CN107992056A - It is a kind of based on divide domain centralized calculation unit automobile intelligent drive calculating platform terminal - Google Patents
It is a kind of based on divide domain centralized calculation unit automobile intelligent drive calculating platform terminal Download PDFInfo
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- CN107992056A CN107992056A CN201711477948.6A CN201711477948A CN107992056A CN 107992056 A CN107992056 A CN 107992056A CN 201711477948 A CN201711477948 A CN 201711477948A CN 107992056 A CN107992056 A CN 107992056A
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- 230000003993 interaction Effects 0.000 claims abstract description 9
- 238000005183 dynamical system Methods 0.000 claims description 12
- 230000001427 coherent effect Effects 0.000 claims description 3
- 239000013589 supplement Substances 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 description 5
- 208000003443 Unconsciousness Diseases 0.000 description 3
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
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Abstract
It is a kind of based on divide domain centralized calculation unit automobile intelligent drive calculating platform terminal, including before ARM computing units, HMI man-machine interaction units, ADAS to camera, look around 360 cameras, ultrasonic radar, 77G millimetre-wave radar equipment, above structure of the present invention can provide auxiliary and supplement during complicated vehicle performance for driver, driving safety and comfort level is substantially improved, effective preventing car accident occurs.
Description
Technical field
The present invention relates to automobile intelligent to drive field, and in particular to a kind of based on the automobile intelligent for dividing domain centralized calculation unit
Drive calculating platform terminal.
Background technology
As the continuous improvement of whole world Motor Vehicle Safety Standard and automotive circuit diagram level, and people need driving safety
The continuous growth asked, ADAS are following or will become automobile standard configuration in recent years in fast-developing trend.
The content of the invention
To realize above technology, the present invention provides a kind of flat based on dividing the automobile intelligent of domain centralized calculation unit to drive to calculate
Before station terminal, including ARM computing units, HMI man-machine interaction units, ADAS to camera, look around 360 cameras, ultrasonic wave thunder
Reach, 77G millimetre-wave radar equipment；
ARM computing units：Calculate ADAS before to camera, look around 360 cameras
To camera before ADAS:The relevant information such as lane line and surrounding failure thing is extracted, by relevant information input ARM meters
Calculate unit.
Look around 360 cameras:When driver drives vehicle, the ambient condition information of automobile is obtained, and enter information into
Calculated in ARM computing units；
Ultrasonic radar：During automatic Pilot, the surrounding environment of automobile is obtained, and is entered information into, ARM computing units are fallen into a trap
Calculate；
HMI man-machine interaction units:Look around the display, the switching of 360 image frames and cutting for ADAS functions of 360 images
Change.
Wherein, automobile control unit, braking system, dynamical system, steering, VCU, 77G millimetre-wave radar are further included
Equipment；
Automobile control unit：Automobile control unit controls the work of dynamical system, steering, braking system, VCU, together
When receive dynamical system, steering, braking system, VCU operating condition signals, receive 77G millimetre-wave radars in signal, and will
Signal inputs ARM computing units；
Dynamical system：Controlled by automobile control unit, drive motor racing；
Steering：Controlled by automobile control unit, drive motor turning；
Braking system：Controlled by automobile control unit, braking vehicle slows down；
VCU:Coherent signal is inputted into automobile control unit；
77G millimetre-wave radars:Positional information and yaw, inclination, pitch information are obtained, and information input automobile is controlled
Unit.
Beneficial effects of the present invention:More than of the invention auxiliary can be provided for driver during complicated vehicle performance
And supplement, driving safety and comfort level is substantially improved, effective preventing car accident occurs.
Brief description of the drawings
Fig. 1 is present system structure chart.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the present invention is clearly and completely retouched
State, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Based in invention
Embodiment, those of ordinary skill in the art's all other embodiments obtained without making creative work,
Belong to the scope of protection of the invention.
See Fig. 1, a kind of based on dividing the automobile intelligent of domain centralized calculation unit to drive calculating platform terminal, the terminal is by making
With a high performance SOC processor and a high safety performance grade MCU processor, it is reconfigured at a series of being used for surrounding ring
The sensor of border sensing, gathers peripheral vehicle barrier state, road condition, vehicle body transport condition in real time, carries out sensing data
Analysis, decision-making calculate, and realize that FCW (frontal collisions early warning), LDW (lane departure warning), SVM (looking around imaging), AEB are (automatic
Emergency brake), LKA (track keep auxiliary), ACC (adaptive cruise control), SAP (automatic parking auxiliary), 360 degree the work(such as look around
Can, so as to fulfill intelligent driving.
