CN109917765B

CN109917765B - Distributed domain controller system based on network architecture of automatic driving system

Info

Publication number: CN109917765B
Application number: CN201910244786.4A
Authority: CN
Inventors: 张春海; 刘伟; 刘威
Original assignee: Neusoft Reach Automotive Technology Shenyang Co Ltd
Current assignee: Neusoft Reach Automotive Technology Shenyang Co Ltd
Priority date: 2019-03-28
Filing date: 2019-03-28
Publication date: 2020-09-11
Anticipated expiration: 2039-03-28
Also published as: CN109917765A

Abstract

The system is provided with a vehicle control unit, wherein the system comprises a central domain computing control subunit and a vehicle-mounted Ethernet switch domain unit, the central domain computing control subunit is connected with the vehicle-mounted Ethernet switch domain unit in a vehicle-mounted Ethernet mode, the system is provided with the vehicle control unit, the system comprises the central gateway unit, a power domain control unit, a chassis domain control unit, a vehicle body control domain unit and an electronic cabin unit, different functional units are respectively connected with the central gateway unit through a Control Area Network (CAN) bus, and the central gateway unit is connected with the vehicle-mounted Ethernet switch domain unit in the vehicle-mounted Ethernet mode. Therefore, the flexibility of the whole configuration, the high efficiency of data operation and command execution under different exclusive function units and the convenience of fault and abnormity processing and part replacement can be improved.

Description

Distributed domain controller system based on network architecture of automatic driving system

Technical Field

The application relates to the technical field of automatic driving, in particular to a distributed domain controller system based on a network architecture of an automatic driving system.

Background

With the improvement of the automatic driving technology and the increase of the vehicle functions, the amount of various types of data generated by the vehicle is larger and larger, and the situation is more obvious particularly in vehicles with Level3 and Level4 levels capable of achieving higher automatic driving degrees. And for this data is typically processed by a domain controller system of the network architecture in the vehicle.

At present, a domain controller system of a network architecture in an autonomous vehicle is generally a central type or a centralized hybrid type, and a domain controller in the domain controller system of the network architecture in the vehicle in both the modes is generally integrated with multiple functions so as to process data generated by corresponding types of sensors. However, concentrating various functions on one domain controller results in an inflexible configuration of the domain controller; and the handling of local failures, and even the low-cost replacement of locally failed components, is extremely inconvenient.

Disclosure of Invention

The main objective of the embodiments of the present application is to provide a distributed domain controller system based on a network architecture of an autopilot system, which improves flexibility of overall configuration of the system, efficiency of data operation and command execution under different dedicated function domain control units, and convenience of handling abnormalities and faults and even replacing components by means of dedicated function concentration and regional function dispersion.

The distributed domain controller system based on the network architecture of the automatic driving system provided by the embodiment of the application comprises:

the central domain calculation control unit comprises a central domain calculation control subunit and a vehicle-mounted Ethernet switch domain unit, wherein the central domain calculation control subunit is used for processing a core algorithm, processing data and issuing a logic command, the vehicle-mounted Ethernet switch domain unit is used for transmitting, exchanging and forwarding the data, and the central domain calculation control subunit is connected with the vehicle-mounted Ethernet switch domain unit in a vehicle-mounted Ethernet mode;

a vehicle control unit including a central gateway unit, a power domain control unit, a chassis domain control unit, a vehicle body control domain unit, an electronic cabin unit, the central gateway unit is used for exchanging and transmitting data, the power domain control unit is used for controlling a power system of the vehicle, the chassis domain control unit is used for controlling a chassis system of the vehicle, the vehicle body control domain unit is used for controlling a vehicle body electronic system of the vehicle, the electronic cabin unit is used for controlling and processing a cabin instrument and a navigation infotainment system of the vehicle, the power domain control unit, the chassis domain control unit, the vehicle body control domain unit and the electronic cabin unit are respectively connected with the central gateway unit through a Control Area Network (CAN) bus, and the central gateway unit is connected with the vehicle-mounted Ethernet switch domain unit in a vehicle-mounted Ethernet mode.

Preferably, the central domain calculation control subunit includes a microprocessor SOC and a microcontroller MCU, and the central domain calculation control subunit is connected to the vehicle-mounted ethernet switch domain unit in a vehicle-mounted ethernet manner, including: the microprocessor SOC and the microcontroller MCU are respectively connected with the vehicle-mounted Ethernet switch domain unit in a vehicle-mounted Ethernet mode.

Preferably, the microprocessor SOC and the microcontroller MCU are connected to the central gateway unit through a control area network CAN bus, respectively.

Preferably, the central gateway unit includes a plurality of communication ports, and the power domain control unit, the chassis domain control unit, the vehicle body control domain unit and the electronic cabin unit are respectively connected to the communication ports of the central gateway unit through a control area network CAN bus to realize connection with the central gateway unit.

Preferably, the power domain control unit, the chassis domain control unit, and the vehicle body domain control unit include a plurality of respective electronic control units ECUs, and the respective ECUs in the power domain control unit, the chassis domain control unit, and the vehicle body domain control unit are respectively connected to a communication port of the central gateway unit through a Controller Area Network (CAN) bus to realize connection with the central gateway unit.

Preferably, the electronic cabin unit is further connected with the vehicle-mounted ethernet switch domain unit in a vehicle-mounted ethernet manner.

