CN111398988A - Integrated intelligent networked automobile automatic driving domain controller system - Google Patents

Integrated intelligent networked automobile automatic driving domain controller system Download PDF

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Publication number
CN111398988A
CN111398988A CN202010104285.9A CN202010104285A CN111398988A CN 111398988 A CN111398988 A CN 111398988A CN 202010104285 A CN202010104285 A CN 202010104285A CN 111398988 A CN111398988 A CN 111398988A
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module
main controller
poe
power supply
wireless communication
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CN202010104285.9A
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Chinese (zh)
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岑明
杨东
张毅
刘漱行
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Chongqing University of Post and Telecommunications
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Chongqing University of Post and Telecommunications
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Priority to CN202010104285.9A priority Critical patent/CN111398988A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/02—Details
    • H04L12/10—Current supply arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • H04L12/40045—Details regarding the feeding of energy to the node from the bus
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40267—Bus for use in transportation systems
    • H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses an integrated intelligent networked automobile automatic driving domain controller system, which comprises a main controller, a POE network switch, a wireless communication module, a combined navigation module and a power module. The main controller module is used for data transmission and intelligent networking automobile function service program calculation, and supports interfaces such as USB, Ethernet, HDMI, PCIE, GPIO, UART, CAN and the like, wherein the multipath CAN interfaces are respectively used for radar data acquisition and interaction with a drive-by-wire chassis system; the POE network switch module is used for data exchange and power supply of the Ethernet interface sensor; the wireless communication module is used for communicating with other vehicles, the server and the road side equipment; the integrated navigation module is used for acquiring the position and the posture of the main vehicle; the power module is used for supplying power to the low-power consumption sensor. The invention realizes integration and miniaturization of the intelligent networked automobile automatic driving domain controller system, simplifies the wiring harness arrangement of the intelligent networked automobile, reduces the cost and improves the reliability.

