CN117938901A - Vehicle control system and method and vehicle - Google Patents
Vehicle control system and method and vehicle Download PDFInfo
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- CN117938901A CN117938901A CN202311826754.8A CN202311826754A CN117938901A CN 117938901 A CN117938901 A CN 117938901A CN 202311826754 A CN202311826754 A CN 202311826754A CN 117938901 A CN117938901 A CN 117938901A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/22—Arrangements for detecting or preventing errors in the information received using redundant apparatus to increase reliability
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/42—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals characterised by implementation details or hardware specially adapted for video compression or decompression, e.g. dedicated software implementation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/44—Decoders specially adapted therefor, e.g. video decoders which are asymmetric with respect to the encoder
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Abstract
The invention discloses a vehicle control system and method and a vehicle. Wherein, this vehicle control system relates to the car networking field, includes: the plurality of video decoding circuits are of a redundant structure, and the plurality of audio and video decoding circuits are used for decoding audio and video data of the vehicle to obtain decoded audio and video data; and the plurality of core modules are of a redundant structure, each core module in the plurality of core modules is respectively connected with the plurality of video decoding circuits, and the plurality of core modules are used for identifying and processing decoded audio and video data to obtain a control instruction of the vehicle. The invention solves the technical problem of low safety redundancy when the vehicle control system controls the vehicle in the related technology.
Description
Technical Field
The invention relates to the field of Internet of vehicles, in particular to a vehicle control system and method and a vehicle.
Background
Along with the development of the intellectualization and networking of new energy automobiles, intelligent driving becomes an automobile key function, and various types and numbers of sensors are used in the intelligent driving domain controller.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a vehicle control system, a vehicle control method and a vehicle, which at least solve the technical problem of low safety redundancy when the vehicle control system controls the vehicle in the related art.
According to an aspect of an embodiment of the present invention, there is provided a vehicle control system including: the plurality of video decoding circuits are of a redundant structure, and the plurality of audio and video decoding circuits are used for decoding audio and video data of the vehicle to obtain decoded audio and video data; and the plurality of core modules are of a redundant structure, each core module in the plurality of core modules is respectively connected with the plurality of video decoding circuits, and the plurality of core modules are used for identifying and processing decoded audio and video data to obtain a control instruction of the vehicle.
Optionally, the plurality of core modules includes: a first core module comprising: the system comprises a first system-level chip and a first microcontroller, wherein the first microcontroller is connected with the first system-level chip, a sensor of a vehicle and an actuator, the first microcontroller is used for forwarding sensor data acquired by the sensor to the first system-level chip and forwarding a control instruction sent by the first system-level chip to the actuator, and the first system-level chip is used for identifying and processing decoded audio and video data and the sensor data to obtain the control instruction; a second core module comprising: the system comprises a second system-level chip and a second microcontroller, wherein the second microcontroller is connected with the second system-level chip, a sensor of a vehicle and an actuator, the second microcontroller is used for forwarding sensor data acquired by the sensor to the second system-level chip and forwarding a control instruction sent by the second system-level chip to the actuator, and the second system-level chip is used for carrying out identification processing on decoded audio and video data and the sensor data to obtain the control instruction.
Optionally, the first microcontroller is further configured to monitor an operating state of the first system-in-chip to obtain first state data of the vehicle; the second microcontroller is also used for monitoring the working state of the second system-in-chip to obtain second state data of the vehicle; the first system-in-chip is connected with the second system-in-chip, and the first system-in-chip and the second system-in-chip are used for checking the first state data and the second state data.
Optionally, the plurality of video decoding circuits comprises: the first video decoding circuit is connected with each system-level chip in the plurality of core modules through a first link; the second video decoding circuit is connected with each system-on-chip in the plurality of core modules through a second link.
Optionally, the first link includes: a first sub-link for connecting the first video decoding circuit and each of the first system-on-chip of the plurality of core modules; and the second sub-link is used for connecting the first video decoding circuit and each second system-on-chip in the plurality of core modules.
Optionally, the second link includes: a third sub-link for connecting the second video decoding circuit and each of the first system-on-chip in the plurality of core modules; and the fourth sub-link is used for connecting the second video decoding circuit and each second system-on-chip in the plurality of core modules.