Preferably, the electronic cabin unit is further connected to the HDMI of the central domain computing control unit through a high-definition multimedia interface HDMI cable.

Preferably, the method further comprises the following steps: the map control unit, the map control unit includes high accuracy map controller and sensor, the quantity of sensor is a plurality of, high accuracy map controller is used for route calculation, global planning and the location of vehicle, the sensor is used for detecting the positional information of vehicle, high accuracy map controller with the sensor is connected, high accuracy map controller pass through on-vehicle ethernet mode with on-vehicle ethernet switch field unit is connected to and through controller LAN CAN bus with central gateway unit is connected.

Preferably, the high-precision map controller comprises a positioning subunit and a map data processing engine, and the positioning subunit and the map data processing engine are communicated in an inter-process communication technology IPC mode of an operating system.

Preferably, the method further comprises the following steps: visual calculation and the control unit, visual calculation and the control unit is based on image recognition technology, visual calculation and the control unit is used for detecting and discerning external environment, visual calculation and the control unit includes intelligent visual controller and camera, the quantity of camera is a plurality of, intelligent visual controller with the camera is connected, visual controller through on-vehicle ethernet mode with on-vehicle ethernet switch domain unit connects to and through control LAN CAN bus with central gateway unit connects.

Preferably, the method further comprises the following steps: an intelligent fusion autonomous unit for implementing real-time fusion of multi-mode sensor data, the intelligent fusion autonomous unit comprises a radar fusion subunit, a laser radar fusion subunit, a radar and a laser radar, the number of the radars and the number of the laser radars are respectively a plurality, the radar fusion subunit is connected with the radars through a Control Area Network (CAN) bus, the laser radar fusion subunit is connected with the laser radar through a vehicle-mounted Ethernet mode or a Control Area Network (CAN) bus, the radar fusion subunit and the laser radar fusion subunit are respectively connected with the vehicle-mounted Ethernet switch domain unit in a vehicle-mounted Ethernet mode, the radar fusion subunit and the laser radar fusion subunit are respectively connected with the central gateway unit through a Control Area Network (CAN) bus, and the radar fusion subunit is connected with the microcontroller MCU through a control area network CAN bus.

Preferably, the method further comprises the following steps: the vehicle-mounted Ethernet switch comprises an external information communication V2X unit, an external information communication V2X unit and an external information control V2X unit, wherein the external information communication V2X unit is used for realizing communication between a vehicle and the outside, and the external information control V2X unit is connected with the vehicle-mounted Ethernet switch domain unit in a vehicle-mounted Ethernet mode and is connected with the central gateway unit through a Control Area Network (CAN) bus.

Preferably, the method further comprises the following steps: the remote wireless communication unit is used for remote wireless communication of vehicles, safety filtering gateway software is embedded in the remote wireless communication unit and used for filtering unsafe network information content in the remote wireless communication, and the remote wireless communication unit is connected with the vehicle-mounted Ethernet switch domain unit in a vehicle-mounted Ethernet mode and connected with the central gateway unit through a Control Area Network (CAN) bus.

Preferably, the method further comprises the following steps: the ultrasonic unit is used for detecting objects in a close range of the vehicle and comprises a plurality of ultrasonic subunits, and the ultrasonic subunits are connected with the microcontroller MCU through a Control Area Network (CAN) bus respectively.

Therefore, the embodiment of the application has the following beneficial effects:

the embodiment of the application provides a distributed domain controller system based on a network architecture of an automatic driving system, and the system supports cloud service which is connected with a background to communicate. The central domain calculation control unit comprises a central domain calculation control subunit and a vehicle-mounted Ethernet switch domain unit, and the central domain calculation control subunit is connected with the vehicle-mounted Ethernet switch domain unit in a vehicle-mounted Ethernet mode. And the vehicle control unit is arranged and comprises a central gateway unit, a power domain control unit, a chassis domain control unit, a vehicle body control domain unit and an electronic cabin unit, wherein the power domain control unit, the chassis domain control unit, the vehicle body control domain unit and the electronic cabin unit are respectively connected with the central gateway unit through CAN buses, and the central gateway unit is connected with the vehicle-mounted Ethernet switch domain unit in a vehicle-mounted Ethernet mode. Therefore, the domain control units with the corresponding exclusive functions are respectively arranged aiming at different functions, so that the controller in each exclusive function domain control unit only has one function, the flexibility of the overall configuration of the system, the high efficiency of data operation and command execution under different exclusive function domain control units and the convenience of processing abnormity and faults and carrying out low-cost replacement on local fault parts are improved in a mode of exclusive function concentration and regional function dispersion. It is to be understood that the functional units divided and provided in the vehicle control unit are not limited to the above-mentioned functional units. In a specific implementation, other various functional units may be divided and arranged in the vehicle control unit based on the existing vehicle system.

