CN116252729A

CN116252729A - Intelligent driving system, implementation method of intelligent driving system and automobile

Info

Publication number: CN116252729A
Application number: CN202310106497.4A
Authority: CN
Inventors: 江亚波; 饶淼涛; 陈新
Original assignee: BAIC Motor Co Ltd
Current assignee: BAIC Motor Co Ltd
Priority date: 2023-02-13
Filing date: 2023-02-13
Publication date: 2023-06-13

Abstract

The invention discloses an intelligent driving system, an implementation method of the intelligent driving system and an automobile. This intelligent driving system includes: the intelligent driving domain, the power domain and the gateway are combined into the chassis domain through the large computing power chip to form the multifunctional domain; the multifunctional domain comprises a first functional cluster, a second functional cluster and a third functional cluster, wherein the first functional cluster is used for realizing the function of the intelligent driving domain, the second functional cluster is used for realizing the function of the power domain, and the third functional cluster is used for realizing the function of the chassis domain. According to the invention, the communication among the intelligent driving domain, the power domain and the chassis domain is converted into the inter-core communication in the chip through the large power chip of the multifunctional domain, so that the communication time delay of the system is effectively reduced, the safety and the reliability of the system are improved, and meanwhile, the space and the manufacturing cost of a vehicle are saved.

Description

Intelligent driving system, implementation method of intelligent driving system and automobile

Technical Field

The invention belongs to the technical field of automatic driving of automobiles, and particularly relates to an intelligent driving system, an implementation method of the intelligent driving system and an automobile.

Background

With the rapid development of technologies such as automobiles, artificial intelligence, networking, communication, control and the like, the intelligent functions of automobiles are more and more, such as low-level automatic auxiliary driving systems such as self-adaptive cruise (ACC), emergency braking (AEB), forward and backward collision warning (FCW) and the like in mass production, and intelligent driving systems such as high-speed pilot auxiliary driving (NOA) systems capable of running in areas with high-precision maps covering highways, automatic Parking (APA) systems used in parking lots or ground libraries and the like.

The existing technical scheme is as shown in fig. 1, five domains are associated to carry out cooperative communication through a gateway (or with a vehicle control VCU function), wherein some domains may be independent controllers, and the communication is forwarded by using controllers related to intelligent driving domain, power domain (including a motor controller MCU and a battery management system BMS) or chassis related controllers (including an electric vehicle body transmission EPS, a vehicle body electronic stability system EPS, an electric vehicle brake system ibooster and the like) or chassis domain (including EPS, EPS, ibooster), a vehicle body domain and a cabin domain (entertainment information domain) respectively, mainly using 100Mbps/1Gbps ethernet, CANFD/CAN and LVDS to carry out information communication, wherein the information transmission needs to span the controllers/span the domains and carry out forwarding communication through gateway packaging and unpacking, and the time from sensing to sending an instruction to control the vehicle generally exceeds 200ms, even longer, so that serious safety problems exist.

The information disclosed in the background section of the invention is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Disclosure of Invention

The invention aims to provide an intelligent driving system, an implementation method and an automobile, which are used for converting inter-domain communication among an intelligent driving domain, a power domain and a chassis domain into inter-core communication in a chip, effectively reducing the communication time delay of the system, improving the safety and reliability of the system, saving the space and manufacturing cost of the automobile and being beneficial to the weight reduction of the automobile.

According to a first aspect of the present invention, an intelligent driving system is presented, comprising:

the intelligent driving domain, the power domain and the gateway are combined into the chassis domain through the large computing power chip to form the multifunctional domain;

the multifunctional domain is used for converting communication among the intelligent driving domain, the power domain and the chassis domain into inter-core communication in the chip;

the multifunctional domain comprises a first functional cluster, a second functional cluster and a third functional cluster, wherein the first functional cluster is used for realizing the function of the intelligent driving domain, the second functional cluster is used for realizing the function of the power domain, and the third functional cluster is used for realizing the function of the chassis domain;

the first functional cluster analyzes the collected scene information around the vehicle and the received instruction information, makes planning decisions according to analysis results, and sends the planning decision results to the second functional cluster and the third functional cluster to control the operation of the vehicle.