Optionally, the vehicle control system further comprises: the Ethernet switch is connected with the first system-level chip, the second system-level chip and the sensor and the actuator of the vehicle and is used for forwarding the sensor data acquired by the sensor to the first system-level chip and the second system-level chip and forwarding the control instructions sent by the first system-level chip and the second system-level chip to the actuator.
Optionally, the vehicle control system further comprises: the Ethernet switch is connected with the first microcontroller, the second microcontroller and the sensor and the actuator of the vehicle and is used for forwarding the sensor data acquired by the sensor to the first microcontroller and the second microcontroller and forwarding the control instructions sent by the first microcontroller and the second microcontroller to the actuator.
Optionally, the vehicle control system further comprises: the power supply is connected with the video decoding circuits, the core modules, the Ethernet switch and the sensors of the vehicle and is used for supplying power to the vehicle control system; and the redundant power supply is connected with the video decoding circuits, the core modules, the Ethernet switch and the sensors of the vehicle and is used for supplying power to the vehicle control system under the condition that the power supply is abnormal.
According to another aspect of the embodiment of the present invention, there is also provided a vehicle control method including: acquiring audio and video data of a vehicle; decoding audio and video data of the vehicle through a main video decoding circuit in a plurality of video decoding circuits to obtain decoded audio and video data, wherein the plurality of video decoding circuits are of a redundant structure; and identifying the decoded audio and video data through a main core module in the plurality of core modules to obtain a control instruction of the vehicle, wherein the plurality of core modules are of a redundant structure.
Optionally, the method further comprises: in response to the failure of the main video decoding circuit, decoding the audio and video data of the vehicle through a standby video decoding circuit in the plurality of video decoding circuits to obtain decoded audio and video data; and responding to the failure of the main core module, and identifying and processing the decoded audio and video data through the standby core modules in the plurality of core modules to obtain a control instruction of the vehicle.
According to another aspect of the embodiments of the present invention, there is also provided a vehicle including the vehicle control system of any one of the above.
According to another aspect of the embodiment of the present invention, there is also provided a computer readable storage medium, where the computer readable storage medium includes a stored program, and when the program runs, the device on which the computer readable storage medium is controlled to execute the method of any one of the above steps.
In an embodiment of the present invention, the vehicle system includes: the plurality of video decoding circuits are of a redundant structure, and the plurality of audio and video decoding circuits are used for decoding audio and video data of the vehicle to obtain decoded audio and video data; and the plurality of core modules are of a redundant structure, each core module in the plurality of core modules is respectively connected with the plurality of video decoding circuits, and the plurality of core modules are used for identifying and processing decoded audio and video data to obtain a control instruction of the vehicle. It is easy to notice that, through setting up the redundant structure of video decoding circuit and core module for arbitrary video decoding circuit or core module break down, can not influence the control of vehicle control system to the vehicle, reached the purpose that can safe redundancy to control the vehicle, thereby realized improving the technical effect of the safe redundancy when vehicle control system controls the vehicle, and then solved the technical problem that the safe redundancy is low when vehicle control system controls the vehicle among the prior art.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic illustration of a vehicle control system according to an embodiment of the invention;
FIG. 2 is a schematic illustration of an alternative vehicle control system according to an embodiment of the invention;
Fig. 3 is a flowchart of a vehicle control method according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to an embodiment of the present invention, a vehicle control system is provided.
FIG. 1 is a schematic diagram of a vehicle control system, as shown in FIG. 1, according to an embodiment of the invention, including: a plurality of video decoding circuits 12, a plurality of core modules 14, wherein the plurality of video decoding circuits include: the first video decoding circuit 12-1 and the second video decoding circuit 12-2, the plurality of core modules include: a first core module 14-1 and a second core module 14-2. As shown in fig. 1, the first core module 14-1 is connected to the first video decoding circuit 12-1 and the second video decoding circuit 12-2, respectively, and the second core module 14-2 is connected to the first video decoding circuit 12-1 and the second video decoding circuit 12-2, respectively.
