CN113696907A - L3-level automatic driving system - Google Patents
L3-level automatic driving system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/40—High definition maps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
An L3 class autopilot system comprising: the system comprises a series of sensors, a domain controller, a high-precision positioning module, an execution module, a display module and a setting module, as well as an intelligent central gateway and a V-BOX module, which are arranged around a vehicle and in a cab; the execution module comprises an electronic power steering system, a vehicle body electronic stabilizing system, an engine management system and a gearbox control unit; storing a high-precision map in a high-precision positioning module memory; the domain controller is connected with the chassis CAN through one CAN FD and connected with the high-precision positioning module through one CAN FD; the domain controller is connected with the intelligent central gateway through the Ethernet, and the intelligent central gateway is respectively connected with the V-BOX and the display module through the Ethernet; the domain controller receives target information of the radar, original image information of the camera, high-precision map information of the high-precision positioning module and current information of the vehicle, and sends an acceleration and deceleration request and a steering request to the vehicle execution module to control automatic driving of the vehicle.
Description
Technical Field
The invention relates to an intelligent driving assistance system, in particular to an L3-level automatic driving system.
Background
The intelligent driving auxiliary system is mature day by day, and the intelligent degree on the vehicle is higher and higher. The traditional vehicle mainly realizes the detection of the surrounding environment through sensors such as radars, cameras and the like arranged on the periphery of the vehicle, and realizes the perception fusion and the planning control of an automatic driving system by a single intelligent driving domain controller, thereby realizing the automatic driving of the vehicle.
However, the automatic driving of the vehicle relates to the self safety of the vehicle and the life and property safety of users and traffic participants, and the controller or the automatic driving system of the vehicle as the brain of the intelligent driving auxiliary system directly determines the automatic driving behavior and the safety control of the vehicle. There has been a constant effort by those skilled in the art to ensure the safety of the system.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an automatic driving system scheme with the fusion of a plurality of processors and a plurality of sensors, and a plurality of data sources are fused, so that the safety of the system can be further improved and ensured, and the safety and the reliability of the automatic driving system are ensured.
The technical scheme adopted by the invention is as follows:
an L3 class autopilot system solution comprising: the system comprises a domain controller, a high-precision positioning module, a high-precision map, a V-BOX module, an intelligent central gateway, an execution module, a display module and a series of sensors which are arranged around a vehicle and in a cab.
The execution module comprises an electronic power steering system (EPS), an Electronic Stability Program (ESP), an Engine Management System (EMS) and a Transmission Control Unit (TCU).
The sensor comprises 5 millimeter wave radars, wherein 1 is a front millimeter wave radar, 2 is a front angle millimeter wave radar, and 2 is a rear angle millimeter wave radar; 7 camera module (for short camera) and 1 forward-looking intelligent camera, wherein, 7 camera modules include 1 forward-looking camera, 4 look sideways at camera, 1 back vision camera, 1 driver surveillance camera in the car.
1 leading millimeter wave radar is connected to the domain controller through CAN FD all the way, 2 anterior angle millimeter wave radars are connected to the domain controller through CAN FD all the way, 2 back angle millimeter wave radars are connected to the domain controller through CAN FD all the way, 7 cameras are connected to the domain controller through 7 LVDS video lines respectively, 1 forward-looking intelligent camera is connected to the domain controller through CAN FD all the way. The domain controller is connected with the chassis CAN through one path of CAN FD and connected with the high-precision positioning module through one path of CAN FD. The domain controller is connected with the intelligent central gateway through the Ethernet, and the intelligent central gateway is respectively connected with the V-BOX and the display module through the Ethernet. The high-precision map is stored in a high-precision positioning module memory.
5 millimeter wave radars, wherein 1 front radar is arranged at the central grating of the front end of the vehicle, and the other 4 corner radars are respectively arranged at 4 corners of the front bumper and the rear bumper of the vehicle; the detection range of the front radar is +/-60 degrees, and the detection range of the angular radar is +/-80 degrees. The detection of the obstacles around the vehicle in the range of 360 degrees is realized by 5 radars arranged around the vehicle.
1 foresight camera and 1 foresight intelligent camera are installed in vehicle inside rear-view mirror department, and 4 side-looking cameras are installed in the vehicle left and right sides, and one side is respectively two, and two cameras look towards vehicle side the place ahead, and two cameras look towards vehicle side rear, and the angle of vision scope is 100 respectively. The 1 rear-view camera is arranged at the center of the rear of the vehicle, and the angle of view of the camera is 60 degrees. Through the 6 cameras installed around the vehicle, the visual detection within the range of 360 degrees around the vehicle is realized.