Description

Integrated intelligent networked automobile automatic driving domain controller system
Technical Field
The invention belongs to the technical field of automation, communication and computers, and particularly relates to an integrated intelligent networked automobile automatic driving domain controller system.
Background
The intelligent networked automobile is a highly intelligent and information system integrating the functions of environment perception, planning decision, motion control, data communication and the like. The traditional multi-ECU distributed architecture is a typical mode of automobile electronics, but for an intelligent automobile, the number of sensors and the amount of data needing to be transmitted are increased sharply, and the complexity of a circuit is increased sharply, so that the performance of the whole automobile is reduced, and the cost is increased. The intelligent internet automobile system platform is an important carrier for realizing the automatic driving function, and has the characteristics of integration, miniaturization, function diversification, high reliability, low power consumption, simplicity and easiness in installation, low development threshold and the like, so that the wiring harness arrangement of the intelligent internet automobile is simplified, the cost is reduced, and the reliability is improved.
The King MDC provides support for GMS L, Ethernet and CAN, and the products mainly support various environment sensing sensors, do not integrate and combine navigation, have low integration level, require additional power lines for the sensors, and are still complex in system wiring harness.
The invention provides an integrated intelligent networked automobile automatic driving domain controller system aiming at application requirements of an intelligent networked automobile vehicle-mounted domain controller. The integration and miniaturization of the intelligent networked automobile automatic driving domain controller are realized by adopting an integrated main controller module, a POE network switch module, a wireless communication module, a combined navigation module and a power module, the reliability of the intelligent networked automobile automatic driving system is improved, and the difficulty of development of the intelligent networked automobile system is reduced.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an integrated intelligent networked automobile automatic driving domain controller system so as to improve the reliability of the intelligent networked automobile automatic driving system and reduce the difficulty of development of the intelligent networked automobile system. The technical scheme of the invention is as follows:
an integrated intelligent networked automobile automatic driving domain controller system comprises:
network switch module, wireless communication module, combination navigation module, multichannel CAN interface and power module, main controller module is connected with wireless communication module, combination navigation module and POE network switch module respectively, wherein:
the main controller module is used for running an intelligent networking automobile function service program, supporting data transmission among the POE network switch module, the wireless communication module and the combined navigation module, and providing a plurality of paths of CAN interfaces to be connected with the wire control chassis and the CAN interface sensor;
the POE network switch module is used for data transmission or power supply between network equipment or sensor modules mounted on the POE network switch module;
the wireless communication module is used for data transmission with other vehicles, road side equipment and a server;
the combined navigation module is used for acquiring and outputting state information of the intelligent internet automobile, wherein the state information comprises longitude, latitude, altitude, speed, course angle, pitch angle and roll angle;
the multi-path CAN interfaces are respectively used for radar data acquisition and interaction with a line control chassis system;
the power supply module is used for providing power supply for the equipment or the module meeting the matching of the output electrical parameters of the power supply module.
Furthermore, the communication interface of the main controller module supports types including USB, Ethernet, HDMI, PCIE, GPIO, UART, and CAN, and the main controller module includes one or more core computing units having different architectures including ARM and FPGA and different computing capabilities.
Further, POE network switch module is used for the mount this data transmission or power supply between network equipment or the module on the POE network switch module, network sensor is including supporting network interface's vision sensor and laser radar, the mount is in network equipment or module on the POE network switch module constitute the star network, realize data transmission or power supply, arrange and power supply system in order to simplify the complicated pencil in the intelligent networking car system, POE network switch module supports POE power supply function, provides power supply for supporting POE or the network equipment or the module that support POE after the conversion, wherein, power supply mode includes and is not limited to POE, POE + and non-standard POE.
Further, the combined navigation module includes an RTK (Real-time kinematic) positioning module and an IMU (Inertial measurement unit), where the RTK module obtains high-precision positioning information through a service program deployed on the main controller module, and the IMU is used for realizing combined positioning together with the RTK module through fusion filtering.
Further, the RTK module obtains high-precision positioning information through a service program deployed on the main controller module, and specifically includes:
(1) a UART Client1 service program deployed by the main controller module receives GPGGA format positioning data of the current main vehicle output by the combined navigation module through a UART interface;
(2) the Ntrip Client service program deployed by the main controller module uploads the GPGGA format positioning data of the current main vehicle received in the step 1 to the Ntrip case through the wireless communication module;
(3) the method comprises the steps that an Ntrip Client service program deployed on a main controller module receives RTCM format data returned by an Ntrip case through a wireless communication module;
(4) the UART Client1 service program deployed by the main controller module transmits the RTCM format data received in the step 3 to the combined navigation module through a UART interface;
(5) the UART Client 2 service program deployed by the main controller module receives the attitude information of the main vehicle after the combined navigation module is resolved through a UART interface, and the attitude information includes but is not limited to NMEA format data;
(6) and (5) repeating the steps (1) to (5) and continuously updating the vehicle position and posture information.
Further, the wireless communication module is used for data transmission with other vehicles, roadside devices or servers, wherein the wireless communication module adopts a communication module including 4G and 5G. And the service program running on the main controller module realizes data transmission with other vehicles, road side equipment or servers through the wireless communication module.
Furthermore, the intelligent networked automobile system is composed of an automatic driving area controller system and other components related to the intelligent networked automobile, wherein the other components comprise a laser radar, a vision sensor, a millimeter wave radar and a drive-by-wire chassis. The POE network switch module supports connection of multiple network devices or modules, and a user configures the network devices or modules including a laser radar and a vision sensor according to the requirements of the constructed intelligent networked automobile system. The main controller module supports and is connected with a plurality of CAN interface devices, and a user configures the CAN interface devices including a millimeter wave radar and a wire control chassis according to the requirements of the constructed intelligent networked automobile; the main controller module is connected with the CAN interface equipment through a shielding cable, wherein for a low-power CAN interface sensor including similar millimeter waves, the power module supplies power for the CAN interface equipment needing power supply through a power cable. The main controller module supports interfaces including USB, Ethernet, HDMI, PCIE, GPIO, UART and CAN, and the user expands the external equipment according to actual requirements.