The video decoding circuits are of a redundant structure, and each video decoding circuit in the video decoding circuits is used for decoding the acquired audio and video data of the vehicle to obtain decoded audio and video data; the plurality of core modules are of a redundant structure, and each core module in the plurality of core modules is used for identifying and processing decoded audio and video data to obtain a control instruction of the vehicle.
In an embodiment of the present invention, the vehicle system includes: the plurality of video decoding circuits are of a redundant structure, and the plurality of audio and video decoding circuits are used for decoding audio and video data of the vehicle to obtain decoded audio and video data; and the plurality of core modules are of a redundant structure, each core module in the plurality of core modules is respectively connected with the plurality of video decoding circuits, and the plurality of core modules are used for identifying and processing decoded audio and video data to obtain a control instruction of the vehicle. It is easy to notice that, through setting up the redundant structure of video decoding circuit and core module for arbitrary video decoding circuit or core module break down, can not influence the control of vehicle control system to the vehicle, reached the purpose that can safe redundancy to control the vehicle, thereby realized improving the technical effect of the safe redundancy when vehicle control system controls the vehicle, and then solved the technical problem that the safe redundancy is low when vehicle control system controls the vehicle among the prior art.
Optionally, the plurality of core modules includes: a first core module comprising: the system comprises a first system-level chip and a first microcontroller, wherein the first microcontroller is connected with the first system-level chip, a sensor of a vehicle and an actuator, the first microcontroller is used for forwarding sensor data acquired by the sensor to the first system-level chip and forwarding a control instruction sent by the first system-level chip to the actuator, and the first system-level chip is used for identifying and processing decoded audio and video data and the sensor data to obtain the control instruction; a second core module comprising: the system comprises a second system-level chip and a second microcontroller, wherein the second microcontroller is connected with the second system-level chip, a sensor of a vehicle and an actuator, the second microcontroller is used for forwarding sensor data acquired by the sensor to the second system-level chip and forwarding a control instruction sent by the second system-level chip to the actuator, and the second system-level chip is used for carrying out identification processing on decoded audio and video data and the sensor data to obtain the control instruction.
In an alternative embodiment, the plurality of cores includes: the first core module and the second core module. The first core module comprises a first system-in-chip and a first microcontroller, and the second core module comprises a second system-in-chip and a second microcontroller. The first microcontroller is connected with the first system-level chip, the sensor of the vehicle and the actuator, the first microcontroller is used for forwarding sensor data acquired by the sensor to the first system-level chip, and forwarding a control instruction sent by the first system-level chip to the actuator, and the first system-level chip is used for identifying and processing decoded audio and video data and the sensor data to obtain the control instruction. The second microcontroller is connected with the second system-level chip, the sensor of the vehicle and the actuator, and is used for forwarding the sensor data acquired by the sensor to the second system-level chip and forwarding the control instruction sent by the second system-level chip to the actuator, and the second system-level chip is used for identifying and processing the decoded audio and video data and the sensor data to obtain the control instruction.
It should be noted that, the first microcontroller and the first system-level chip are connected through an interconnection integrated circuit (Inter-INTEGRATED CIRCUIT, I2C), a serial peripheral interface (SERIAL PERIPHERAL INTERFACE, SPI) and an ethernet communication manner, so as to implement data interaction between the first system-level chip and the first microcontroller, and enable the first microcontroller to monitor the working state of the first system-level chip normally or abnormally. The first microcontroller is connected with the sensors and actuators of the vehicle through communication modes such as a controller area network (Controller Area Network, CAN), a local interconnection bus (Local Interconnect Network, LIN), a peripheral sensor interface (PERIPHERAL SENSOR INTERFACE, PSI 5) and the like.
Similarly, the second microcontroller and the second system-level chip are connected through the I2C, SPI and the Ethernet communication mode, so that data interaction between the second system-level chip and the second microcontroller is realized, and the second microcontroller can monitor the working state of the second system-level chip normally or abnormally. The second microcontroller is connected with the sensor and the actuator of the vehicle through CAN, LIN, PSI and other communication modes.
Optionally, the first microcontroller is further configured to monitor an operating state of the first system-in-chip to obtain first state data of the vehicle; the second microcontroller is also used for monitoring the working state of the second system-in-chip to obtain second state data of the vehicle; the first system-in-chip is connected with the second system-in-chip, and the first system-in-chip and the second system-in-chip are used for checking the first state data and the second state data.