The terminal include ARM computing units, HMI man-machine interaction units, before ADAS to camera, look around 360 cameras, super
Sound radar, 77G millimetre-wave radars equipment, automobile control unit, braking system, dynamical system, steering, VCU.
To camera before ADAS:Before ADAS to camera be using Sony's superelevation sense cmos sensor and collocation image letter
Number processor, can export high quality image signal, then can be realized in relatively long distance using the deserializer of a pair of U.S. letter
The transmission of high speed, final image signal enter back into the arm processor of high performance SOC, carry out picture signal decoding process extraction
The relevant information such as lane line and surrounding failure thing.
Look around 360 cameras:It is to export high quality image signal using OV10640 to look around 360 cameras, then using a pair
The deserializer (MAX96705 and MAX9286) of U.S.'s letter can realize the transmission in relatively long distance high speed, so as to four
The data of road GMSL serializers enter in MAX9286, and picture signal is inputted at the ARM of high performance SOC by CSI-2 passages
Device, then the showing on the display screen 360 degree of surrounding environment by relevant algorithm are managed, so that driver is clearer
Understanding automobile surrounding environment, safer parks.
Ultrasonic radar:Ultrasonic radar is that the MCU processors with high-performance safe class by way of LIN communications lead to
Letter, ultrasonic radar produces the ultrasonic wave of 40KHz using the supersonic generator in sensor, then is received by receiving transducer through barrier
Hinder the ultrasonic wave that thing reflects, the time difference received according to ultrasonic reflections calculates the distance between barrier.Automobile exists
Parking stall and barrier persistently can be detected by sensor using 12 ultrasonic radars when parking, be automatically brought into operation steering wheel and braking
Device, realizes automatic parking.
77G millimetre-wave radars:77G millimetre-wave radars are communicated by way of CAN communication with automobile control unit, main
Point cloud/the obstacle information to be to provide, its information provided are that obstacle object point cloud is free with respect to six to radar its center
The information of degree, i.e. positional information and yaw, inclination, pitch information.
HMI man-machine interaction units:HMI man-machine interaction units, which can be realized, to be shown the function of ADAS in display screen, can
To realize the display for looking around 360 images, the switching of 360 image frames, and the switching of ADAS functions；
Automobile control unit：Automobile control unit controls the work of dynamical system, steering, braking system, VCU, together
When receive dynamical system, steering, braking system, VCU operating condition signals, receive 77G millimetre-wave radars in signal, and will
Signal inputs ARM computing units.
Dynamical system：Controlled by automobile control unit, drive motor racing.
Steering：Controlled by automobile control unit, drive motor turning.
Braking system：Controlled by automobile control unit, braking vehicle slows down.
VCU:Coherent signal is inputted into automobile control unit
Above structure, it is possible to achieve following functions
SVM (looks around imaging)：When parking or low speed, by automobile, all around four-way CCD camera, synthesis automobile are got a bird's eye view
Panoramic view picture, and be shown in automobile HMI man-machine interaction display screens, with monitoring of parking safely.SVM systems and ultrasonic radar data
Fusion, more intuitively shows peripheral vehicle obstacle distance.
LDW (Lane Departure Warning System)：Aid in driver to reduce automobile by way of alarm to send out because of deviation
The system of raw traffic accident.When speed is on certain speed (such as 65km/h), system judges that vehicle is by forward sight camera
No unconscious deviation fare, if it find that automobile is just in unconscious deviation fare, by display screen and alarm buzz come
Remind driver.
AEB (automatic emergency brake)：Using preposition radar and front camera, measure with front truck or barrier away from
From, then using data analysis module by the distance measured and alarm distance, safe distance compared with, less than alarm apart from when
With regard to carrying out alarm sounds, and when being less than safe distance, in the case that driver does not have enough time stepping on brake pedal, system
Also it can start, make automobile automatic braking, so as to escort for safety trip.
FCW (frontal collisions early warning)：By way of alarm, when there are driver is warned during potential risk of collision
Accuse, for system by preposition radar and forward sight camera, moment monitoring front vehicles, judge the distance between this car and front truck, side
Position and relative velocity, when there are during potential risk of collision, driver is reminded by display screen and alarm buzz to driver.
