CN115987442A - Distributed automatic driving control system and time synchronization method thereof - Google Patents
Distributed automatic driving control system and time synchronization method thereof Download PDFInfo
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Abstract
The invention discloses a distributed automatic driving control system and a time synchronization method thereof, wherein the system comprises: the system comprises a plurality of domain controllers, each domain controller comprises a plurality of low-computing-power data processing units, each data processing unit is respectively connected with a plurality of sensors, each data processing unit comprises a low-computing-power on-chip system and/or a micro control unit, the low-computing-power on-chip systems and/or the micro control units corresponding to the domain controllers are interacted through SPI, serial ports, PCIe or Ethernet, different domain controllers are connected through CAN or Ethernet, and the domain controllers are connected with the sensors through CAN, GMSL and Ethernet. According to the distributed automatic driving control system and the time synchronization method thereof, provided by the invention, the plurality of data processing units are combined for use, so that the hardware model selection range of the data processing units can be enlarged, the flexibility of the system is enhanced, and each data processing unit and each sensor are synchronized through a time synchronization mechanism.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a distributed automatic driving control system and a time synchronization method thereof.
Background
With the development of science and technology and the application of artificial intelligence technology, the automatic driving technology is rapidly developed and widely applied. Based on the driving Automation level of a vehicle, the conventional SAE J3016 standard divides driving Automation into 6 levels, i.e., L0-L5 levels, which are respectively No driving Automation (No Automation, L0), driving assistance (driving assistance, L1), partial driving Automation (Partial Automation, L2), conditional driving Automation (L3), high driving Automation (High Automation, L4), and Full driving Automation (Full Automation, L5). With the increasing level of driving automation, the degree of human involvement in driving activities is becoming lower and lower.
The autopilot function above L2 places higher demands on the reliability of the function. Therefore, in the automatic driving system with L2 or more, a higher level of perception capability is required, and a certain redundant design should be provided. The sensors are further diversified, and the sensors such as laser radar, millimeter wave radar and visible light camera are indispensable sensors in the automatic driving system with the L2 or more. The increase in the number and variety of sensors places higher demands on the computing power of the control system.
But the data processing unit platform products that can meet the control system computing power requirements are limited. In order to meet the system requirements, a plurality of data processing units are adopted, the data processing units are combined into a system computing platform in a hierarchical networking mode, and control software is divided and respectively deployed to the data processing units aiming at a distributed architecture. Because each data processing unit comprises an operating system which runs independently, and mutual dependency relationship does not exist between the operating systems, and the system clocks of the data processing units run independently and are different from each other, slight differences exist in system time and time frequency. The accumulation of the elapsed time of the slight difference causes the system time difference of each data processing unit to be too large, so that each data processing unit processes the corresponding sensor data to generate errors. Moreover, the sensors are rich in types, some network interfaces of the sensors use Ethernet, some network interfaces use CAN buses, and the time synchronization modes supported by different communication interfaces are different.
Therefore, a distributed automatic driving control system and a time synchronization method thereof are needed.
Disclosure of Invention
The invention aims to provide a distributed automatic driving control system and a time synchronization method thereof, which are used for solving the problems in the prior art, can be used by combining a plurality of data processing units, can enlarge the hardware model selection range of the data processing units and enhance the flexibility of the system; and synchronizing each data processing unit and each sensor through a time synchronization mechanism.
The invention provides a distributed automatic driving control system, which comprises:
the system comprises a plurality of domain controllers, each domain controller comprises a plurality of low-computing-power data processing units, each data processing unit is connected with a plurality of sensors, each data processing unit comprises a low-computing-power chip upper system and/or a micro control unit, the low-computing-power chip upper system and/or the micro control unit corresponding to the same domain controller carry out data interaction through SPI, a serial port, PCIe or Ethernet, different domain controllers are connected through CAN or Ethernet, and each domain controller is connected with the sensor required to be controlled through CAN, GMSL and Ethernet.
In the distributed automatic driving control system according to the above, it is preferable that each of the domain controllers controls each of the sensors connected to each of the data processing units corresponding thereto.
The distributed automatic driving control system as described above, wherein preferably, the number of the domain controllers is not less than 3, one of the domain controllers may be used as a main monitoring domain controller, one of the domain controllers may be used as a standby domain controller, and at least one of the domain controllers is a general domain controller.