Further, the distributed domain controller system based on the network architecture of the autopilot system provided by the embodiment of the present application further includes a map control unit, a visual computation and control unit, an intelligent integrated autonomous unit, an external information communication V2X unit, a remote wireless communication unit embedded with security filtering gateway software, and an ultrasonic unit, that is, the distributed domain controller system based on the network architecture of the autopilot system includes a plurality of domain control units capable of implementing different dedicated functions, and each controller of the domain control unit with the dedicated function has only one function, so as to facilitate the standardization and normalization of each domain control unit, and further, effectively reduce the dependence and influence among the functions of each domain control unit during the design, development, test and verification of the system, thereby shortening the development cycle of the whole system, and decentralization reduces the risk of failure of the controllers within the system. In addition, the domain control units with different exclusive functions in the system are in division and cooperation, and a plurality of domain controllers in different domain control units perform parallel computation, so that the computation performance and the control performance of the distributed domain controller system based on the network architecture of the automatic driving system can be improved.

Further, in order to solve the problem that the communication mode through the bus in the domain controller system of the network architecture of the vehicle in the prior art is limited by the bus bandwidth, the internal of the domain control unit in the distributed domain controller system of the network architecture based on the automatic driving system and the communication between the domain control units in different domains can be performed through the vehicle-mounted ethernet and the bus, so that the efficiency of data transmission in the system can be improved by adding the vehicle-mounted ethernet communication mode on the basis of considering the domain controller system of the network architecture of the current vehicle. In addition, since all the domain controllers in the domain controller system for the network architecture of the vehicle in the related art are integrated in advance, the domain controller in the system cannot be changed. The domain controllers in the distributed domain controller system based on the network architecture of the automatic driving system are connected through the communication lines, so that matching can be performed as long as the domain controllers meet the communication protocol and the application programming interface, and the flexibility of the system is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic composition diagram of a distributed domain controller system based on a network architecture of an autopilot system according to an embodiment of the present application;

fig. 2 is a schematic composition diagram of a central domain computing control subunit according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a vehicle control unit according to an embodiment of the present disclosure;

fig. 4 is a schematic composition diagram of a distributed domain controller system based on a second network architecture of an autopilot system according to an embodiment of the present application;

fig. 5 is a schematic composition diagram of a distributed domain controller system based on a third network architecture of an autopilot system according to an embodiment of the present application;

fig. 6 is a schematic composition diagram of an intelligent converged autonomous unit according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The embodiment of the application can be applied to vehicles with automatic Driving degrees of Level3 and Level4 in Automatic Driving Systems (ADS) or high automatic Driving Systems (HAD).

Based on the problems in the prior art, the embodiments of the present application provide a distributed domain controller system based on a network architecture of an autopilot system. Referring to fig. 1, the figure shows a schematic composition diagram of a distributed domain controller system based on a network architecture of an autopilot system according to an embodiment of the present application, including:

the central domain calculation control unit 100 is arranged, the central domain calculation control unit 100 comprises a central domain calculation control subunit 101 and a vehicle-mounted Ethernet switch domain unit 102, the central domain calculation control subunit 101 is used for processing a core algorithm, processing data and issuing a logic command, the vehicle-mounted Ethernet switch domain unit 102 is used for transmitting, exchanging and forwarding the data, and the central domain calculation control subunit 101 is connected with the vehicle-mounted Ethernet switch domain unit 102 in a vehicle-mounted Ethernet mode; a vehicle control unit 200 is provided, the vehicle control unit 200 comprises a central gateway unit 201, a power domain control unit 202, a chassis domain control unit 203, a vehicle body control domain unit 204, the vehicle-mounted intelligent control system comprises an electronic cabin unit 205, a central gateway unit 201, a power domain control unit 202, a chassis domain control unit 203, a vehicle body control domain unit 204, a vehicle body electronic system, a cabin system of the vehicle and a navigation information entertainment system, wherein the central gateway unit 201 is used for exchanging data, the power domain control unit 202 is used for controlling the power system of the vehicle, the chassis domain control unit 203 is used for controlling the chassis system of the vehicle, the vehicle body control domain unit 204 is used for controlling the vehicle body electronic system of the vehicle, the electronic cabin unit 205 is used for controlling and processing the cabin system and the navigation information entertainment system of the vehicle, the power domain control unit 202, the chassis domain control unit 203, the vehicle body control domain unit 204 and the electronic cabin.

The distributed domain controller system based on the network architecture of the automatic driving system provided by this embodiment may be provided with a central domain computing control unit 100, and the central domain computing control unit 100 may include a central domain computing control subunit 101 and a vehicle-mounted ethernet switch domain unit 102. The central domain calculation control subunit 101 may be based on an algorithm with a logic control function, and is configured to process a core algorithm and related data in the automatic driving system, issue a logic command, and the like, and further implement a decision and planning function in the automatic driving system. The in-vehicle ethernet switch domain unit 102 can be used for communication of the distributed domain controller system based on the network architecture of the autopilot system in an in-vehicle ethernet transmission mode. The central domain calculation control subunit 101 and the vehicle-mounted ethernet switch domain unit 102 may be connected by a vehicle-mounted ethernet manner.

In a specific implementation, the on-board Ethernet switch domain unit 102 may be a Time-Sensitive Network (TSN) gigabit Ethernet switch, a Time-triggered Network (TTE) gigabit Ethernet switch, an Audio/Video Bridging, AVB gigabit Ethernet switch, or the like.