The radar within the range of 360 degrees and the camera within the range of 360 degrees realize the sensing redundancy backup of the detection of the surrounding environment of the vehicle.
The 5 millimeter wave radars mainly detect obstacles in the surrounding environment of the vehicle and send the detected information of speed, acceleration, position and the like of the obstacles in a certain range around the vehicle to the domain controller. On the other hand, the two front angle millimeter wave radars carry out danger prejudgment according to the information of the obstacles detected by the two front angle millimeter wave radars, and if a collision danger exists in a front road scene, a collision early warning or collision braking signal is sent to the domain controller; similarly, the two rear-angle millimeter wave radars perform danger prejudgment according to the obstacle information detected by the two rear-angle millimeter wave radars, and if a collision danger exists in a rear road scene, a collision early warning or collision braking signal is sent to the domain controller.
The intelligent camera of 1 foresight surveys lane line and barrier in vehicle the place ahead, and intelligent camera is from taking high performance to handle the chip, can carry out the perception to place ahead road image information and handle, receives the barrier information of preceding millimeter wave radar simultaneously and fuses the processing, carries out danger and judges in advance to place ahead road scene, outputs collision early warning or collision braking signal and gives the domain controller.
The 6 outer cameras collect image information around the vehicle in real time and transmit the original image information to the domain controller through the LVDS video lines.
The 1 camera in the car is installed in the cockpit for driver face discernment and sight are tracked. And transmitting the shot original image information of the face of the driver to the domain controller through an LVDS video line.
The V-BOX module is mainly used for realizing vehicle wireless communication and vehicle-road cooperation. Acquiring a carrier phase differential technology (RTK) service through wireless communication, and transmitting the RTK to a high-precision positioning module; and the transmission and the downloading of high-precision map data and the transmission and the downloading of a domain controller software package are realized through wireless communication. The information of other vehicles around the vehicle, traffic facilities such as traffic lights, roadside facilities, pedestrians (carrying wearing equipment) and the like is obtained through the vehicle-road cooperation.
The high-precision positioning module comprises a satellite positioning module and an inertia measurement unit, and realizes the high-precision positioning of the vehicle through the identification information of a camera, the satellite positioning information, the RTK service information, the inertia measurement unit information and the wheel speed information of the vehicle; and combining a high-precision map, matching the position of the vehicle in the high-precision map, and providing high-precision map information of front and side-rear roads and lanes.
The intelligent central gateway is used for transmitting vehicle signals and remotely upgrading and refreshing the OTA of the domain controller.
The domain controller receives target information of the radar, original image information of the camera, high-precision map information of the high-precision positioning module and current information of the vehicle, and sends an acceleration and deceleration request and a steering request to the vehicle execution module to control automatic driving of the vehicle.
The invention has the beneficial effects that:
1. the invention discloses an L3-level automatic driving system, and provides an automatic intelligent system scheme with multi-processor fusion and multi-sensor fusion, which fuses multiple data sources and can improve the intelligence, the availability and the reliability of the automatic driving system. The sensors with different radar and camera can realize the non-visual angle detection and the redundant detection in the double 360-degree range around the vehicle. The accuracy and reliability of the obstacle target detection are ensured by the wireless network and vehicle road cooperation information of the V-BOX module. The high-precision positioning module fuses identification information, satellite positioning information, RTK service information, inertia measurement unit information and wheel speed information of the vehicle to provide high-precision positioning information for the vehicle, and high-precision map information of roads and lanes is provided for the vehicle by combining a high-precision map. The domain controller carries out planning and control based on the sensor and module information, thereby improving the intelligence and the reliability of the L3-level intelligent driving assistance system.
2. In the aspect of active safety, the L3 level automatic driving system judges 360-degree omnibearing environmental danger conditions through target information of a millimeter wave radar and image information of a camera by a domain controller; meanwhile, the domain controller receives the early warning or braking signal of the front-angle radar, the early warning or braking signal of the rear-angle radar and the early warning or braking signal of the front-view intelligent camera, fusion judgment processing is carried out, and fusion processing of environmental target information of the multiple sensors and dangerous triggering signals of the multiple sensors is carried out, so that the correct triggering rate of the active safety system is further improved, the false triggering rate of the system is reduced, and the safety and the reliability of the system are guaranteed.