The distributed automatic driving control system as described above, wherein each of the general-purpose domain controllers is preferably configured to control each of the sensors and each of the data processing units corresponding to the general-purpose domain controller, and does not have a monitoring function;
the main monitoring domain controller is further used for monitoring the working states of each domain controller, each data processing unit and each sensor, and adjusting the operation strategies corresponding to each domain controller, each data processing unit and each sensor according to the working states of each domain controller, each data processing unit and each sensor; when monitoring that the main monitoring domain controller fails, sending a monitoring activation instruction to the standby domain controller; when the universal monitoring domain controller is monitored to be out of order, a switching instruction is sent to the standby domain controller;
the standby domain controller is used for responding to the monitoring activation instruction, monitoring the working state of each domain controller, each data processing unit and each sensor, and adjusting the operation strategy corresponding to each domain controller, each data processing unit and each sensor according to the working state of each domain controller, each data processing unit and each sensor; when the main monitoring domain controller is monitored to be recovered to normal, sending a take-over instruction to the main monitoring domain controller; the switching device is also used for responding to the switching instruction and controlling each sensor and each data processing unit corresponding to the universal domain controller with the fault; when the general domain controller is monitored to be recovered to normal, a switching instruction is sent back to the general monitoring domain controller;
the main monitoring domain controller is also used for responding to the takeover instruction and taking over the monitoring of the working states of the domain controllers, the data processing units and the sensors again;
each universal domain controller is also used for responding to the switching-back instruction and switching back to control of each sensor and each data processing unit corresponding to the universal domain controller.
In the distributed automatic driving control system, it is preferable that each of the data processing units corresponding to each of the domain controllers is configured to receive data acquired by a plurality of sensors connected thereto, perform fusion processing on the data acquired by each of the sensors, and output a corresponding target recognition result.
The distributed automatic driving control system as described above, wherein preferably each of said domain controllers is arranged in the vicinity of a respective controlled sensor.
The distributed automatic driving control system as described above, wherein the total number of the low-computation-force on-chip systems and the micro control units corresponding to the plurality of domain controllers is preferably not less than 5.
The distributed automatic driving control system as described above, wherein preferably, the sensors controlled by each of the domain controllers respectively include at least one of a camera, a millimeter wave radar, and a laser radar.
The invention also provides a time synchronization method adopting the system, which comprises the following steps:
synchronizing a clock of a first domain controller according to a clock of a global navigation satellite system, wherein the first domain controller is a domain controller randomly determined among a plurality of domain controllers;
and synchronizing the clocks of other domain controllers in the plurality of domain controllers, the data processing unit corresponding to each domain controller and the sensor by using the first domain controller as a clock source, and in the synchronizing process, using a time synchronization protocol based on a CAN bus in a CAN network and using a time synchronization protocol based on an Ethernet in an Ethernet network.
The time synchronization method as described above, wherein preferably, the synchronizing the clock of the first domain controller according to the clock of the global navigation satellite system specifically includes:
the global navigation satellite system sends clock synchronization pulses and corresponding time messages to the first domain controller at intervals of preset time;
the first domain controller determines whether to synchronize the clock of the first domain controller into the clock of the clock synchronization pulse according to the clock deviation between the received clock of the clock synchronization pulse and the clock of the first domain controller;
if the clock deviation exceeds a preset threshold value, synchronizing the clock of the first domain controller into the clock of the clock synchronization pulse;
and if the clock deviation does not exceed a preset threshold value, synchronizing the clock of the clock synchronization pulse.
The invention provides a distributed automatic driving control system and a time synchronization method thereof, which can enlarge the hardware model selection range of a data processing unit and enhance the flexibility of the system by combining and using a plurality of data processing units; the domain controller system is formed by combining a plurality of low-computation SoC chips through networking, can be distributed, avoids the limitation of data transmission distance, expands the applicable vehicle type of the system scheme and solves the problem of auxiliary driving or automatic driving of L2 or above; different communication modes such as Ethernet, CAN and the like CAN be used among the domain controllers, so that the flexibility of the system is improved; aiming at a distributed system architecture, domain controllers are divided according to functions, and degradation control can be performed under abnormal conditions to ensure the whole vehicle operation of the system; meanwhile, aiming at a distributed control system, a time synchronization scheme among controllers in various domains and different types of sensors is provided; the invention can meet the functional design and development of an automatic system with more than L2.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
fig. 1 is an architecture diagram of an embodiment of a distributed autopilot control system provided by the present invention.