Optionally, the first functional cluster includes:

the acquisition and data processing module is used for acquiring scene information around the vehicle, receiving instruction information sent by a user and analyzing the instruction information;

the decision planning module is used for carrying out decision planning on the scene information and the instruction information which are analyzed;

and the control module is used for sending the scene information and the instruction information which finish the decision planning processing to the second functional cluster and the third functional cluster and controlling the running of the vehicle.

Optionally, the high-power chip includes a plurality of processing cores respectively allocated to the first functional cluster, the second functional cluster, and the third functional cluster.

Optionally, the power domain includes:

the motor controller is used for controlling the operation of the motor after receiving the acceleration, deceleration and sudden stop commands, so as to control the operation of the vehicle;

and a battery management system for managing charge and discharge of the battery and a power-off operation in an emergency state.

Optionally, the chassis domain includes:

an electric power steering system for assisting a driver in steering operation;

the electronic stability program system is used for monitoring the running state of the vehicle, improving the control of the vehicle and preventing the vehicle from being out of control when reaching the dynamic limit;

the electric control brake booster system is used for improving the braking performance of the vehicle, reducing the braking distance of the vehicle and improving the automatic emergency braking efficiency of the vehicle.

Optionally, the method further comprises:

and the safety processor is used for realizing the functions of the intelligent driving domain and the high safety class in the chassis domain.

Optionally, the method further comprises:

and the manual interaction module is used for sending instruction information to the multifunctional domain by a user.

According to a second aspect of the present invention, there is provided a method for implementing an intelligent driving system, for implementing any one of the intelligent driving systems described in the first aspect, including:

combining an intelligent driving domain, a power domain and a gateway into a chassis domain through a high-power chip to form a multifunctional domain, wherein communication among the intelligent driving domain, the power domain and the chassis domain is converted into inter-core communication in the chip;

dividing the multi-functional domain into a first functional cluster, a second functional cluster and a third functional cluster, wherein each functional cluster comprises a plurality of processing cores;

the first functional cluster is used for realizing the function of the intelligent driving domain, the second functional cluster is used for realizing the function of the power domain, and the third functional cluster is used for realizing the function of the chassis domain;

the first functional cluster analyzes the collected scene information around the vehicle and the received instruction information, and makes planning decisions according to analysis results, and the first functional cluster sends the planning decision results to the second functional cluster and the third functional cluster so as to control the operation of the vehicle.

Optionally, the inter-core communication in the chip is performed through a high-speed internal bus or a shared memory mode.

According to a third aspect of the present invention, an automobile is presented, comprising the intelligent driving system according to any one of the first aspects.

The invention has the beneficial effects that: combining the intelligent driving domain, the power domain and the gateway into the chassis domain through a high-power chip to form the multifunctional domain, and further converting communication among the intelligent driving domain, the power domain and the chassis domain into inter-core communication in the chip; the communication time delay of the system is effectively reduced, the safety and the reliability of the system are improved, meanwhile, the space and the manufacturing cost of the vehicle are saved, and the weight reduction of the vehicle is facilitated.

The system of the present invention has other features and advantages which will be apparent from or are set forth in detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.

Drawings

The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular descriptions of exemplary embodiments of the invention as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the invention.

Fig. 1 shows a schematic diagram of communication between domains of a prior art scheme.

Fig. 2 shows a schematic diagram of an intelligent driving system according to embodiment 1 of the present invention.

Fig. 3 shows a flow chart of steps of a method for implementing an intelligent driving system according to embodiment 2 of the present invention.