3. According to the L3-level automatic driving system, the wireless network of the V-BOX module and the vehicle-road cooperative information, when the conditions such as traffic jam, road maintenance, traffic accidents and the like are met, the system can transmit the information to the vehicle terminal and the high-precision map in time without being influenced by heavy rain weather, so that the system can effectively obtain the information of the sensor in time to carry out path planning and intelligent speed limiting under the conditions such as traffic jam, road maintenance, traffic accidents, heavy rain weather and the like, and the availability of the L3-level intelligent driving auxiliary system is improved.
4. According to the L3-level automatic driving system, the domain controller receives the cameras within the range of 360 degrees around the vehicle, image information around the vehicle can be spliced and sent to the display module for real-time display, and meanwhile, the spliced image information is coded, compressed and stored, so that playback of subsequent videos is facilitated, and the function of a driving recorder within the visual range of 360 degrees is realized. Meanwhile, the monitoring camera in the vehicle monitors the state of the driver in real time, the automatic driving function is enabled under the condition that the state of the driver is good, and the reliability of the system is further improved.
Drawings
Fig. 1 shows a block diagram of an L3 level autopilot system.
Detailed Description
In order to make the technical idea and advantages of the invention for realizing the purpose of the invention more clear, the technical solution of the invention is further described in detail with reference to the accompanying drawings. It should be understood that the following examples are only for illustrating and explaining preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention as claimed in the claims.
Example 1
Referring to fig. 1, the level L3 autopilot system of the present invention comprises: the system comprises a series of sensors, a domain controller, a high-precision positioning module, an execution module, a display module and a setting module, as well as an intelligent central gateway and a V-BOX module, which are arranged around a vehicle and in a cab; the execution module comprises an electronic power steering system (EPS), an Electronic Stability Program (ESP), an Engine Management System (EMS) and a Transmission Control Unit (TCU); storing a high-precision map in a high-precision positioning module memory;
the sensor comprises 5 millimeter-wave radars, 7 camera modules (for short, cameras) and 1 forward-looking intelligent camera; wherein, 1 is a front millimeter wave radar, 2 is a front angle millimeter wave radar, and 2 is a rear angle millimeter wave radar, which are respectively connected to the domain controller through a CAN FD; the 7 camera modules comprise 1 front-view camera, 4 side-view cameras, 1 rear-view camera and 1 in-vehicle driver monitoring camera, and the 7 cameras are respectively connected to the domain controller through 7 paths of LVDS video lines; the forward-looking intelligent camera is connected to the domain controller through the 1-path CAN FD;
the 5 millimeter wave radars mainly detect obstacles in the surrounding environment of the vehicle and send the detected information of speed, acceleration, position and the like of the obstacles in a certain range around the vehicle to the domain controller;
the intelligent camera of 1 foresight surveys lane line and barrier in vehicle the place ahead, and intelligent camera is from taking high performance to handle the chip, can carry out the perception to place ahead road image information and handle, receives the barrier information of preceding millimeter wave radar simultaneously and fuses the processing, carries out danger and judges in advance to place ahead road scene, outputs collision early warning or collision braking signal and gives the domain controller.
The 6 outer cameras collect image information around the vehicle in real time and transmit the original image information to the domain controller through the LVDS video lines. The 1 camera in the car is installed in the cockpit for driver face discernment and sight are tracked. And transmitting the shot original image information of the face of the driver to the domain controller through an LVDS video line.
The domain controller is connected with the chassis CAN through one CAN FD and connected with the high-precision positioning module through one CAN FD; the domain controller is connected with the intelligent central gateway through the Ethernet, and the intelligent central gateway is respectively connected with the V-BOX and the display module through the Ethernet; the domain controller receives target information of the radar, original image information of the camera, high-precision map information of the high-precision positioning module and current information of the vehicle, and sends an acceleration and deceleration request and a steering request to the vehicle execution module to control automatic driving of the vehicle.
Example 2
The automatic driving system of level L3 in the present embodiment is different from that in embodiment 1 in that: further, 5 millimeter wave radars, wherein 1 front radar is arranged at the central grating of the front end of the vehicle, and the other 4 corner radars are respectively arranged at 4 corners of the front bumper and the rear bumper of the vehicle; the detection of the obstacles around the vehicle in the range of 360 degrees is realized by 5 radars arranged around the vehicle. The detection range of the front radar is +/-60 degrees, and the detection range of the angular radar is +/-80 degrees.