The first state data may be that the working state of the first system-in-chip is normal, or that the working state of the first system-in-chip is abnormal, but is not limited thereto. The second state data may be that the working state of the second system-in-chip is normal, or that the working state of the second system-in-chip is abnormal, but is not limited thereto.
In an alternative embodiment, the first microcontroller is further configured to monitor an operating state of the first system-in-chip, to obtain a monitoring result that the operating state of the first system-in-chip is normal or abnormal. And meanwhile, the second microcontroller is also used for monitoring the working state of the second system-in-chip to obtain a monitoring result of the working state of the second system-in-chip being normal or abnormal.
It should be noted that, the first system-level chip and the second system-level chip are connected by means of interface standard (Cross FIRE INTERFACE, XFI) of multiple graphics card technology, such as teraethernet, peripheral component interconnect extension (PERIPHERAL COMPONENT INTERCONNECT EXPRESS, PCIe), etc., so as to implement a calibration path for large data volume interaction and comparison of calculation results between the first system-level chip and the second system-level chip, thereby achieving the purpose of calibrating the first state data and the second state data.
Optionally, the plurality of video decoding circuits comprises: the first video decoding circuit is connected with each system-level chip in the plurality of core modules through a first link; the second video decoding circuit is connected with each system-on-chip in the plurality of core modules through a second link.
In an alternative embodiment, the plurality of video decoding circuits further comprises: a first video decoding circuit and a second video decoding circuit. The first video decoding circuit is connected with each system-level chip in the plurality of core modules through a first link, and the second video decoding circuit is connected with each system-level chip in the plurality of core modules through a second link.
Optionally, the first link includes: a first sub-link for connecting the first video decoding circuit and each of the first system-on-chip of the plurality of core modules; and the second sub-link is used for connecting the first video decoding circuit and each second system-on-chip in the plurality of core modules.
In an alternative embodiment, the first video decoding circuit and each first system-on-chip in the plurality of core modules are connected by a first sub-link, wherein the first sub-link can implement protocol transmission such as gigabit multimedia serial link (Gigabit Multimedia SERIAL LINKS, GMSL), flat panel display connection (FLAT PANEL DISPLAY LINK, FPDLINK), and the like, and can implement lossless and secure transmission. The first sub-link is used for sending video data of the camera to each first system-in-chip and is used for video perception identification processing, parking display processing and the like.
Likewise, the first video decoding circuit and each second system-in-chip in the plurality of core modules are connected through a second sub-link, wherein the second sub-link can realize the protocol transmission of GMSL, FPDLINK and the like, and can realize lossless and safe transmission. The second sub-link is used for sending video data of the camera to each second system-level chip for video perception identification processing, parking display processing and the like.
Optionally, the second link includes: a third sub-link for connecting the second video decoding circuit and each of the first system-on-chip in the plurality of core modules; and the fourth sub-link is used for connecting the second video decoding circuit and each second system-on-chip in the plurality of core modules.
In an alternative embodiment, the second video decoding circuit and each of the first system-on-chip in the plurality of core modules may be connected by a third sub-link, where the third sub-link may implement protocol transmission such as GMSL, FPDLINK, and the like, and may implement lossless and secure transmission. The third sub-link is used for sending video data of the camera to each first system-in-chip and is used for video perception identification processing, parking display processing and the like.
Likewise, the second video decoding circuit and each second system-in-chip in the plurality of core modules are connected through a fourth sub-link, wherein the fourth sub-link can realize the protocol transmission of GMSL, FPDLINK and the like, and can realize lossless and safe transmission. The fourth sub-link is used for sending video data of the camera to each second system-level chip for video perception identification processing, parking display processing and the like.
Optionally, the vehicle control system further comprises: the Ethernet switch is connected with the first system-level chip, the second system-level chip and the sensor and the actuator of the vehicle and is used for forwarding the sensor data acquired by the sensor to the first system-level chip and the second system-level chip and forwarding the control instructions sent by the first system-level chip and the second system-level chip to the actuator.