Detailed Description

The invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention are illustrated in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

An intelligent driving system according to the present invention includes:

Specifically, a multi-core high-power chip, such as SoC, is adopted, the AI power of the chip can reach 200 TOPS-300 TOPS, even the chip with higher power of 500TOPS, the integral type computing power reaches 200KDMIPS, and the intelligent driving domain, the power domain and the gateway with high real-time requirements are combined in the chassis domain to form a multifunctional domain; considering the complexity of control function integration and the supporting capability of the current chip calculation, the cabin domain and the vehicle body domain with low real-time requirements can be used for carrying out inter-domain communication with the multifunctional domain through the gateway, the multifunctional domain converts inter-domain communication among the intelligent driving domain, the power domain and the chassis domain into inter-core communication in the chip, the system can process more complicated scenes and transactions with more time, the safety and the reliability of the intelligent driving system are improved, the number of domain controllers and the number of connectors can be reduced, and the arrangement space of vehicles is further saved; and the cost in the aspects of purchasing connectors, reducing waterproof design, electromagnetic compatibility design and the like can be reduced.

The functions related to the original autopilot domain, such as ADAS, HWA, APA, are distributed to a first functional cluster, for example, 4 corex-A55 processing cores; placing the functions realized by the related controllers of ESP, EPS and the like related to the original chassis domain in a second functional cluster, for example, distributing the functions to 4 corex-A55 processing cores; the functions realized by the motive power domain such as MCU, BMS and the like are distributed into a third functional cluster, for example, 4 core-A55 processing cores, wherein the number of the cores can be changed according to the chips; the clusters communicate via an inter-chip communication bus, and the inter-core communication communicates via inter-processor communication (IPC) or shared memory.

The method comprises the steps that a first functional cluster collects scene information around a vehicle and receives instruction information sent by a user and analyzes the scene information, planning and deciding are carried out on the information to obtain data after decision planning, the data after decision planning are sent to a second functional cluster and a third functional cluster through a high-speed communication bus in a chip, when the chip is a plurality of SoCs, communication is carried out across the SoCs, a service-based mode is directly adopted, who needs to subscribe is not needed, and corresponding gateways are not needed to unpack and unpack; the running of the vehicle is controlled through the second functional cluster and the third functional cluster, the results obtained by sensing, deciding and controlling the automatic driving can be output as a control angle and torque signal of the EPS function of the chassis, the on-off control of an electromagnetic valve related to the ESP function or the control of the iBooster to brake, the power domain signal is directly converted into the torque control of the motor, the power domain signal is not required to be converted into the target acceleration and speed, and then the power domain signal is converted into the control of the motor, and the communication is not required to be carried out across domains or gateways, so that the electric vehicle is more direct and shorter in time delay; for example, the control of steering is directly converted into pulse signals required by the motors of the control machinery and the hydraulic device to carry out vehicle steering control, and the braking control is directly converted into signals required by the control of the braking motor to further control vehicle braking, so that the forwarding of multiple intermediate cross-domain and gateway nodes is reduced, the delay can be controlled within tens of milliseconds, and the communication delay is effectively improved.

In one example, the first functional cluster includes:

the acquisition and data processing module is used for acquiring scene information around the vehicle, receiving instruction information input by a user and analyzing the instruction information;

Specifically, the acquisition and data processing module can acquire scene information around the vehicle through one or more sensors such as a camera, a millimeter wave radar, a GPS/IMU, a laser radar, an ultrasonic radar and the like and analyze the scene information to obtain information such as speed, acceleration, position and the like of corresponding obstacles, receive instruction information sent by a user, such as a selected starting place and a destination, start intelligent driving and the like, analyze the instruction information to obtain specific instructions, send the information and part of scene information to the decision planning module to process the information to obtain information after decision planning, such as waypoint information, waypoint direction, exit or entering automatic driving and the like, send the information after decision planning to the control module, and simultaneously the decision planning module corrects the data fed back by the corresponding decision planning to the acquisition and data processing module.