FIG. 2 is a flow chart of an embodiment of a method for time synchronization of a distributed autopilot control system provided by the present invention;
fig. 3 is a schematic diagram of an embodiment of a time synchronization method of a distributed automatic driving control system according to the present invention.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments are to be construed as merely illustrative, and not as limitative, unless specifically stated otherwise.
"first", "second" used in the present disclosure: and the like, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
In the present disclosure, when a specific component is described as being located between a first component and a second component, there may or may not be intervening components between the specific component and the first component or the second component. When it is described that a specific component is connected to other components, the specific component may be directly connected to the other components without having an intervening component, or may be directly connected to the other components without having an intervening component.
All terms (including technical or scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
Currently, in the application of the driving assistance function of L2, a low-computation-effort data processing unit is generally used. The increasing variety and number of the automatic driving sensors above L2 requires more software modules to be accommodated, and the available high-computing-power computing platforms with general computing power above 30TOPs are limited. For the distributed processing mode, the system software needs to be divided according to functions and action ranges. So as to be deployed in domain controllers at different locations.
For a distributed architecture, no general synchronization scheme capable of realizing time synchronization of each sensor and each domain controller exists at present. At present, a common scheme is to form a domain controller by less than 3 socs and MCUs, and use one controller to complete the implementation of vehicle control.
The invention is suitable for the development of the automatic driving function of the vehicle with the L2 or more. As shown in fig. 1, an embodiment of the present invention provides a distributed automatic driving control system, which includes: the system comprises a plurality of domain controllers, each domain controller comprises a plurality of low-computing-power data processing units, each data processing unit is connected with a plurality of sensors, each data processing unit comprises a low-computing-power on-chip system and/or a micro control unit, the low-computing-power on-chip system and/or the micro control unit corresponding to the same domain controller carry out data interaction through SPI, serial ports, PCIe or Ethernet, different domain controllers are connected through CAN or Ethernet, and each domain controller is connected with the sensor required to be controlled through CAN, GMSL and Ethernet.
The low computing power system on chip (SoC) is a SoC with a general computing power lower than 30TOPS, and the processed data is at least one of vehicle control data, brake control data, camera data, millimeter wave radar data, laser radar data, data of an inertial measurement unit and Global Navigation Satellite System (GNSS) data.
And the Micro Control Unit (MCU) is used for controlling each data processing unit to process the data such as the data of the whole vehicle controller and the data of the brake controller corresponding to each data processing unit and monitoring the working state of the system on the low-computing-power chip.
Further, each of the domain controllers is disposed in the vicinity of the respective controlled sensor. The sensors controlled by the domain controllers respectively comprise at least one of a camera, a millimeter wave radar and a laser radar.
Further, each of the domain controllers is configured to control each of the sensors connected to each of the data processing units corresponding thereto. And each data processing unit corresponding to each domain controller is used for receiving data acquired by a plurality of sensors connected with the data processing unit, performing fusion processing on the data acquired by each sensor and outputting a corresponding target identification result.
Furthermore, the total number of the systems and the micro control units on the low computation force sheet corresponding to the domain controllers is not less than 5. In an embodiment of the present invention, as shown in fig. 1, the total number of the systems and the micro control units on the low computation force chip corresponding to all the domain controllers is 12, and it should be noted that, the present invention does not specifically limit the total number of the systems and the micro control units on the low computation force chip and the number of the systems and the micro control units on the low computation force chip corresponding to each domain controller.
Furthermore, the number of the domain controllers is not less than 3, one domain controller can be used as a main monitoring domain controller, one domain controller can be used as a standby domain controller, and at least one domain controller is a general domain controller. In one embodiment of the present invention, as shown in fig. 1, the number of domain controllers is 4, and the number of domain controllers is not particularly limited in the present invention.