In an alternative embodiment, the vehicle control system further comprises an ethernet switch. After the Ethernet switch is connected with the first system-level chip, the Ethernet switch is used for forwarding sensor data acquired by the sensor to the first system-level chip, and the first system-level chip can acquire sensor data of an Ethernet transmission type, including laser radar, millimeter wave radar, combined inertial navigation and other whole vehicle sensor data information. After the Ethernet switch is connected with the second system-level chip, the Ethernet switch is used for forwarding the sensor data acquired by the sensor to the second system-level chip, and the first system-level chip can acquire the sensor data of the Ethernet transmission type. After the Ethernet switch is connected with the sensor and the actuator of the vehicle, the Ethernet switch can forward the control instructions sent by the first system-in-chip and the second system-in-chip to the actuator.
Optionally, the vehicle control system further comprises: the Ethernet switch is connected with the first microcontroller, the second microcontroller and the sensor and the actuator of the vehicle and is used for forwarding the sensor data acquired by the sensor to the first microcontroller and the second microcontroller and forwarding the control instructions sent by the first microcontroller and the second microcontroller to the actuator.
In an alternative embodiment, the vehicle control system may further comprise an ethernet switch. After the ethernet switch is connected to the first microcontroller, the ethernet switch is configured to forward sensor data collected by the sensor to the first microcontroller, and the ethernet switch may further forward a control instruction issued by the first microcontroller to the ethernet transmission type actuator to the actuator, where the control instruction may include, but is not limited to: the system comprises an accelerator pedal, a braking system, a steering system, a whole vehicle control system and the like.
Likewise, after the ethernet switch is connected with the second microcontroller, the ethernet switch is configured to forward the sensor data collected by the sensor to the second microcontroller, and the ethernet switch may further forward a control instruction issued by the second microcontroller to the ethernet transmission type actuator to the actuator.
In another alternative embodiment, the ethernet switch may implement interconnection between the first system-in-chip, the second system-in-chip, the first microcontroller, and the second microcontroller, where the implementation manner includes ethernet communication interfaces (RGMII, SGMII), and implement interworking sharing of ethernet type data, where the first system-in-chip and the second system-in-chip may both obtain data on an external ethernet link, and any one of the system-in-chip works abnormally without affecting normal operation of the intelligent driving computing platform; the first microcontroller and the second microcontroller can issue data instructions through the Ethernet link, and the normal operation of the intelligent driving computing platform is not affected by the abnormal operation of any one of the microcontroller chips.
Optionally, the vehicle control system further comprises: the power supply is connected with the video decoding circuits, the core modules, the Ethernet switch and the sensors of the vehicle and is used for supplying power to the vehicle control system; and the redundant power supply is connected with the video decoding circuits, the core modules, the Ethernet switch and the sensors of the vehicle and is used for supplying power to the vehicle control system under the condition that the power supply is abnormal.
In an alternative embodiment, the vehicle control system may further include: a power supply and at least one redundant power supply. The power supply is connected with the video decoding circuits, the core modules, the Ethernet switch and the sensors of the vehicle and used for supplying power to the vehicle control system. The at least one redundant power supply is connected with the plurality of video decoding circuits, the plurality of core modules, the Ethernet switch and the sensors of the vehicle and is used for supplying power to the vehicle control system under the condition that the power supply is abnormal.
It should be noted that, any damage in the power supply and at least one redundant power supply will not affect the normal operation of the intelligent driving computing platform, so as to improve the hardware security robustness of the system. The power supply and at least one redundant power supply are powered by the power supply with higher voltage, and the other power supply is automatically closed and automatically switched according to the rule.
FIG. 2 is a schematic diagram of an alternative vehicle control system, as shown in FIG. 2, according to an embodiment of the invention, including: the system comprises a plurality of video decoding circuits 12, a plurality of core modules 14, an Ethernet switch 21, sensors and actuators 22 of the vehicle, a power supply 23, at least one redundant power supply 24, and a power management circuit 25. Wherein the plurality of video decoding circuits 12 includes: the first video decoding circuit 12-1, the second video decoding circuit 12-2, the plurality of core modules include: a first core module 14-1 and a second core module 14-2, wherein the first core module 14-1 comprises: a first system-on-chip 14-1-1 and a first microcontroller 14-1-1. The second core module 14-2 includes: a second system-on-chip 14-2-1 and a second microcontroller 14-2-2.