For example, when the vehicle normally runs, the camera acquires sudden braking of the front vehicle, the acquisition and data processing module analyzes the information acquired by the camera, acquires information such as the speed, the position and the distance from the vehicle to the front and surrounding vehicles, and then sends the information to the decision planning module, the decision planning module makes a decision that the vehicle needs to perform sudden braking or lane change running according to the information, meanwhile, the decision planning module corrects the data fed back by the corresponding decision planning module to the acquisition and data processing module, makes the decision of sudden braking, then sends the decision to the control module, and the control module sends the decision to a second functional cluster realizing the power domain function and a third functional domain realizing the chassis domain function through an internal high-speed communication bus, so as to control the vehicle to perform sudden braking.

In one example, the high-power chip includes a plurality of processing cores respectively assigned to the first, second, and third functional clusters.

Specifically, the high-power chip comprises a plurality of processing cores, and the processing cores are respectively distributed to the first functional cluster, the second functional cluster and the third functional cluster according to the actual requirements of the functional clusters according to the complexity of control function integration of the first functional cluster, the second functional cluster and the third functional cluster and the supporting capability of the current chip power calculation;

for example, the high-power chip includes 12 processing cores, the complexity of the control function integration of the first, second and third functional clusters is similar, and the requirements of the intelligent driving system can be met according to the power supporting capability of the chip, at this time, 4 processing cores can be allocated to the first functional cluster, 4 processing cores are allocated to the second functional cluster and 4 processing cores are allocated to the third functional cluster.

In one example, the power domain includes:

Specifically, the power domain comprises a motor controller and a battery management system, and the second functional cluster is used for realizing the functions of the power domain, namely the functions of the motor controller and the battery management system, namely the second functional cluster is used for controlling the operation of the motor after receiving the commands of acceleration, deceleration and scram, so as to control the operation of the vehicle; charge and discharge of the battery are managed, and a power-off operation in an emergency state is performed.

In one example, the chassis domain includes:

an electric power steering system for assisting a driver in steering operation;

Specifically, the chassis domain comprises an electric power steering system, an electronic stability program system and an electric control brake booster system, and the third functional cluster is used for realizing the functions of the chassis domain, namely the functions of the electric power steering system, the electronic stability program system and the electric control brake booster system, namely the third functional cluster is used for assisting a driver in steering operation; the running state of the vehicle is monitored, the control of the vehicle is promoted, and the vehicle is prevented from being out of control when reaching the dynamic limit; the braking performance of the vehicle is improved, the braking distance of the vehicle is reduced, and the automatic emergency braking efficiency of the vehicle is improved.

The electric power steering system comprises a mechanical steering system, a torque sensor, a vehicle speed sensor, an electronic control unit, a speed reducer and a motor; the electronic stabilization program system includes: a steering sensor, a wheel speed sensor, a yaw rate sensor, a lateral acceleration sensor, an electronic control unit and an actuator; the electric control brake booster system comprises: servo motor, helping hand drive mechanism, brake pedal stroke sensor and control unit.

In one example, further comprising:

and the safety processor is used for realizing the functions of high safety categories in the intelligent driving domain, the power domain and the chassis domain.

Specifically, part/all functions with high safety category in the intelligent driving domain, such as the functions of automatically avoiding obstacles, actively braking and the like, are realized through the safety processor; part/all functions with high safety category in the power domain, such as electrical intelligent fault diagnosis and the like, are realized through the safety processor; part/all of functions of high safety class in the chassis domain, such as an anti-lock braking function, a braking auxiliary function, an acceleration slip prevention function, and the like, are realized by the safety processor.

In one example, further comprising:

and the manual interaction module is used for sending instruction information to the multifunctional domain by the user.

Specifically, the method is used for sending a control instruction to the multifunctional domain through a manual interaction module, such as selecting a starting place and a destination, opening/closing automatic driving and the like through the manual interaction module, and then the manual interaction module sends corresponding instruction information to the multifunctional domain.