Specifically, each of the general domain controllers is used for controlling each of the sensors and each of the data processing units corresponding to the general domain controller, and does not have a monitoring function;
the main monitoring domain controller is further used for monitoring the working states of the domain controllers, the data processing units and the sensors, and adjusting the operation strategies corresponding to the domain controllers, the data processing units and the sensors according to the working states of the domain controllers, the data processing units and the sensors; when monitoring that the main monitoring domain controller fails, sending a monitoring activation instruction to the standby domain controller; when the universal monitoring domain controller is monitored to be out of order, a switching instruction is sent to the standby domain controller;
the standby domain controller is used for responding to the monitoring activation instruction, monitoring the working state of each domain controller, each data processing unit and each sensor, and adjusting the operation strategy corresponding to each domain controller, each data processing unit and each sensor according to the working state of each domain controller, each data processing unit and each sensor; when the main monitoring domain controller is monitored to be recovered to normal, sending a take-over instruction to the main monitoring domain controller; the switching device is also used for responding to the switching instruction and controlling each sensor and each data processing unit corresponding to the failed general domain controller; when the universal domain controller is monitored to be recovered to normal, a switching instruction is sent back to the universal monitoring domain controller;
the main monitoring domain controller is also used for responding to the takeover instruction and taking over the monitoring of the working states of the domain controllers, the data processing units and the sensors again;
each universal domain controller is also used for responding to the switching-back instruction and switching back to control of each sensor and each data processing unit corresponding to the universal domain controller.
The present invention, in one embodiment, can process data of a forward camera, a left camera, a right camera, and a rear camera of a vehicle body using a first data processing unit of the domain controller 1. A first data processing unit of the domain controller 2 is used for processing laser radar point cloud data in front of the vehicle, a second data processing unit is used for processing laser radar data on the left side of the vehicle, and a third data processing unit is used for processing data of a millimeter wave radar in front of the vehicle. The data processed by the data processing units of the domain controller 1 and the domain controller 2 are sent to the first data processing unit of the domain controller 3 for further processing, and the processed result is sent to the MCU of the domain controller 2. The processed data can obtain a target recognition result in the effective perception range, and the target recognition result includes but is not limited to a target type, a target position, a target motion attribute and the like. Each data processing unit sends the processed target recognition result to the first data processing unit of the domain controller 3, and according to the characteristics of different sensors, the target recognition results of different sensors are mutually verified and mutually fused to obtain a final target recognition result, and the final target recognition result is used for subsequent vehicle trajectory planning and vehicle control. After planning the running track of the vehicle, the vehicle control instructions are respectively sent to the actuators, wherein the actuators can be a steering controller, a chassis controller and a backup controller thereof, and are used for realizing the control of the transverse direction and the longitudinal direction of the vehicle.
Furthermore, different data processing units corresponding to each domain controller are respectively adapted to different functions and different sensors. Each data processing unit operates independently, and each data processing unit sends the processing result to other data processing units through the Ethernet. For example, the first data processing unit of the domain controller 1 processes the camera data located in the forward direction of the vehicle body, and outputs the target recognition result. In addition, the unit also runs a monitoring node for monitoring the working state of each data processing unit and the working states of each domain controller and each sensor, and selects different degradation running strategies according to the state of the system, for example, a specific function can not be executed temporarily under a certain state. The second data processing unit is used for processing the data of the camera in the lateral direction of the vehicle body and outputting a target recognition result. And the domain controller 2 and the domain controller 3 process each laser radar point cloud data according to the running condition and output the identification result. The domain controller 4 is used as a backup controller of the system, and takes over the work of the failure domain controller when the domain controller 1, the domain controller 2 and the domain controller 3 are failed respectively.
In one embodiment of the present invention, the domain controller 1 and the domain controller 4 respectively generate control commands according to the results of the recognition of the respective sensors, and output the control commands to the steering controller, the chassis controller, and the backup controller thereof. And the steering controller, the chassis controller and the backup controller thereof select instructions according to the states of the domain controller and each sensor in the system. When the domain controller 1 detects that some sensors are abnormal, for example, the camera is blocked, it can control to select other sensors covering the domain for compensation. When the domain controller 1 finds a fault in the domain controller 1, the domain controller 2 or the domain controller 3, the system core function is switched to the domain controller 4, and the fault controller is replaced by the domain controller 4. When a plurality of controllers or sensors of the system are in failure, the vehicle is controlled by the domain controller 4, and the vehicle is safely parked to a safe area.