LKA (track keeps auxiliary)：Pass through monitoring of the front camera to roadmarking so that vehicle is maintained at original
Advance, be unlikely to because being produced across track dangerous in track.Judge that driver after run-off-road, gives such as in the case of unconscious
Go out sound early warning, and control direction disk sails go back to former track.
ACC (adaptive cruise control)：Front truck state is identified by preposition radar and front camera, and according to itself vehicle body
State, calculates after judging, sends and instructs to actuator, to determine the transport condition of oneself, is acceleration or deceleration, still exits
Cruise.Front truck can be followed to realize and be to maintain vehicle with car, its most basic function with car, parking, the adaptive cruise restarted
Longitudinal driving, when there is risk of collision, vehicle can prompt driver and carry out active brake intervention.
SAP (automatic parking auxiliary)：By the ultrasonic radar inductor of vehicle's surroundings, to detect vehicle in the process of parking
In, size to the good vehicle of stop over, parking stall and calculated with the distance in roadside, so that by automatically controlling, will
Vehicle drives into parking stall.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of changes, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (2)
- It is 1. a kind of based on the automobile intelligent driving calculating platform terminal for dividing domain centralized calculation unit, including ARM computing units, HMI Before man-machine interaction unit, ADAS to camera, look around 360 cameras, ultrasonic radar, 77G millimetre-wave radar equipment；ARM computing units：Calculate ADAS before to camera, look around 360 camerasTo camera before ADAS:The relevant information such as lane line and surrounding failure thing is extracted, relevant information input ARM is calculated single Member.Look around 360 cameras:When driver drives vehicle, the ambient condition information of automobile is obtained, and enters information into ARM meters Calculate and calculated in unit；Ultrasonic radar：During automatic Pilot, the surrounding environment of automobile is obtained, and is entered information into, is calculated in ARM computing units；HMI man-machine interaction units:Look around the display of 360 images, the switching of 360 image frames and the switching of ADAS functions.
- 2. according to claim 1 it is a kind of based on divide domain centralized calculation unit automobile intelligent drive calculating platform terminal, its It is characterized in that：Further include automobile control unit, braking system, dynamical system, steering, VCU, 77G millimetre-wave radar equipment；Automobile control unit：Automobile control unit controls the work of dynamical system, steering, braking system, VCU, connects at the same time Receive dynamical system, steering, braking system, VCU operating condition signals, receive signal in 77G millimetre-wave radars, and by signal Input ARM computing units；Dynamical system：Controlled by automobile control unit, drive motor racing；Steering：Controlled by automobile control unit, drive motor turning；Braking system：Controlled by automobile control unit, braking vehicle slows down；VCU:Coherent signal is inputted into automobile control unit；77G millimetre-wave radars:Positional information and yaw, inclination, pitch information are obtained, and information input automobile control is single Member.
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| CN201711477948.6A CN107992056A (en) | 2017-12-29 | 2017-12-29 | It is a kind of based on divide domain centralized calculation unit automobile intelligent drive calculating platform terminal |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109540123A (en) * | 2018-11-22 | 2019-03-29 | 奇瑞汽车股份有限公司 | Vehicle and its sensing device, track determine system |
| CN109733471A (en) * | 2019-03-01 | 2019-05-10 | 安徽安凯汽车股份有限公司 | A kind of intelligent steering system |
| CN110103824A (en) * | 2019-05-27 | 2019-08-09 | 王黎明 | A kind of auxiliary early warning system shown based on real time panoramic and its method for early warning |
| CN110329252A (en) * | 2019-07-30 | 2019-10-15 | 宝鸡臻叡智能科技有限公司 | A kind of vehicle intelligent brake assist system |
| CN111674345A (en) * | 2020-05-29 | 2020-09-18 | 东风汽车集团有限公司 | Network electrical structure suitable for high autopilot |
| CN111959399A (en) * | 2020-08-28 | 2020-11-20 | 安徽江淮汽车集团股份有限公司 | Automobile control device, system and automobile |
| CN113753043A (en) * | 2021-09-07 | 2021-12-07 | 江苏深眸智能科技有限公司 | Self-adaptive cruise turning speed adjusting system and method for assisting driving |
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| CN113753043A (en) * | 2021-09-07 | 2021-12-07 | 江苏深眸智能科技有限公司 | Self-adaptive cruise turning speed adjusting system and method for assisting driving |
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Application publication date: 20180504 |