 110 is used to control the vehicle's movement based on the fused positioning information. Specifically, it is used to plan the driving path of the target vehicle based on the acquired driving environment information and the fused positioning information, and control the vehicle's movement. The intelligent driving domain controller 110 is a computing power, path planning and control platform, which is connected to the INS module 120 through the socket of the floating board-to-board connector 130, and is connected to peripherals such as cameras, ultrasonic waves, millimeter waves and lidars through wiring harnesses to obtain and process environmental data and plan the vehicle's driving path.

[0056] Since the floating board-to-board connector 130 is equipped with a soft spring structure, when the upper or lower board is vibrated or impacted, the connector accumulates stress, which is then transmitted to the connector solder joint and the PCB board 126, causing connection failure or PCB stress deformation. Compared with the board-to-board pins (rigid connector), the floating board-to-board connector 130 can absorb and correct the errors in the ±X and ±Y directions, improve the connection reliability and reduce the impact of vibration on the IMU unit on the INS module 120. The floating board-to-board connector 130 includes a female socket and a male socket to achieve a male-female plug-in connection.

[0057] Furthermore, the INS module 120 includes:

[0058] PCB board 126 (printed circuit board), integrated navigation and positioning module, main control unit (MCU main control unit 121) and module rigid shell.

[0059] The main control unit is used to calculate and obtain fused positioning information according to the positioning parameters output by the integrated navigation and positioning module;

[0060] Among them, the combined navigation and positioning module is communicatively connected to the main control unit, and one end of the floating board-to-board connector 130, the combined navigation and positioning module and the main control unit are all mounted on the PCB board 126 by reflow soldering to form an INS module mainboard.

[0061] The combined navigation and positioning module and the floating board-to-board connector 130 are communicatively connected to the main control unit.

[0062] The INS module mainboard is rigidly fixed in the module rigid shell.

[0063] like Figure 2 As shown, an opening (not marked in the figure) is provided on one side of the rigid shell of the module, and the main control unit is connected to the intelligent driving domain controller 110 through the floating board-to-board connector 130 from the opening, so as to send the fused positioning information calculated according to the positioning parameters output by the combined navigation and positioning module to the intelligent driving domain controller 110.

[0064] Furthermore, the integrated navigation and positioning module includes:

[0065] Global navigation satellite unit (GNSS unit 122 or global navigation satellite system for short) and inertial measurement unit (IMU unit 123 for short); MCU main control unit 121 is responsible for RTK differential data reception and processing, IMU unit 123 is responsible for fusion algorithm processing, and the INS module 120 finally outputs RTK (Real time kinematic, real-time dynamic carrier phase differential) + IMU + GPS fusion positioning information.

[0066] The global navigation satellite unit and the inertial measurement unit are both mounted on the PCB board 126 by reflow soldering.

[0067] The INS module mainboard also includes an antenna short circuit detection unit 124 mounted on the PCB board 126 by reflow soldering; the antenna short circuit detection unit 124 is communicatively connected to the main control unit. The structural block diagram of the INS module 120 is shown in FIG. Figure 3 As shown, the antenna receiving socket 125 is connected to the GNSS satellite navigation unit 122, the GNSS satellite navigation unit 122, the antenna short circuit detection unit 124, and the high-precision IMU unit 123 are connected to the MCU main control unit 121, and the MCU main control unit 121 is connected to the floating board-to-board connector B seat 132 set on the intelligent driving domain controller 110 through the floating board-to-board connector A seat 131 to realize serial communication, CAN communication, SPI signal transmission, and Ethernet communication. Among them, the floating board-to-board connector is also used to provide power supply and wheel speed signal transmission. If the A seat of the floating board-to-board connector is a female seat or a male seat, the B seat is another corresponding socket.

[0068] Exemplarily, the MCU main control unit 121 collects vehicle body status information such as vehicle wheel speed signals through the CAN bus interface, transmits the GNSS GGA positioning information to the intelligent driving domain controller 110 through the Ethernet interface or the SPI interface, and receives RTK differential data from the background, and finally outputs the combined positioning data. The MCU main control unit 121 is the processing unit of the GNSS and IMU fusion positioning algorithm.

[0069] Among them, the rigid shell of the module is a rectangular parallelepiped, but is not limited to a rectangular parallelepiped; the length of the rigid shell of the module is less than a first preset length value, the width of the rigid shell of the module is less than a second preset length value, and the height of the rigid shell of the module is less than a third preset length value; the first preset length value is less than the length value of the intelligent driving domain controller 110; the third preset length value is less than or equal to half of the height value of the rigid shell 140 of the device.

[0070] Exemplarily, the length of the module rigid shell is less than 46 mm, the width of the module rigid shell is less than 44 mm, and the height of the module rigid shell is less than 12 mm. That is to say, the present application reduces the size of the GNSS satellite navigation unit 122, the IMU unit 123, the GNSS antenna receiving socket 125, the MCU main control unit 121, etc., so that their size meets the requirements of integration into the module rigid shell, such as Figure 2 shown.