According to the distributed automatic driving control system provided by the embodiment of the invention, the plurality of data processing units are combined for use, so that the hardware model selection range of the data processing units can be expanded, and the flexibility of the system is enhanced; the domain controller system is formed by combining a plurality of low-computation-power SoC chips through networking, so that the domain controller system can be distributed, the limitation of data transmission distance is avoided, the applicable vehicle type of the system scheme is expanded, and the auxiliary driving or automatic driving of L2 or above is realized; different communication modes such as Ethernet, CAN and the like CAN be used among the domain controllers, so that the flexibility of the system is improved; aiming at a distributed system architecture, domain controllers are divided according to functions, degradation control can be performed under abnormal conditions, and the whole vehicle operation of the system can be guaranteed.
As shown in fig. 2 and fig. 3, the time synchronization method using the system provided in this embodiment specifically includes, in an actual execution process:
step S1, synchronizing a clock of a first domain controller according to a clock of a Global Navigation Satellite System (GNSS), wherein the first domain controller is a domain controller randomly determined in a plurality of domain controllers.
The invention takes a Global Navigation Satellite System (GNSS) as a clock source and adopts a clock pulse (PPS) mode to complete time synchronization between domain controllers.
Only the links for the clock synchronization related data of the distributed autopilot control system are indicated in fig. 3, and the remaining data containing the target information are not listed. In an embodiment of the time synchronization method of the present invention, the step S1 may specifically include:
and S11, the Global Navigation Satellite System (GNSS) sends clock synchronization pulses and corresponding time messages to the first domain controller at intervals of preset time.
The GNSS can acquire the current time from the satellite navigation message and can be used as a relatively accurate clock source. However, the communication between the GNSS and the domain controller often has time delay, so that the direct time service precision is insufficient. Therefore, the GNSS typically transmits a clock synchronization pulse (PPS) to the outside. PPS is an analog signal, the rising edges of two pulses are separated by 1s, and the precision is high.
Step S12, the first domain controller receives the clock of the clock synchronization pulse
A clock skew with the clock of the first domain 5 controller itself determines whether to synchronize the clock of the first domain 5 controller to the clock of the clock synchronization pulse.
As shown in fig. 3, the domain controller 1 receives the PPS and the corresponding time packet. The clock of the domain controller 1 and the clock of the GNSS run synchronously. When the clock deviation of the two exceeds a certain value, the synchronization is completed again, and the clock precision of the domain controller 1 is ensured.
And S13, if the clock deviation exceeds a preset threshold value, synchronizing the clock 0 of the first domain controller into the clock of the clock synchronization pulse.
And S14, if the clock deviation does not exceed a preset threshold, not synchronizing the clock of the clock synchronization pulse.
S2, taking the first domain controller as a clock source to the other domain controllers in the plurality of domain controllers
The domain controllers, the data processing units corresponding to each of the domain controllers, and the clocks of the sensors are synchronized 5 times, and during the synchronization, the time based on the CAN bus is used in the CAN network
And a synchronization protocol, wherein the Ethernet-based time synchronization protocol is used in the Ethernet network.
The network of the whole distributed automatic driving control system CAN be divided into a CAN network and an Ethernet network, the two networks both need a clock source to time the equipment in the network, and the domain controller 1
May act as clock sources within the CAN network and the ethernet network, respectively. A 0-based CAN bus time synchronization protocol may be used within a CAN network. In an Ethernet network, a domain controller may use a base station to control the access to the network
Time synchronization protocols for ethernet, e.g., gPTP, PTP, etc. In addition, the domain controllers can also perform time synchronization by adopting an Ethernet mode.
In particular, inside the domain controller, a sensor (e.g., a lidar in fig. 3) between the domain controller and the supporting ethernet uses an ethernet-based time synchronization scheme. A CAN-based time synchronization scheme is used between the domain controllers 5.
The time synchronization method of the distributed automatic driving control system provided by the embodiment of the invention provides a time synchronization scheme in a network and among different networks aiming at a distributed architecture, can ensure the synchronization of all devices in the network, avoids errors in the processing of corresponding sensor data by each data processing unit of a domain controller, and can meet the functional design development of an automatic system with more than L2.