As can be seen in FIG. 2, the first video decoding circuit 12-1 is coupled to the first system-in-chip 14-1, the second system-in-chip 14-2-1, and the power management circuit 25. The second video decoding circuit 12-2 is connected to the first system-on-chip 14-1, the second system-on-chip 14-2-1, and the power management circuit 25. The first system-in-chip 14-1 is connected to the first video decoding circuit 12-1, the second video decoding circuit 12-2, the second system-in-chip 14-2-1, the first microcontroller 14-1-2, an ethernet Switch (Switch) 21, and a power management circuit 25. The second system-in-chip is connected to the first video decoding circuit 12-1, the second video decoding circuit 12-2, the first system-in-chip 14-1-1, the second microcontroller 14-2-2, the ethernet switch 21, and the power management circuit 25. The first microcontroller 14-1-2 is connected to the first system on chip 14-1-1, the ethernet switch 21, the sensors and actuators 22 of the vehicle, and the power management circuit 25. The second microcontroller 14-2-2 is connected to the second system on chip 14-2-1, the ethernet switch 21, the sensors and actuators 22 of the vehicle, and the power management circuit 25. The ethernet switch 21 is connected to the first system-on-chip 14-1-1, the first microcontroller 14-1-2, the second system-on-chip 14-2-1, the second microcontroller 14-2-2, the sensors and actuators 22 of the vehicle, and the power management circuit 25. The sensors and actuators 22 of the vehicle are connected to the first microcontroller 14-1-2, the ethernet switch 21, the second microcontroller 14-2-2, and the power management circuit 25. The power management circuit 25 is coupled to the first video decoding circuit 12-1, the second video decoding circuit 12-2, the first system on chip 14-1-1, the first microcontroller 14-1-1, the second system on chip 14-2-1, the second microcontroller 14-2-2, the ethernet switch 21, the sensors and actuators 22 of the vehicle, the power supply 23, and the at least one redundant power supply 24. The power supply 23 is connected to a power management circuit 25. At least one redundant power supply 24 is connected to a power management circuit 25.
In fig. 2, the power management circuit 25 is connected to all the components and supplies power to all the components. In fig. 2, the power management circuit is connected to all the components by thick solid lines.
The power supply and the at least one redundant power supply are two paths of independent redundant backup power supply, power supply is generated through processing of the power supply inlet management circuit, and power is supplied to all chips and circuits in the intelligent driving computing platform through power supply.
The intelligent driving domain controller is used for inputting video data, video data streams are respectively provided for a first System-in-Chip and a second System-in-Chip through Serdes1 (namely a first video decoding circuit) and Serdes2 (namely a second video decoding circuit), any one of the System-in-Chip (SoC) is damaged, the other SoC can acquire complete video data, the function of the intelligent driving computing platform based on image processing is not affected, and the safety of a video link of the intelligent driving computing platform is improved; in addition, any software algorithm deployment scheme can obtain video data streams matched with algorithms by SoC, so that the flexibility of matching between hardware of the intelligent driving computing platform and the algorithms is improved.
In an alternative embodiment, the deserializer decodes the video data generated by the camera and sends the decoded video data to SoC1 and SoC2 respectively, so as to ensure that SoC1 and SoC2 can obtain the data on any desired video connection as required; ETH SWITCH (i.e. an ethernet switch) connects a laser radar, a millimeter wave radar, a combined inertial navigation system and a whole vehicle control network, and sends sensing data to the SoC and the SoC2 simultaneously, so that the SoC1 and the SoC2 can obtain data on any desired ethernet link as required; ETH SWITCH interconnects SoC1, soC2, MCU1 and MCU2 to ensure that any two main control chips can realize information intercommunication; communication is carried out between the SoC1 and the SoC2 through PCIe, so that the requirement of large data volume interaction between SoCs is ensured; an independent data interaction channel exists between the SoC and the microcontroller (Micro Controller Unit, MCU), and a functional connection channel based on visual perception and vehicle control is realized under the ETH SWITCH abnormal condition; the video data path and the Ethernet data path of the radar are mutually backed up, and any one of the two has faults, so that the environment sensing information can be obtained through another sensing data link to provide a safety control strategy; the dual-path independent redundant power supply provides a guarantee for the power supply of the intelligent driving computing platform, any path of power supply is abnormal, the controller can work normally, and the hardware power supply safety redundancy backup performance of the system is improved.