[0071] Since the IMU unit 123 in the INS module 120 of the present application is once high-temperature mounted on the PCB board 126, and then the IMU unit 123 is calibrated, it is no longer high-temperature mounted, but is fixed in the rigid shell of the module with bolts, and the INS module 120 is also fixed to the rigid shell of the intelligent driving domain controller 110 with bolts. This assembly method avoids the influence of high temperature and mechanical stress during installation on the internal micro-electromechanical structure of the IMU, and the calibration always maintains a closed-loop effect, which improves the accuracy of the IMU. The IMU unit 123 in the INS module 120 of the embodiment of the present application only undergoes high-temperature reflow soldering once, reducing the risk of IMU damage.

[0072] Furthermore, the first rigid connection member includes a first bolt assembly.

[0073] A first bolt hole combination is provided at the bottom inner side of the rigid shell 140 of the device; a first bolt hole combination is provided at a corresponding position of the INS module 120 .

[0074] The INS module 120 and the device rigid housing 140 are fixed by the first bolt combination, the first bolt hole combination, and the first bolt hole combination.

[0075] That is, the INS module 120 is fixed together with the first bolt hole combination by passing the first bolt combination through the first bolt hole combination. Figure 4 As shown, a first bolt hole 150 is respectively opened at the four corner positions of the module rigid shell, and a corresponding first bolt hole is opened at the corresponding position on the inner side of the bottom of the device rigid shell 140. Four bolts are passed through the corresponding first bolt holes 150 and finally engage with the first bolt holes, thereby rigidly fixing the module rigid shell and the device rigid shell 140.

[0076] The second rigid connection member includes a second bolt assembly.

[0077] A support column assembly is also provided on the inner side of the bottom of the rigid shell 140 of the device; a connecting hole is provided inside each support column in the support column assembly; the connecting hole is provided with an internal thread; a corresponding external thread is provided on the outer periphery of each second bolt in the second bolt assembly; the height of the support column 160 is greater than the height of the INS module 120; and a second bolt hole assembly is provided at the corresponding position of the intelligent driving domain controller 110.

[0078] The intelligent driving domain controller 110 and the device rigid housing 140 are fixed by the second bolt combination, the second bolt hole combination and the connection hole combination. That is, the intelligent driving domain controller 110 is fixed together with the connection hole combination by the second bolt combination passing through the second bolt hole combination. For example, Figure 4 As shown, the second bolt assembly includes two bolts. A support column 160 is provided on each side of the INS module 120, and a connecting hole is provided inside the support column 160; the connecting hole is provided with an internal thread.

[0079] Further, the INS module 120 further includes a third rigid connection member;

[0080] The module rigid shell includes an upper shell and a lower shell; the upper shell, the lower shell and the INS module mainboard are rigidly assembled together through the third rigid connector. The rigid connector includes at least one of a bolt connection, a rivet connection, a pin connection and a snap ring connection.

[0081] Exemplarily, the third rigid connector is a third bolt combination; corresponding positions of the upper shell, the lower shell and the INS module mainboard are all provided with a third bolt hole combination, and corresponding positions of the upper shell, the lower shell and the INS module mainboard are all provided with a third bolt hole combination, and the upper shell, the lower shell and the INS module mainboard are fixed by the third bolt combination and the third bolt hole combination. That is, the upper shell, the lower shell and the INS module mainboard are rigidly fixed together by the third bolt combination and the third bolt hole combination. Exemplarily, the third bolt combination includes four third bolts; a third bolt hole 127 is respectively provided at the four corners of the upper shell, the lower shell and the INS module mainboard, and the upper shell, the lower shell and the INS module mainboard are rigidly fixed together by passing the four third bolts through the corresponding bolt holes, such as Figure 2 shown.

[0082] like Figure 5As shown, the present application mounts the antenna receiving socket 125, the GNSS satellite navigation unit 122, the antenna short-circuit detection unit 124, the high-precision IMU unit 123, the MCU main control unit 121, and the floating board-to-board connector A seat 131 on the PCB board 126 to obtain the PCBA, and then seals the PCBA with a rigid hardware small shell, thereby obtaining a small INS module 120, which is then connected to the intelligent driving domain control mainboard through a board-to-board connector.

[0083] The INS module 120 of the present application integrates a GNSS receiving antenna socket, a GNSS satellite navigation unit 122, an antenna short circuit detection unit 124, a high-precision IMU unit 123 and an MCU main control unit 121 to form an independent small INS module 120, thereby realizing the modularization of INS products.

[0084] Compared with the existing INS box (P-BOX), the INS module 120 of the present application reduces the cost by 30%. Specifically, the existing INS box is connected to the domain controller by an external cable, and the long-distance transmission of signals generally uses CAN bus and vehicle Ethernet communication. The INS module of the present application is directly integrated into the domain controller product. In addition to reducing the cost of cables and communication chips, the INS module is smaller in size and can also reduce the cost of hardware and PCB.