In the present embodiment, referring to fig. 1, a vehicle control unit 200 may be further provided, and the vehicle control unit 200 may include a central gateway unit 201, a power domain control unit 202, a chassis domain control unit 203, a vehicle body control domain unit 204, and an electronic cabin unit 205. The central gateway unit 201 may be configured to exchange and transmit data information in a control area network CAN bus transmission mode, the power domain control unit 202 may be configured to control a power system of a vehicle, the chassis domain control unit 203 may be configured to control a chassis system of the vehicle, the body control domain unit 204 may be configured to control a body electronic system of the vehicle, and the electronic cabin unit 205 may be configured to control a cabin instrument and a navigation information entertainment system of the vehicle. Also, the power domain control unit 202, the chassis domain control unit 203, the vehicle body control domain unit 204, and the electronic cabin unit 205 may be connected to the central gateway unit 201 through CAN buses, respectively, and the central gateway unit 201 may be connected to the on-vehicle ethernet switch domain unit 102 through an on-vehicle ethernet manner. In this way, communication between the power domain control unit 202, the chassis domain control unit 203, the vehicle body control domain unit 204, and the electronic cabin unit 205 in the vehicle control unit 200 and the central domain calculation control subunit 101 can be realized. Among them, a control Area Network BUS (CAN BUS) may be a serial communication protocol BUS for real-time applications.

It is to be understood that the functional units divided and provided in the vehicle control unit are not limited to the above-mentioned functional units. In a specific implementation, various different functional units may be divided and arranged in the vehicle control unit based on the existing vehicle system.

Therefore, aiming at the problem that the communication mode through the bus in the domain controller system of the network architecture of the vehicle in the prior art is limited by the bus bandwidth, the internal part of the domain control unit in the distributed domain controller system of the network architecture based on the automatic driving system and the communication among different domain control units can be communicated through the vehicle-mounted ethernet and the bus, so that the vehicle-mounted ethernet communication mode is added on the basis of considering the domain controller system of the network architecture of the current vehicle, and the efficiency of data transmission in the system can be improved.

In an implementation manner of this embodiment, referring to fig. 2, this figure shows a schematic diagram of a central domain computing control subunit 101 provided in this embodiment of the present application, where the central domain computing control subunit 101 includes microprocessors SOC1011-1012 and a microcontroller MCU1013, and then the central domain computing control subunit 101 is connected to the vehicle-mounted ethernet switch domain unit 102 by a vehicle-mounted ethernet manner, and includes: the microprocessors SOC1011-1012 and the microcontroller MCU1013 are connected to the on-board Ethernet switch domain unit 102 by way of an on-board Ethernet, respectively.

In this embodiment, the central domain computing and controlling subunit 101 may include two microprocessors SOC1011-1102 for redundancy backup, and in addition, the central domain computing and controlling subunit 101 may further include a microcontroller MCU 1103. In a specific implementation, the two microprocessors SOC1011-1102 may be, for example, two integrated microprocessor chips (SOC) 1011-1102, and the Microcontroller MCU1103 may be, for example, a Safety-Microcontroller Unit (Safety-MCU). Thus, the algorithm of the central domain calculation control subunit 101 and the received data can be calculated and processed with high performance through the SOC-a1011, the SOC-B1102, the Safety-MCU 1103, the Graphics Processing Unit (GPU) with external expansion, and the Field Programmable Gate Array (FPGA) chip with external expansion.

In an implementation manner of the present embodiment, referring to fig. 3, which shows a schematic composition diagram of a vehicle control unit 200 provided in an embodiment of the present application, as shown in fig. 3, a central gateway unit 201 includes a plurality of

communication ports

2011 and 2014, and a power domain control unit 202, a chassis domain control unit 203, a vehicle body control domain unit 204, and an electronic cabin unit 205 are respectively connected to the communication ports of the central gateway unit 201 through a controller area network CAN bus to implement connection with the central gateway unit 201.

In this embodiment, the central gateway unit 201 includes a plurality of

communication ports

2011 and 2014, then the power domain control unit 202 may be connected to the communication port 2011 of the central gateway unit 201 through the controller area network CAN bus; the chassis domain control unit 203 may be connected to the communication port 2012 of the central gateway unit 201 through a control area network CAN bus; the vehicle body control domain unit 204 CAN be connected to the communication port 2013 of the central gateway unit 201 through a Control Area Network (CAN) bus; the electronic cabin unit 205 may be connected to the communication port 2014 of the central gateway unit 201 by a control area network, CAN, bus. The communication port may be, for example, a Controller Area Network (CAN) communication port, a Flexible Data rate control Area Network (CAN FD) communication port, or the like. In a specific implementation, as many communication ports as possible may be provided on the central gateway unit 201 to satisfy the requirement that more controllers are connected to the central gateway unit 201.

In an implementation manner of this embodiment, referring to fig. 4, which shows a schematic composition diagram of a distributed domain controller system based on a network architecture of an autopilot system according to an embodiment of the present application, the microprocessors SOC1011 to 1012 and the microcontroller MCU1013 are connected to the central gateway unit 201 through a CAN bus respectively.

In this embodiment, the microprocessors SOC1011-1012 and the microcontroller MCU1013 may be respectively connected to the central gateway unit 201 through a CAN bus, so that the microprocessors SOC1011-1012 and the microcontroller MCU1013 are respectively in communication with the power domain control unit 202, the chassis domain control unit 203, the vehicle body control domain unit 204 and the electronic cabin unit 205 through the central gateway unit 201 in a transmission manner of the CAN bus.