The invention not only can solve the problem of the safe backup of the intelligent driving computing platform video access data path hardware; meanwhile, the problem of safe backup of the communication type sensor access path hardware of the intelligent driving computing platform, the problem of safe backup of the system power supply path hardware and the problem of low platformization reusability of the intelligent driving computing platform can be solved.
The invention provides an intelligent driving computing platform hardware communication and power supply safety redundancy scheme, which improves the safety and reliability of a computing platform hardware system; the video transmission redundant link provided by the invention can ensure that any main processor of the computing platform can acquire all video sensing data as required, any SoC works abnormally, and the computing platform can work normally; the video transmission redundant link provided by the invention can ensure that any main processor of the computing platform can acquire all video sensing data as required, any software algorithm is deployed in a differentiated mode, the video transmission link can be met, the platform adaptability development is reduced, the development period is shortened, and the development cost is reduced; the Ethernet transmission link provided by the invention can ensure the information interaction between the main control chips; the Ethernet transmission link provided by the invention can ensure that the main control chips acquire the sensor data of the Ethernet transmission required by any algorithm as required; the Ethernet transmission link provided by the invention can ensure that the MCU main control chip issues a control instruction; the power supply safety honor circuit provided by the invention can improve the reliability of power supply of the computing platform, and the computing platform can work normally when any power supply is abnormal, and two paths of power supplies are kept independent and do not interfere with each other.
Example 2
According to an embodiment of the present invention, there is provided a vehicle control method embodiment, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in an order other than that shown or described herein.
Fig. 3 is a flowchart of a vehicle control method according to an embodiment of the present invention, as shown in fig. 3, including the steps of:
step S302, acquiring audio and video data of a vehicle;
Step S304, the audio and video data of the vehicle are decoded by a main video decoding circuit in a plurality of video decoding circuits to obtain decoded audio and video data, wherein the plurality of video decoding circuits are in a redundant structure.
And step S306, identifying the decoded audio and video data through a main core module in a plurality of core modules to obtain a control instruction of the vehicle, wherein the plurality of core modules are of a redundant structure.
In an alternative embodiment, in the case that the vehicle control system wants to control the vehicle, firstly, the audio and video data of the vehicle can be obtained, secondly, the audio and video data of the vehicle can be decoded through a main video decoding circuit in a video decoding circuit in the vehicle control system to obtain decoded audio and video data, then the decoded audio and video data can be identified through a main core module in a plurality of core modules in the vehicle control system to obtain a control instruction of the vehicle, and then the vehicle can be controlled based on the control instruction. It should be noted that, the plurality of video decoding circuits are redundant structures, and the plurality of core modules are also redundant structures.
Optionally, the method further comprises: in response to the failure of the main video decoding circuit, decoding the audio and video data of the vehicle through a standby video decoding circuit in the plurality of video decoding circuits to obtain decoded audio and video data; and responding to the failure of the main core module, and identifying and processing the decoded audio and video data through the standby core modules in the plurality of core modules to obtain a control instruction of the vehicle.
In an alternative embodiment, under the condition that a main video decoding circuit in a vehicle control system fails, audio and video data can be decoded through a standby video decoding circuit in the vehicle control system to obtain decoded audio and video data, and under the condition that a main core module in a plurality of core modules in the vehicle control system fails, the decoded audio and video data can be identified and processed through the standby core module in the video decoding circuit in the vehicle control system to obtain a control instruction of the vehicle, so that the vehicle can be controlled based on the control instruction.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a vehicle including the vehicle control system of any one of the above.
Example 4
According to another aspect of the embodiment of the present invention, there is also provided a computer readable storage medium, where the computer readable storage medium includes a stored program, and when the program runs, the device on which the computer readable storage medium is controlled to execute the method of any one of the above steps.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the related art or all or part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (10)
1. A vehicle control system, characterized by comprising:
The plurality of video decoding circuits are of a redundant structure, and are used for decoding the audio and video data of the vehicle to obtain decoded audio and video data;
The plurality of core modules are of a redundant structure, each core module in the plurality of core modules is connected with the plurality of video decoding circuits respectively, and the plurality of core modules are used for carrying out recognition processing on the decoded audio and video data to obtain a control instruction of the vehicle.