Example 1

As shown in fig. 2, the present example provides an intelligent driving system including:

in this embodiment, the high-power chip is Nvidia Orin, and includes 12 Cortex-a78AE processing cores, and the highest power (INT 8) reaches 2000TOPS; the high-power chip can also adopt an ARM architecture chip such as Nvidia Thor and the like, or an Intel architecture chip such as ATOM A3960 and the like, or a RISC-V architecture SoC, or a MIPS architecture chip such as Mobileye EyeQ Ultra and the like, or other architecture chips.

The multifunctional domain is used for converting communication among the intelligent driving domain, the power domain and the chassis domain into inter-core communication in the chip, and communicating in a high-speed internal bus or shared memory mode;

the multifunctional domain comprises a first functional cluster, a second functional cluster and a third functional cluster, each functional cluster comprises 4 Cortex-A78AE processing cores, the first functional cluster is used for realizing the function of the intelligent driving domain, the second functional cluster is used for realizing the function of the power domain, and the third functional cluster is used for realizing the function of the chassis domain;

the processing cores can also adopt Cortex-A55, cortex-A72, cortex-R5 and other processing cores of ARM architectures or processing cores of other architectures;

the multifunctional domain also comprises a safety processor, wherein the safety processor is used for realizing part of functions with high safety requirements of the intelligent driving domain, the power domain and the chassis domain;

the multifunctional domain, the cabin domain and the vehicle body domain are communicated with each other through a gateway;

the first functional cluster analyzes the collected scene information around the vehicle, makes planning decisions according to analysis results, and sends the planning decisions to the second functional cluster and the third functional cluster to control the operation of the vehicle.

The first functional cluster includes:

the acquisition and data processing module is used for acquiring scene information around the vehicle, receiving instruction information sent by a user and analyzing the scene information through acquisition cameras, millimeter wave radars, GPS/IMU, laser radars, ultrasonic radars and the like;

The power domain includes:

The chassis domain includes:

an electric power steering system for assisting a driver in steering operation;

And the manual interaction module is used for sending instruction information to the multifunctional domain by a user, and in the embodiment, the instruction information is input by the user through the human-machine HMI and is sent to the multifunctional domain.

Example 2

As shown in fig. 3, the present embodiment provides a method for implementing the intelligent driving system described in embodiment 1, including:

combining the intelligent driving domain, the power domain and the gateway into the chassis domain through the high-power chip to form a multifunctional domain, and converting communication among the intelligent driving domain, the power domain and the chassis domain into inter-core communication in the chip;

dividing the multifunctional domain into a first functional cluster, a second functional cluster and a third functional cluster, wherein each functional cluster comprises 4 Cortex-A78AE processing cores respectively;

the first functional cluster analyzes the collected scene information around the vehicle, and makes planning decisions according to the analysis results, and the first functional cluster sends the planning decision results to the second functional cluster and the third functional cluster so as to control the operation of the vehicle.

Example 3

The embodiment provides an automobile comprising the intelligent driving system described in embodiment 1.

The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described.

Claims

1. An intelligent driving system, comprising:

2. The intelligent driving system of claim 1, wherein the first functional cluster comprises:

3. The intelligent driving system of claim 1, wherein the high-power chip comprises a plurality of processing cores respectively assigned to the first, second and third functional clusters.

4. An intelligent driving system according to claim 1, wherein the power domain comprises:

5. An intelligent driving system according to claim 1, wherein the chassis domain comprises:

an electric power steering system for assisting a driver in steering operation;

6. The intelligent driving system according to claim 1, further comprising:

7. The intelligent driving system according to claim 1, further comprising:

8. A method for implementing an intelligent driving system, which is used in the intelligent driving system as claimed in any one of claims 1 to 7, comprising:

9. The method for implementing the intelligent driving system according to claim 8, wherein the inter-core communication in the chip is performed by a high-speed internal bus or a shared memory.

10. An automobile comprising an intelligent driving system according to any one of claims 1-7.