In one implementation manner of the present embodiment, the power domain control unit 202, the chassis domain control unit 203, and the vehicle body control domain unit 204 include a plurality of ECUs 2021-₁、2031-203n₂、2041-204n₃The ECUs 2021 and 202n in the power domain control unit 202, the chassis domain control unit 203, and the vehicle body control domain unit 204, respectively₁、2031-203n₂、2041-204n₁Are respectively connected to the

communication ports

2011 and 2014 of the central gateway unit 201 through the CAN bus so as to realize the connection with the central gateway unit 201.

In the present embodiment, referring to fig. 4, in the power domain control unit 202, a plurality of electronic control units ECUs 2021 to 202n are included₁And an Engine Management System (EMS) and an automatic Transmission Control Unit (TCU), and for each ECU2021-₁EMS, TCU, all connected to the communication port 2011 of the central gateway unit 201 through the CAN bus; in the chassis domain control unit 203, a packageIncludes a plurality of ECUs 2031 to 203n₂Electronic Stability Program (ESP), Electronic Power Steering (EPS), and 203n for each ECU2031₂ESP, EPS, are connected to the communication port 2012 of the central gateway unit 201 through the CAN bus, respectively; in the vehicle body control domain unit 204, a plurality of ECUs 2041 to 204n are included₃And each of the ECUs 2041-. Thus, each ECU in the power domain control unit 202, the chassis domain control unit 203, and the vehicle body control domain unit 204 CAN communicate with the microprocessors SOC1011-1012 and the microcontroller MCU1013 in a transmission manner of the CAN bus. The ECU may be a control device provided in an automobile for implementing a series of functions such as data processing and information transmission; the EMS may be a device provided on the vehicle for controlling the engine to an optimal operating condition; the TCU may be a device provided in a vehicle for achieving automatic transmission of the vehicle; the EPS may be a power steering device provided in a vehicle for providing assist torque; the ESP may be a control device provided in the vehicle for analyzing the information of the driving state of the vehicle to ensure that the vehicle maintains an optimal stability.

In one implementation of the present embodiment, referring to fig. 4, the electronic cabin unit 205 is further connected to the on-board ethernet switch domain unit 102 by an on-board ethernet.

In this embodiment, the electronic cabin unit 205 can also be connected to the vehicle-mounted ethernet switch domain unit 102 by a vehicle-mounted ethernet manner, so as to enable the electronic cabin unit 205 and the central domain computing control subunit 101 to communicate in a vehicle-mounted ethernet manner.

In one implementation of the embodiment of the present application, the electronic cabin unit 205 is further connected to the HDMI1014 of the central domain computing control unit 101 via a high definition multimedia interface HDMI line.

In this embodiment, referring to fig. 4, a High Definition Multimedia Interface (HDMI) 1014 is included on the central domain computing control subunit 101, and the electronic cabin unit 205 can also be connected to the HDMI1014 of the central domain computing control subunit 101 through an HDMI line. In this way, the electronic cabin unit 205 and the central domain computing control subunit 101 can communicate with each other through the HDMI cable to achieve entertainment, information interaction and display in the electronic cabin of the vehicle, such as playing music.

In one implementation of the embodiment of the present application, refer to fig. 5, which illustrates a schematic composition diagram of a distributed domain controller system of a third network architecture based on an autopilot system provided in the embodiment of the present application. The distributed domain controller system based on the network architecture of the automatic driving system further comprises: the map control unit 300 is characterized in that the map control unit 300 comprises a high-precision map controller 301 and a sensor 302, the number of the sensors is multiple, the high-precision map controller 301 is used for calculating, globally planning and positioning a path of a vehicle, the sensor 302 is used for detecting position information of the vehicle, the high-precision map controller 301 is connected with the sensor 302, and the high-precision map controller 301 is connected with the vehicle-mounted Ethernet switch domain unit 102 in a vehicle-mounted Ethernet mode and is connected with the central gateway unit 201 through a control area network CAN bus.

In this embodiment, as shown in fig. 5, the distributed domain controller system based on the network architecture of the autopilot system in the embodiment of the present application may further include a map control unit 300. In the map control unit 300, a high-precision map controller 301 and a plurality of sensors 302 may be included. Among them, the high-precision map controller 301 may be used for path calculation, global planning, and positioning of the vehicle, and the sensor 302 may be used for detecting position information of the vehicle. Also, the high-precision map controller 301 may be connected to each of the sensors 302 to enable communication between the high-precision map controller 301 and the sensors 302. In a specific implementation, the connection between the high-precision map controller 301 and the sensor 302 may be, for example, a Universal Asynchronous Receiver/Transmitter (UART), a Universal Serial Bus (USB), a CAN Bus, or the like. In addition, the high-precision map controller 301 can also be connected with the vehicle-mounted ethernet switch domain unit 102 in a vehicle-mounted ethernet manner, so as to realize the communication between the high-precision map controller 301 and the central domain computing control subunit 101 in the vehicle-mounted ethernet manner; and the high-precision map controller 301 CAN also be connected with the central gateway unit 201 through a CAN bus, so as to realize the communication between the high-precision map controller 301 and the central domain calculation control subunit 101 in a CAN bus transmission mode.

In a specific implementation, the map control Unit 300 may include four sensors, such as a Global Navigation Satellite System sensor (GNSS sensor), a Real Time Kinematic (RTK) sensor, an odometer sensor (odometer), a gyroscope sensor (Gyro sensor), an acceleration sensor (accelerometer sensor), and a sensor including an Inertial Measurement Unit (IMU).