[0085] Since the INS module 120 of the present application is no longer high-temperature mounted after calibration, it is fixed to the rigid housing of the intelligent driving domain controller 110 with screws. This assembly method avoids the influence of high temperature and mechanical stress during installation on the internal micro-electromechanical structure of the IMU, and the calibration always maintains a closed-loop effect, thereby improving the accuracy of the IMU. The IMU unit 123 in the INS module 120 of the present application only undergoes high-temperature reflow soldering once, reducing the risk of IMU damage;

[0086] The INS module 120 of the present application adopts a floating board-to-board connector 130 to reduce the impact of the vehicle vibration environment on the IMU unit 123.

[0087] The present application also provides a vehicle, comprising: an intelligent driving domain control device 100 of an embodiment of the present application.

[0088] It can be understood that the options in the above embodiment are also applicable to this embodiment, so they will not be described again here.

[0089] The present application also provides a vehicle. Exemplarily, the vehicle includes the above-mentioned intelligent driving domain control device 100.

[0090] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. An intelligent driving domain control device, characterized in that: include: A floating board-to-board connector, an intelligent driving domain controller, a device rigid housing, a first rigid connector, a second rigid connector, and a calibrated INS module; The INS module is fixed to the inner side of the bottom of the rigid shell of the device through the first rigid connector, and is located between the bottom of the rigid shell of the device and the intelligent driving domain controller; the INS module is communicatively connected to the intelligent driving domain controller through the floating board-to-board connector; The intelligent driving domain controller is fixed to the inner side of the bottom of the rigid shell of the device through the second rigid connector; The INS module is used to obtain the positioning parameters of the vehicle and calculate the fused positioning information; The intelligent driving domain controller is used to control the vehicle movement based on the fused positioning information.

2. The intelligent driving domain control device according to claim 1, characterized in that: The INS module includes: a PCB board, an integrated navigation and positioning module, a main control unit and a module rigid housing; The integrated navigation and positioning module is communicatively connected to the main control unit, and one end of the floating board-to-board connector, the integrated navigation and positioning module and the main control unit are all mounted on the PCB by reflow soldering to form an INS module mainboard; Fixing the INS module mainboard in the module rigid housing; An opening is provided on one side of the rigid shell of the module, and the main control unit is connected to the intelligent driving domain controller through the opening via the floating board-to-board connector, so as to send the fused positioning information calculated according to the positioning parameters output by the combined navigation and positioning module to the intelligent driving domain controller.

3. The intelligent driving domain control device according to claim 2, characterized in that: The integrated navigation and positioning module includes a global navigation satellite unit and an inertial measurement unit; The global navigation satellite unit and the inertial measurement unit are both mounted on the PCB board by reflow soldering.

4. The intelligent driving domain control device according to claim 2, characterized in that: The INS module also includes a third rigid connector; The module rigid shell includes an upper shell and a lower shell; the upper shell, the lower shell and the INS module mainboard are assembled through the third rigid connecting member.

5. The intelligent driving domain control device according to claim 2, characterized in that: The INS module mainboard also includes an antenna short-circuit detection unit mounted on the PCB board by reflow soldering; the antenna short-circuit detection unit is communicatively connected to the main control unit.

6. The intelligent driving domain control device according to claim 2, characterized in that: The module rigid shell is a cuboid; The length of the module rigid shell is less than the first preset length value, the width of the module rigid shell is less than the second preset length value, and the height of the module rigid shell is less than the third preset length value; the first preset length value is less than the length value of the intelligent driving domain controller; the third preset length value is less than or equal to half of the height value of the rigid shell of the device.

7. The intelligent driving domain control device according to any one of claims 1 to 6, characterized in that: The first rigid connector includes a first bolt assembly; A first bolt hole combination is provided on the inner side of the bottom of the rigid shell of the device; a first bolt hole combination is provided at a corresponding position of the INS module; The INS module and the device rigid housing are fixed by the first bolt combination, the first bolt hole combination and the first bolt hole combination.

8. The intelligent driving domain control device according to any one of claims 1 to 6, characterized in that: The second rigid connector includes a second bolt assembly; A support column assembly is also provided on the inner side of the bottom of the rigid shell of the device; a connection hole is provided inside each support column; the connection hole is provided with an internal thread; and an external thread corresponding to the internal thread is provided on the outer periphery of each bolt of the second bolt assembly; The height of the support column is greater than the height of the INS module; a second bolt hole combination is provided at a corresponding position of the intelligent driving domain controller; The intelligent driving domain controller and the rigid shell of the device are fixed by the second bolt combination, the second bolt hole combination and the connecting hole combination.

9. The intelligent driving domain control device according to claim 4, characterized in that: The third rigid connecting member includes a third bolt combination; corresponding positions of the upper shell, the lower shell and the INS module mainboard are provided with a third bolt hole combination, and the upper shell, the lower shell and the INS module mainboard are fixed by the third bolt combination and the third bolt hole combination.

10. A vehicle, characterized in that: The vehicle includes: an intelligent driving domain control device as described in any one of claims 1 to 9.

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