The two front angle millimeter wave radars carry out danger prejudgment according to the information of the obstacles detected by the two front angle millimeter wave radars, and if collision danger exists in a front road scene, a collision early warning or collision braking signal is sent to the domain controller; and the two rear-angle millimeter wave radars perform danger prejudgment according to the detected obstacle information, and send collision early warning or collision braking signals to the domain controller if collision danger exists in a rear road scene.
Example 3
The automatic driving system of level L3 in the present embodiment is different from that in embodiment 2 in that: 1 foresight camera and 1 foresight intelligent camera are installed in vehicle inside rear-view mirror department, and 4 side-looking cameras are installed in the vehicle left and right sides, and one side is respectively two, and two cameras look towards vehicle side the place ahead, and two cameras look towards vehicle side rear, and the angle of vision scope is 100 respectively. The 1 rear-view camera is arranged at the center of the rear of the vehicle, and the angle of view of the camera is 60 degrees. Through the 6 cameras installed around the vehicle, the visual detection within the range of 360 degrees around the vehicle is realized. The radar within the range of 360 degrees and the camera within the range of 360 degrees realize the sensing redundancy backup of the detection of the surrounding environment of the vehicle.
According to the L3-level automatic driving system, the high-precision positioning module comprises a satellite positioning module and an inertia measurement unit, and the high-precision positioning of a vehicle is realized through identification information of a camera, satellite positioning information, RTK service information, inertia measurement unit information and wheel speed information of the vehicle; and combining a high-precision map, matching the position of the vehicle in the high-precision map, and providing high-precision map information of front and side-rear roads and lanes.
Example 4
The L3-level automatic driving system described in this embodiment is different from the foregoing embodiments in that: the V-BOX module is mainly used for realizing vehicle wireless communication and vehicle-road cooperation. Acquiring a carrier phase differential technology (RTK) service through wireless communication, and transmitting the RTK to a high-precision positioning module; and the transmission and the downloading of high-precision map data and the transmission and the downloading of a domain controller software package are realized through wireless communication. The information of other vehicles around the vehicle, traffic facilities such as traffic lights, roadside facilities, pedestrians (carrying wearing equipment) and the like is obtained through the vehicle-road cooperation. The intelligent central gateway is used for transmitting vehicle signals and remotely upgrading and refreshing the OTA of the domain controller.
Example 5
The L3-level automatic driving system described in this embodiment is different from the foregoing embodiments in that: the domain controller judges 360-degree all-around environmental hazard conditions through target information of the millimeter wave radar and image information of the camera; meanwhile, the domain controller receives the early warning or braking signal of the front-angle radar, the early warning or braking signal of the rear-angle radar and the early warning or braking signal of the front-view intelligent camera, performs fusion judgment processing by combining the current information of the vehicle, and sends an acceleration and deceleration request and a steering request to the vehicle execution module to control the automatic driving of the vehicle.
And the fusion processing of the environmental target information of the multiple sensors and the dangerous trigger signals of the multiple sensors further improves the correct trigger rate of the active safety system, reduces the false trigger rate of the system and ensures the safety and reliability of the system.
Example 6
The automatic driving system of level L3 in this embodiment is different from the previous embodiment in that: further, the domain controller receives the environment original image information detected by the camera in real time and extracts elements in the image. And based on the extracted obstacle information, performing fusion processing on the extracted obstacle information, the obstacle information detected by the millimeter wave radar and information such as vehicles, pedestrians and the like acquired by the cooperation of the vehicles and the V-BOX to obtain final target information. And the domain controller extracts road and lane information in the image based on the image information output by the camera, and performs fusion processing with the road and lane information output by the high-precision positioning module to obtain final road and lane information. Meanwhile, the domain controller also receives information of traffic facilities and road side facilities, other vehicle related information (such as vehicle state, vehicle speed and the like) and function setting information of a driver, which are acquired by the cooperation of the vehicle and the road of the V-BOX. Based on the surrounding environment information and the vehicle information, the domain controller controls the vehicle to automatically drive according to the function request of the driver, and the request execution module performs corresponding acceleration, deceleration and steering actions.