In an implementation manner of the embodiment of the present application, the high-precision map controller 301 includes a positioning subunit 3011 and a map data processing engine 3012, and the positioning subunit 3011 and the map data processing engine 3012 communicate with each other in an inter-process communication technology IPC manner of an operating system.

In the present embodiment, the high precision Map controller 301 may include a Positioning sub-unit (Positioning)3011 and a Map Data processing engine (Map Data Base, Map-DB) 3012. The positioning subunit 3011 and the map data processing engine 3012 may communicate, for example, by an inter-process communication technology IPC of an operating system. Inter-Process Communication (IPC) may be a Communication method for transmitting data or signals between at least two processes or threads. Further, the high-precision map data in the map data processing engine 3012 may be provided by a graphics vendor.

In an implementation manner of this embodiment, referring to fig. 5, the method further includes: the vision calculation and control unit 400 is based on an image recognition technology, and is used for detecting and recognizing an external environment, the vision calculation and control unit 400 comprises an intelligent vision controller 401 and a plurality of cameras 402, the intelligent vision controller 401 is connected with the cameras 402, and the intelligent vision controller 401 is connected with the vehicle-mounted Ethernet switch domain unit 102 in a vehicle-mounted Ethernet mode and is connected with the central gateway unit 201 through a control area network CAN bus.

In this embodiment, referring to fig. 5, the distributed domain controller system based on the network architecture of the autopilot system in this embodiment of the application may further include a vision calculation and control unit 400. The vision calculation and control unit 400 may be based on image recognition technology and is used to realize the detection and recognition of the external environment. The vision calculation and control unit 400 may include an intelligent vision controller 401 and a plurality of cameras 402, wherein the intelligent vision controller 401 may be connected to communicate with the cameras 402. In a specific implementation, the smart visual controller 401 and the camera 402 may be connected, for example, by a mobile industry processor interface MIPI. The Mobile Industry Processor Interface (MIPI) mode may be a communication mode based on an open standard established for a Mobile application processor. In addition, the smart vision controller 401 may also be connected to the vehicle-mounted ethernet switch domain unit 102 in a vehicle-mounted ethernet manner, so as to implement communication between the smart vision controller 401 and the central domain computing control subunit 101 in a vehicle-mounted ethernet manner; and the intelligent vision controller 401 CAN also be connected with the central gateway unit 201 through a bus to realize the communication between the intelligent vision controller 401 and the central domain computing control subunit 101 in a CAN bus transmission mode.

In a specific implementation, the vision control unit 400 may include a plurality of cameras, for example, seven cameras, namely, two Long-Range cameras (LR-cameras), one Short-Range Camera (SR-cameras), and four fish-eye cameras (fishery-cameras) may be included to implement the vision detection and recognition of the vehicle in the forward or backward view, the looking around function, the driver monitoring function, and the like.

In an implementation manner of this embodiment, referring to fig. 5, the method further includes: the intelligent fusion autonomous unit 500, the intelligent fusion autonomous unit 500 is used for realizing the real-time fusion of the data of the multi-mode sensor, the intelligent fusion autonomous unit 500 comprises a radar fusion subunit 501 and a laser radar fusion subunit 502, radar 503 and laser radar 504, the quantity of radar 503 and laser radar 504 is a plurality of respectively, radar fusion subunit 501 and radar 503 pass through control LAN CAN bus connection, laser radar fusion subunit 502 passes through on-vehicle ethernet mode or control LAN CAN bus connection with laser radar 504, radar fusion subunit 501 and laser radar fusion subunit 502 are connected with on-vehicle ethernet switch field unit 102 through using on-vehicle ethernet line respectively, radar fusion subunit 501 and laser radar fusion subunit 502 are connected with central gateway unit 201 through control LAN CAN bus respectively, radar fusion subunit 501 is connected with microcontroller MCU1013 through control LAN CAN bus.

In this embodiment, referring to fig. 5, the distributed domain controller system based on the network architecture of the autopilot system according to the embodiment of the present application may further include an intelligent converged autonomous unit 500. The intelligent fusion autonomous unit 500 can realize real-time fusion of data collected by sensors in various modes. Therein, intelligent fusion autonomous unit 500 may include a radar fusion subunit 501, a lidar fusion subunit 502, a plurality of radars 503, and a plurality of lidar 504. The radar fusion subunit 501 can be used for fusing data collected by a plurality of radars 503 in real time, the laser radar fusion subunit 502 can be used for fusing data collected by a plurality of laser radars 504 in real time, and the radars 503 and the laser radars 504 can be used for collecting data information.