2. The system of claim 1, wherein the plurality of core modules comprises:
A first core module comprising: the system comprises a first system-level chip and a first microcontroller, wherein the first microcontroller is connected with the first system-level chip, a sensor of the vehicle and an actuator, the first microcontroller is used for forwarding sensor data acquired by the sensor to the first system-level chip and forwarding the control instruction sent by the first system-level chip to the actuator, and the first system-level chip is used for identifying and processing the decoded audio and video data and the sensor data to obtain the control instruction;
a second core module comprising: the second microcontroller is connected with the second system-level chip, the sensor of the vehicle and the actuator, and is used for forwarding the sensor data acquired by the sensor to the second system-level chip and forwarding the control instruction sent by the second system-level chip to the actuator, and the second system-level chip is used for identifying and processing the decoded audio and video data and the sensor data to obtain the control instruction.
3. The system of claim 2, wherein the system further comprises a controller configured to control the controller,
The first microcontroller is further used for monitoring the working state of the first system-in-chip to obtain first state data of the vehicle;
The second microcontroller is further used for monitoring the working state of the second system-in-chip to obtain second state data of the vehicle;
The first system-on-chip is connected with the second system-on-chip, and the first system-on-chip and the second system-on-chip are used for checking the first state data and the second state data.
4. The system of claim 1, wherein the plurality of video decoding circuits comprises:
The first video decoding circuit is connected with each system-on-chip in the plurality of core modules through a first link;
and the second video decoding circuit is connected with each system-on-chip in the plurality of core modules through a second link.
5. The system of claim 2, wherein the vehicle control system further comprises:
The Ethernet switch is connected with the first system-level chip, the second system-level chip, the sensor of the vehicle and the actuator, and is used for forwarding the sensor data acquired by the sensor to the first system-level chip and the second system-level chip and forwarding the control instructions sent by the first system-level chip and the second system-level chip to the actuator.
6. The system of claim 2, wherein the vehicle control system further comprises:
The Ethernet switch is connected with the first microcontroller, the second microcontroller, the sensor of the vehicle and the actuator, and is used for forwarding the sensor data acquired by the sensor to the first microcontroller and the second microcontroller and forwarding the control instructions sent by the first microcontroller and the second microcontroller to the actuator.
7. The system of claim 1, wherein the vehicle control system further comprises:
the power supply is connected with the video decoding circuits, the core modules, the Ethernet switch and the sensors of the vehicle and is used for supplying power to the vehicle control system;
And the redundant power supply is connected with the video decoding circuits, the core modules, the Ethernet switch and the sensors of the vehicle and is used for supplying power to the vehicle control system under the condition that the power supply is abnormal.
8. A vehicle control method characterized by comprising:
Acquiring audio and video data of a vehicle;
Decoding audio and video data of the vehicle through a main video decoding circuit in a plurality of video decoding circuits to obtain decoded audio and video data, wherein the video decoding circuits are of a redundant structure;
And identifying the decoded audio and video data through a main core module in a plurality of core modules to obtain a control instruction of the vehicle, wherein the plurality of core modules are of a redundant structure.
9. The method of claim 8, wherein the method further comprises:
Responding to the failure of the main video decoding circuit, decoding the audio and video data of the vehicle through a standby video decoding circuit in the plurality of video decoding circuits to obtain the decoded audio and video data;
and responding to the failure of the main core module, and identifying the decoded audio and video data through a standby core module in the plurality of core modules to obtain the control instruction of the vehicle.
10. A vehicle comprising a memory and a processor, characterized by comprising a vehicle control system as claimed in any one of claims 1-7.
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| CN119628802A (en) * | 2024-11-29 | 2025-03-14 | 酷哇科技有限公司 | Parallel driving redundant communication system and method |
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| CN119628802A (en) * | 2024-11-29 | 2025-03-14 | 酷哇科技有限公司 | Parallel driving redundant communication system and method |
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