According to the L3-level automatic driving system, the domain controller acquires the state information of the driver in real time through the camera in the vehicle, and the system is in the function activation state only when the attention of the driver is concentrated and the state is good, so that the reliability and the safety of the system can be further improved. On the other hand, after receiving the original image information of the front-looking camera, the domain controller can also output the original image information to the vehicle-mounted infotainment system through the deserializer and the serializer, so that the AR navigation function is supported. Meanwhile, the domain controller receives the cameras within the range of 360 degrees around the vehicle, so that image information around the vehicle can be spliced and sent to the display module for real-time display, and the spliced image information is encoded, compressed and stored, so that playback of subsequent videos is facilitated, and the function of the automobile data recorder within the visual range of 360 degrees is realized. The function expansibility of the scheme of the system is improved.
When the data needs to be updated, the V-BOX module downloads the data from the cloud server through the wireless network, and transmits the downloaded data to the domain controller through the intelligent central gateway, so that OTA remote upgrading and refreshing of the domain controller are realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be construed as limiting the invention. Other modifications of the invention will occur to those skilled in the art without the benefit of this disclosure and it is intended to cover within the scope of the invention any modifications that fall within the spirit and scope of the invention or the equivalents thereof which may be substituted by one of ordinary skill in the art without departing from the scope of the invention.
Claims (8)
1. An L3 class autopilot system comprising: the system comprises a series of sensors, a domain controller, a high-precision positioning module, an execution module, a display module and a setting module, as well as an intelligent central gateway and a V-BOX module, which are arranged around a vehicle and in a cab; the execution module comprises an electronic power steering system, a vehicle body electronic stabilizing system, an engine management system and a gearbox control unit; storing a high-precision map in a high-precision positioning module memory; the method is characterized in that:
the sensor comprises 5 millimeter-wave radars, 7 camera modules and 1 forward-looking intelligent camera; wherein, 1 is a front millimeter wave radar, 2 is a front angle millimeter wave radar, and 2 is a rear angle millimeter wave radar, which are respectively connected to the domain controller through a CAN FD; the 7 camera modules comprise 1 front-view camera, 4 side-view cameras, 1 rear-view camera and 1 in-vehicle driver monitoring camera, and the 7 camera modules are respectively connected to the domain controller through 7 paths of LVDS video lines; the 1 forward-looking intelligent cameras are connected to a domain controller through CAN FD;
the 5 millimeter wave radars mainly detect obstacles in the surrounding environment of the vehicle and send the detected speed, acceleration and position information of the obstacles in a certain range around the vehicle to the domain controller;
the front-view intelligent camera detects a lane line and an obstacle in front of a vehicle, the intelligent camera is provided with a high-performance processing chip, can sense and process image information of a front road, receives obstacle information of a front millimeter wave radar and performs fusion processing, performs danger pre-judgment on a front road scene, and outputs a collision early warning or collision braking signal to a domain controller;
the 6 outer cameras collect image information around the vehicle in real time and transmit the original image information to the domain controller through LVDS video lines; the in-vehicle camera is arranged in the cockpit and used for identifying the face of the driver and tracking the sight line, and transmits the shot original image information of the face of the driver to the domain controller through the LVDS video line;
the domain controller is connected with the chassis CAN through one CAN FD and connected with the high-precision positioning module through one CAN FD; the domain controller is connected with the intelligent central gateway through the Ethernet, and the intelligent central gateway is respectively connected with the V-BOX and the display module through the Ethernet; the domain controller receives target information of the radar, original image information of the camera, high-precision map information of the high-precision positioning module and current information of the vehicle, and sends an acceleration and deceleration request and a steering request to the vehicle execution module to control automatic driving of the vehicle.
2. The level L3 autopilot system of claim 1 wherein: 5 millimeter wave radars, wherein 1 front radar is arranged at the central grating of the front end of the vehicle, and the other 4 corner radars are respectively arranged at 4 corners of the front bumper and the rear bumper of the vehicle; the detection of the obstacles around the vehicle in the range of 360 degrees is realized by 5 radars arranged around the vehicle;
the two front angle millimeter wave radars carry out danger prejudgment according to the information of the obstacles detected by the two front angle millimeter wave radars, and if collision danger exists in a front road scene, a collision early warning or collision braking signal is sent to the domain controller;
and the two rear-angle millimeter wave radars perform danger prejudgment according to the detected obstacle information, and send collision early warning or collision braking signals to the domain controller if collision danger exists in a rear road scene.