The invention has the following advantages and beneficial effects:
the invention integrates the controller, the On Board Unit (OBU), the switch, the combined navigation, the DTU (Data Transfer Unit) and other functional modules except the radar and the vision sensor, which are required by the automatic driving of the intelligent networked automobile, into a domain controller system, thereby realizing the integration and miniaturization of the intelligent networked automobile automatic driving domain controller system, reducing the cost and improving the reliability. According to the invention, the POE is used for supplying power to the laser radar, the vision sensor and the like, so that the wiring harness arrangement of the intelligent networked automobile can be greatly simplified, and the complexity and the cost of the system are reduced. The invention also simplifies the integrated development of the intelligent networked automobile system and reduces the difficulty of the development of the intelligent networked automobile system.
Drawings
FIG. 1 is an overall framework of an integrated intelligent networked automobile automatic driving domain controller system according to a preferred embodiment of the invention;
FIG. 2 is a schematic connection diagram of the intelligent networked automobile hardware system of the present invention;
FIG. 3 is a combined navigation features software framework of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail and clearly with reference to the accompanying drawings. The described embodiments are only some of the embodiments of the present invention.
The technical scheme for solving the technical problems is as follows:
fig. 1 shows an overall framework of an integrated intelligent networked automobile autopilot domain controller system provided by the present invention, which is composed of a main controller module, a POE network switch module, a wireless communication module, a combined navigation module and a power module, wherein:
the main controller module is used for data transmission and intelligent networking automobile application service program calculation among other devices or modules except the main controller module. The communication interface of the main controller module supports types including but not limited to USB, Ethernet, HDMI, PCIE, GPIO, UART, CAN, and the like. The main controller module includes, but is not limited to, one or more core computing units with different architectures such as ARM, FPGA, etc., and different computing capabilities.
The POE network switch module is used for data transmission or power supply between network devices or modules mounted on the POE network switch module. The network devices or modules include, but are not limited to, the master controller module, network sensors, and other network devices or modules. The network sensors include, but are not limited to, vision sensors and lidar, etc. that support a network interface. And the network equipment or the modules mounted on the POE network switch module form a star network to realize data transmission or power supply. In order to simplify complicated pencil arrangement and power supply system in the intelligent networking automobile system, POE network switch module supports the POE merit, provides power supply for supporting POE or the network equipment or the module that support POE after the conversion, and wherein, the power supply mode includes and is not limited to POE, POE + and non-standard POE.
The wireless communication module is used for data transmission with other vehicles, road side equipment or servers, wherein the wireless communication module comprises but is not limited to communication modules of 4G, 5G and the like. The service program running on the main controller module realizes data transmission with other vehicles or servers through the wireless communication module, and deploys corresponding service programs according to specific services of the intelligent networked automobile system.
The combined navigation module is used for acquiring and outputting state information of the intelligent networked automobile, wherein the state information comprises longitude, latitude, altitude, speed, a course angle, a pitch angle, a roll angle and the like, and the course angle is defined as an included angle between the driving direction of the automobile and the true north direction of a geographic coordinate system.
The power supply module is used for providing power supply for the equipment or the module meeting the matching of the output electrical parameters of the power supply module.
Fig. 2 shows an example of connection for constructing an intelligent networked automobile hardware system according to the present invention. The intelligent networked automobile system is formed by the invention and other components related to the intelligent networked automobile, wherein the other components comprise but are not limited to laser radar, a vision sensor, a millimeter wave radar, a drive-by-wire chassis and the like.
The POE network switch module supports connection of M network equipment or modules (M is larger than or equal to 1), and a user configures the network equipment or modules including a laser radar and a vision sensor according to the requirements of the constructed intelligent networked automobile system. The POE network switch module and the network equipment or the module transmit data or supply power through a connecting cable, and both ends of the connecting cable adopt universal connectors.
The main controller module supports connection of N paths of CAN interface devices (N is more than or equal to 1), and a user configures the CAN interface devices including a millimeter wave radar and a drive-by-wire chassis according to the requirements of the constructed intelligent networked automobile. The main control unit module is connected with the CAN interface equipment through a shielding cable, wherein, for low-power CAN interface sensors such as similar millimeter waves, the power supply module supplies power for the CAN interface equipment needing power supply through a power supply cable, and the shielding cable and the power supply cable adopt a universal connector.
The main controller module supports interfaces such as USB, Ethernet, HDMI, PCIE, GPIO, UART and CAN, and a user expands external equipment according to actual requirements.
The present example is only used to describe the construction effect of the present invention and its related components of the smart networked automobile, and is not limited to this construction scheme in the figure.
As shown in fig. 3, the integrated navigation module includes a real-time kinematic positioning module (RTK) and an Inertial Measurement Unit (IMU), wherein the RTK module obtains high-precision positioning information through a service program deployed on the main controller module, and includes the steps of:
(1) and a UART Client1 service program deployed by the main controller module receives GPGGA format positioning data of the current main vehicle output by the combined navigation module through a UART interface.
(2) And the Ntrip Client service program deployed by the main controller module uploads the GPGGA format positioning data of the current main vehicle received in the step 1 to the Ntrip sensor through the wireless communication module.
(3) And the Ntrip Client service program deployed on the main controller module receives RTCM format data returned by the Ntrip Client through the wireless communication module.
(4) And the UART Client1 service program deployed by the main controller module transmits the RTCM format data received in the step 3 to the combined navigation module through a UART interface.
(5) And the UART Client 2 service program deployed by the main controller module receives the attitude information of the main vehicle after the combined navigation module is resolved through a UART interface, and the attitude information includes but is not limited to NMEA format data.
(6) And (5) repeating the steps (1) to (5), and continuously updating the vehicle position and state information, wherein the updating frequency is set according to the actual requirement of the application scene.
The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.