Thus, various embodiments of the present disclosure have been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that various changes may be made in the above embodiments or equivalents may be substituted for elements thereof without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (10)
1. A distributed autopilot control system, comprising:
the system comprises a plurality of domain controllers, each domain controller comprises a plurality of low-computing-power data processing units, each data processing unit is connected with a plurality of sensors, each data processing unit comprises a low-computing-power chip upper system and/or a micro control unit, the low-computing-power chip upper system and/or the micro control unit corresponding to the same domain controller carry out data interaction through SPI, a serial port, PCIe or Ethernet, different domain controllers are connected through CAN or Ethernet, and each domain controller is connected with the sensor required to be controlled through CAN, GMSL and Ethernet.
2. The distributed autopilot control system of claim 1 wherein each of the domain controllers is configured to control each of the sensors coupled to its corresponding data processing unit.
3. The distributed autopilot control system of claim 2 wherein the number of domain controllers is no less than 3, wherein one domain controller can be a primary monitoring domain controller, one domain controller can be a backup domain controller, and at least one domain controller is a general domain controller.
4. The distributed autopilot control system of claim 3 wherein each of the universal domain controllers is configured to control each of the sensors and each of the data processing units corresponding to the universal domain controller without having a monitoring function;
the main monitoring domain controller is further used for monitoring the working states of the domain controllers, the data processing units and the sensors, and adjusting the operation strategies corresponding to the domain controllers, the data processing units and the sensors according to the working states of the domain controllers, the data processing units and the sensors; when monitoring that the main monitoring domain controller fails, sending a monitoring activation instruction to the standby domain controller; when the universal monitoring domain controller is monitored to be out of order, a switching instruction is sent to the standby domain controller;
the standby domain controller is used for responding to the monitoring activation instruction, monitoring the working state of each domain controller, each data processing unit and each sensor, and adjusting the operation strategy corresponding to each domain controller, each data processing unit and each sensor according to the working state of each domain controller, each data processing unit and each sensor; when the main monitoring domain controller is monitored to be recovered to normal, sending a take-over instruction to the main monitoring domain controller; the switching device is also used for responding to the switching instruction and controlling each sensor and each data processing unit corresponding to the failed general domain controller; when the general domain controller is monitored to be recovered to normal, a switching instruction is sent back to the general monitoring domain controller;
the main monitoring domain controller is also used for responding to the takeover instruction and taking over the monitoring of the working states of the domain controllers, the data processing units and the sensors again;
each universal domain controller is also used for responding to the switching-back instruction and switching back to control of each sensor and each data processing unit corresponding to the universal domain controller.
5. The distributed automatic driving control system according to claim 1, wherein each data processing unit corresponding to each domain controller is configured to receive data acquired by a plurality of sensors connected thereto, perform fusion processing on the data acquired by each sensor, and output a corresponding target recognition result.
6. The distributed autopilot control system of claim 1 wherein each of the domain controllers is disposed proximate a respective controlled sensor.
7. The distributed autopilot control system of claim 1 wherein the total number of low computing power on-chip systems and microcontrol units for a plurality of said domain controllers is no less than 5.
8. The distributed autopilot control system of claim 1 wherein the sensors controlled by each of the domain controllers respectively include at least one of a camera, a millimeter wave radar, and a lidar.
9. A method of time synchronization using the system of any one of claims 1-8, comprising the steps of:
synchronizing a clock of a first domain controller according to a clock of a global navigation satellite system, wherein the first domain controller is a domain controller randomly determined among a plurality of domain controllers;
and synchronizing the clocks of other domain controllers in the plurality of domain controllers, the data processing unit corresponding to each domain controller and the sensor by taking the first domain controller as a clock source, wherein a time synchronization protocol based on a CAN bus is used in a CAN network and a time synchronization protocol based on an Ethernet is used in an Ethernet network in the synchronization process.
10. The method according to claim 9, wherein the synchronizing the clock of the first domain controller according to the clock of the global navigation satellite system comprises:
the global navigation satellite system sends clock synchronization pulses and corresponding time messages to the first domain controller at intervals of preset time;
the first domain controller determines whether to synchronize the clock of the first domain controller into the clock of the clock synchronization pulse according to the clock deviation between the received clock of the clock synchronization pulse and the clock of the first domain controller;
if the clock deviation exceeds a preset threshold value, synchronizing the clock of the first domain controller into the clock of the clock synchronization pulse;
and if the clock deviation does not exceed the preset threshold, not synchronizing the clock of the clock synchronization pulse.
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