In this embodiment, refer to fig. 6, which shows a schematic composition diagram of an intelligent converged autonomous unit 500 provided in an embodiment of the present application. The radar fusion subunit 501 may be connected to the plurality of radars 503 through a CAN bus, respectively, so as to implement data transmission between the radar fusion subunit 501 and the plurality of radars 503; the laser radar fusion subunit 502 may be connected to the plurality of laser radars 504 by a vehicle ethernet or a CAN bus, respectively, to implement data transmission between the laser radar fusion subunit 502 and the plurality of laser radars 504; the radar fusion subunit 501 and the lidar fusion subunit 502 may be connected to the vehicle-mounted ethernet switch domain unit 102 in a vehicle-mounted ethernet manner, respectively, so as to implement communication between the radar fusion subunit 501 and the lidar fusion subunit 502 and the central domain computing control subunit 101 in the vehicle-mounted ethernet manner, respectively; the radar fusion subunit 501 and the laser radar fusion subunit 502 CAN be connected with the central gateway unit 201 through a CAN bus respectively, so that the radar fusion subunit 501 and the laser radar fusion subunit 502 CAN communicate with the central domain computing control subunit 101 in a CAN bus transmission mode respectively; the radar fusion subunit 501 may be connected to the microcontroller MCU1013 through a CAN bus to implement communication between the radar fusion subunit 501 and the microcontroller MCU 1013.

In a specific implementation, smart converged autonomous unit 500 may include a plurality of radars 503 and a plurality of Lidar 504, which may include six Short-Medium Range-radars (SR-MR-radars), one Long Range-radars (LR-radars), two Rear-Lidar (real-Lidar), and one Front-Lidar (Front-Lidar), for example. The two rear laser radars can be respectively positioned at the left rear part and the right rear part of the vehicle, namely, one rear laser radar is arranged at the left rear part of the vehicle, and the other rear laser radar is arranged at the right rear part of the vehicle.

Thus, in the prior art, as the sensing system of the multiple sensors in the distributed domain controller system of the network architecture consumes a long time during data fusion, so that the real-time performance of the fused data is poor, in this embodiment, both the radar fusion subunit 501 and the lidar fusion subunit 502 may implement a High-Speed data processing performance based on the FPGA and a High-Speed integrated circuit Hardware description language (VHDL) to implement a High-efficiency early stage fusion function and a High-efficiency synchronous pipeline data processing function of the data, so that the radar fusion subunit 501 performs real-time fusion and data processing on the data collected by the multiple radars 503 and the lidar fusion subunit 502 performs real-time fusion and data processing on the data collected by the multiple radars 504, thereby meeting the requirement of real-time sensing in autopilot.

In an implementation manner of this embodiment, referring to fig. 5, the method further includes: the external information communication V2X unit 600, the external information communication V2X unit 600 are used for realizing the communication between the vehicle and the outside, and the external information control unit 600 is connected with the vehicle-mounted Ethernet switch domain unit 102 in a vehicle-mounted Ethernet mode and is connected with the central gateway unit 201 through a control area network CAN bus.

In this embodiment, referring to fig. 5, the distributed domain controller system based on the network architecture of the autopilot system provided in this embodiment may further include an outside information communication V2X unit 600, where the outside information communication V2X unit 600 may be based on any one of Dedicated Short Range Communications (DSRC), Cellular Vehicle-to-event (C-V2X) wireless communication technology, and Vehicle-to-Vehicle networking (LTE-V) wireless communication technology, so as to implement the communication functions of Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I). Further, vehicle formation (Platooning) can be realized by the function of the inter-vehicle communication of the outside information communication V2X unit 600. The vehicle formation technology may be a technology that enables a plurality of vehicles to travel in a fleet form through digital connection to save fuel.

The outside information communication V2X unit 600 can be connected with the vehicle-mounted Ethernet switch domain unit 102 in a vehicle-mounted Ethernet mode so as to realize the communication between the outside information communication V2X unit 600 and the central domain computing control subunit 101 in the vehicle-mounted Ethernet mode; the outside information communication V2X unit 600 CAN be connected with the central gateway unit 201 through a CAN bus to realize the communication between the outside information communication V2X unit 600 and the central domain computing control subunit 101 in a CAN bus transmission mode.

In an implementation manner of this embodiment, referring to fig. 5, the method further includes: the remote wireless communication unit 700, the remote wireless communication unit 700 is used for remote wireless communication of vehicles, the remote wireless communication unit 700 is embedded with a safety filtering gateway software 710, the safety filtering gateway software 710 is used for filtering unsafe network information content in the remote wireless communication, and the remote wireless communication unit 700 is connected with the vehicle-mounted Ethernet switch domain unit 102 in a vehicle-mounted Ethernet mode and is connected with the central gateway unit 201 through a control area network CAN bus.

In this embodiment, referring to fig. 5, the distributed domain controller system based on the network architecture of the autopilot system provided in this embodiment of the present application may further include a remote wireless communication unit 700. The remote wireless communication unit 700 can provide the centralized and distributed domain controller system based on the network architecture of the automatic driving system with the ingress and egress functions of remote wireless communication, such as remote routing function and remote gateway function; the wireless communication unit 700 may be embedded with security filtering gateway software 710, and the security filtering gateway software 710 may be based on a security filtering algorithm to filter the unsafe network information and content in the remote wireless communication, thereby ensuring the communication security of the system. The remote wireless communication unit 700 can be connected with the vehicle-mounted Ethernet switch domain unit 102 in a vehicle-mounted Ethernet manner so as to realize the communication between the remote wireless communication unit 700 and the central domain computing control subunit 101 in the vehicle-mounted Ethernet manner; and the remote wireless communication unit 700 CAN be connected with the central gateway unit 201 through a CAN bus to realize the communication between the remote wireless communication unit 700 and the central domain computing control subunit 101 in a CAN bus transmission mode.