Claims (4)

1. The utility model provides an intelligent networking car autopilot territory controller system integrates which characterized in that includes: including main controller module, POE active Ethernet network switch module, wireless communication module, combination navigation module, power module, main controller module is connected with wireless communication module, combination navigation module and POE network switch module respectively, wherein:
the main controller module is used for running an intelligent networking automobile function service program, supporting data transmission among the POE network switch module, the wireless communication module and the combined navigation module, and providing a plurality of paths of CAN interfaces to be connected with the wire control chassis and the CAN interface sensor;
the POE network switch module is used for data transmission or power supply between network equipment or sensor modules mounted on the POE network switch module;
the wireless communication module is used for data transmission with other vehicles, road side equipment and a server;
the combined navigation module is used for acquiring and outputting state information of the intelligent internet automobile, wherein the state information comprises longitude, latitude, altitude, speed, course angle, pitch angle and roll angle;
the power supply module is used for providing power supply for the equipment or the module meeting the matching of the output electrical parameters of the power supply module.
2. The system of claim 1, wherein the communication interface of the main controller module supports USB, Ethernet, HDMI, PCIE, GPIO, UART, CAN, and the main controller module comprises one or more core computing units with different architectures and computing capabilities, such as ARM and FPGA.
3. The system of claim 1, wherein the POE network switch module is configured to mount data transmission or power supply between network devices or modules on the POE network switch module, the network sensor includes a vision sensor and a laser radar supporting a network interface, and implements data transmission or power supply, wherein the power supply includes and is not limited to POE, POE + and non-standard POE.
4. The system of claim 4, wherein the RTK real-time dynamic positioning module of the integrated navigation module obtains high-precision positioning information through a service program deployed on the main controller module, and the system specifically comprises:
(1) a UART Client1 service program deployed by the main controller module receives GPGGA format positioning data of the current main vehicle output by the combined navigation module through a UART interface;
(2) the Ntrip Client service program deployed by the main controller module uploads the GPGGA format positioning data of the current main vehicle received in the step 1 to the Ntrip case through the wireless communication module;
(3) the method comprises the steps that an Ntrip Client service program deployed on a main controller module receives RTCM format data returned by an Ntrip case through a wireless communication module;
(4) the UART Client1 service program deployed by the main controller module transmits the RTCM format data received in the step 3 to the combined navigation module through a UART interface;
(5) the UART Client 2 service program deployed by the main controller module receives the attitude information of the main vehicle after the combined navigation module is resolved through a UART interface, and the attitude information includes but is not limited to NMEA format data;
(6) and (5) repeating the steps (1) to (5) and continuously updating the vehicle position and posture information.
CN202010104285.9A 2020-02-20 2020-02-20 Integrated intelligent networked automobile automatic driving domain controller system Pending CN111398988A (en)

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CN112068475A (en) * 2020-09-21 2020-12-11 英博超算(南京)科技有限公司 Vehicle-mounted multi-domain controller
CN112248985A (en) * 2020-10-20 2021-01-22 山东润江智控科技有限公司 Automobile domain control system, accelerator braking device and braking method
CN112804306A (en) * 2020-12-31 2021-05-14 的卢技术有限公司 Vehicle-mounted Ethernet-based automobile radar communication device, method and system
CN112884942A (en) * 2021-01-29 2021-06-01 中汽创智科技有限公司 Data recording and playback system and playback method thereof
CN113212335A (en) * 2021-05-28 2021-08-06 重庆长安汽车股份有限公司 Chassis domain controller, local integrated chassis domain architecture and vehicle
CN115460036A (en) * 2022-08-30 2022-12-09 重庆长安汽车股份有限公司 System, method, equipment and storage medium for realizing multichannel CAN data transceiving based on UART

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