3. The level L3 autopilot system according to claim 1 or 2 wherein: the system comprises 1 front-view camera and 1 front-view intelligent camera, wherein the front-view cameras and the 1 front-view intelligent camera are arranged at a rearview mirror in a vehicle, 4 side-view cameras are arranged at the left side and the right side of the vehicle, one side of each side-view camera is two, the two cameras look towards the front side of the vehicle side, the two cameras look towards the rear side of the vehicle side, and the field angle ranges are respectively 100 degrees; the 1 rear-view camera is arranged at the center of the rear of the vehicle, and the field angle of the camera is 60 degrees; through the 6 cameras installed around the vehicle, the visual detection within the range of 360 degrees around the vehicle is realized.
4. The level L3 autopilot system of claim 3 wherein: the high-precision positioning module comprises a satellite positioning module and an inertia measurement unit, and realizes the high-precision positioning of the vehicle through the identification information of a camera, the satellite positioning information, the RTK service information, the inertia measurement unit information and the wheel speed information of the vehicle; and combining a high-precision map, matching the position of the vehicle in the high-precision map, and providing high-precision map information of front and side-rear roads and lanes.
5. The level L3 autopilot system of claim 1, 2 or 4 wherein: the V-BOX module is mainly used for realizing vehicle wireless communication and vehicle road cooperation; acquiring carrier phase differential technical service through wireless communication, and transmitting a carrier phase differential signal to a high-precision positioning module; the transmission and the downloading of high-precision map data and the transmission and the downloading of a domain controller software package are realized through wireless communication; acquiring traffic facilities, road side facilities and pedestrian information such as other vehicles around the vehicle, traffic lights and the like through vehicle-road cooperation; the intelligent central gateway is used for transmitting vehicle signals and remotely upgrading and refreshing the OTA of the domain controller.
6. The level L3 autopilot system of claim 1, 2 or 4 wherein: the domain controller judges 360-degree all-around environmental hazard conditions through target information of the millimeter wave radar and image information of the camera; meanwhile, the domain controller receives the early warning or braking signal of the front-angle radar, the early warning or braking signal of the rear-angle radar and the early warning or braking signal of the front-view intelligent camera, performs fusion judgment processing by combining the current information of the vehicle, and sends an acceleration and deceleration request and a steering request to the vehicle execution module to control the automatic driving of the vehicle.
7. The level L3 autopilot system of claim 1, 2 or 4 wherein: the domain controller receives the environment original image information detected by the camera in real time and extracts elements in the image; based on the extracted obstacle information, the obstacle information, obstacle information detected by the millimeter wave radar and information such as vehicles, pedestrians and the like acquired by the cooperation of the vehicles through the V-BOX are fused to obtain final target information; extracting road and lane information in the image based on the image information output by the camera, and performing fusion processing on the extracted road and lane information and the road and lane information output by the high-precision positioning module to obtain final road and lane information; meanwhile, the domain controller also receives information of traffic facilities and road side facilities, vehicle states, vehicle speed related information and function setting information of a driver which are obtained by the cooperation of the vehicle and the road of the V-BOX, controls the vehicle to automatically drive according to the function request of the driver based on the surrounding environment information and the vehicle information of the vehicle, and requests the execution module to carry out corresponding acceleration, deceleration and steering actions.
8. The level L3 autopilot system of claim 7 wherein: the domain controller acquires the state information of the driver in real time through the camera in the vehicle, and the system is in a function activation state under the condition that the attention of the driver is concentrated and the state is good, so that the reliability and the safety of the system are further improved.
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| CN202110849759.7A CN113696907A (en) | 2021-07-27 | 2021-07-27 | L3-level automatic driving system |
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| CN202110849759.7A CN113696907A (en) | 2021-07-27 | 2021-07-27 | L3-level automatic driving system |
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| CN114228638A (en) * | 2021-12-22 | 2022-03-25 | 东风悦享科技有限公司 | System and method for transmitting super data of vehicle end of L4-grade automatic driving vehicle |
| CN115339404A (en) * | 2022-08-30 | 2022-11-15 | 重庆长安汽车股份有限公司 | Vehicle-mounted communication system, vehicle and vehicle-mounted communication processing method |
| CN115376347A (en) * | 2022-10-26 | 2022-11-22 | 禾多科技（北京）有限公司 | Intelligent driving area controller and vehicle control method |
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