In an implementation manner of this embodiment, referring to fig. 5, the method further includes: ultrasonic unit 800, ultrasonic unit 800 are used for detecting the object in the vehicle closely, and ultrasonic unit includes a plurality of ultrasonic subelements, and a plurality of ultrasonic units are connected with microcontroller MCU1103 through control LAN CAN bus respectively.

In this embodiment, referring to fig. 5, the distributed domain controller system based on the network architecture of the autopilot system provided in the embodiment of the present application may further include an ultrasonic unit 800, where the ultrasonic unit 800 may be used for detecting information of a short-distance object around the vehicle, and the ultrasonic unit may include a plurality of ultrasonic sub-units, where the ultrasonic sub-unit may be, for example, an ultrasonic radar or the like. The plurality of ultrasonic subunits CAN be connected with the microcontroller MCU1013 through the CAN bus, respectively, to realize communication with the microcontroller MCU 1013.

In summary, the embodiments of the present application provide a distributed domain controller system based on a network architecture of an autopilot system, and the system supports a cloud service connected to a background for communication. The central domain calculation control unit comprises a central domain calculation control subunit and a vehicle-mounted Ethernet switch domain unit, and the central domain calculation control subunit is connected with the vehicle-mounted Ethernet switch domain unit in a vehicle-mounted Ethernet mode. And the vehicle control unit is arranged and comprises a central gateway unit, a power domain control unit, a chassis domain control unit, a vehicle body control domain unit and an electronic cabin unit, wherein the power domain control unit, the chassis domain control unit, the vehicle body control domain unit and the electronic cabin unit are respectively connected with the central gateway unit through CAN buses, and the central gateway unit is connected with the vehicle-mounted Ethernet switch domain unit in a vehicle-mounted Ethernet mode. Therefore, the domain control units with the corresponding exclusive functions are respectively arranged aiming at different functions, so that the controller in each exclusive function domain control unit only has one function, the flexibility of the overall configuration of the system, the high efficiency of data operation and command execution under different exclusive function domain control units and the convenience of processing abnormity and faults and carrying out low-cost replacement on local fault parts are improved in a mode of exclusive function concentration and regional function dispersion. It is to be understood that the functional units divided and provided in the vehicle control unit are not limited to the above-mentioned functional units. In a specific implementation, other various functional units may be divided and arranged in the vehicle control unit based on the existing vehicle system.

The embodiment of the application also provides a distributed domain controller system based on the network architecture of the automatic driving system. The distributed domain controller system based on the network architecture of the automatic driving system is provided with a central domain computing control unit 100, and the central domain computing control unit 100 can comprise a central domain computing control subunit 101 and an on-board ethernet switch domain unit 102. The central domain computing control subunit 101 may include two integrated microprocessor chips SOC-a1011, SOC-B1102, and a microcontroller Safety-MCU 1013. And the integrated microprocessor chip SOC-A1011, SOC-B1102 and the microcontroller Safety-MCU1013 can be respectively connected with the vehicle-mounted Ethernet switch domain unit 102 in a vehicle-mounted Ethernet manner.

The distributed domain controller system based on the network architecture of the automatic driving system is further provided with a vehicle control unit 200, and the vehicle control unit 200 may include a central gateway unit 201, a power domain control unit 202, a chassis domain control unit 203, a vehicle body control domain unit 204 and an electronic cabin unit 205. Further, the power domain control unit 202, the chassis domain control unit 203, and the vehicle body control domain unit 204 each include a plurality of ECUs, and each ECU is connected to the central gateway unit 201 through a CAN bus. The power domain control unit 202, the chassis domain control unit 203, the vehicle body control domain unit 204 and the electronic cabin unit 205 are respectively connected with the central gateway unit 201 through a CAN bus, and the central gateway unit 201 is connected with the vehicle-mounted ethernet switch domain unit 102 through a vehicle-mounted ethernet mode. The electronic cabin unit 205 is further connected to the on-vehicle ethernet switch domain unit 102 by means of an on-vehicle ethernet, and to the HDMI1014 of the central domain calculation control subunit 101 by means of an HDMI line.

The distributed domain controller system based on the network architecture of the autopilot system further includes a map control unit 300. In the map control unit 300, a high-precision map controller 301 and four sensors 302 may be included. The high-precision map controller 301 includes a positioning subunit and a map data processing engine, and the functions of the high-precision map controller 301 may be implemented by a high-performance SOC chip. The four sensors 302 may be a GNSS sensor, an RTK sensor, an odometer sensor, and one of a gyro sensor and an acceleration sensor, respectively. The high-precision map controller 301 CAN be connected to the four sensors 302 respectively, and the high-precision map controller 301 CAN also be connected to the on-board ethernet switch domain unit 102 by way of on-board ethernet and to the central gateway unit 201 by way of a CAN bus.

The distributed domain controller system based on the network architecture of the autopilot system further includes a vision calculation and control unit 400. The vision calculation and control unit 400 may include an intelligent vision controller 401 and seven cameras 402. Among them, the seven cameras 402 may be two LR-cameras, one SR-camera, and four fisheye cameras, respectively. The smart vision controller 401 may be connected to the seven cameras 402, and the smart vision controller 401 may also be connected to the in-vehicle ethernet switch domain unit 102 by means of an in-vehicle ethernet, and to the central gateway unit 201 by means of a CAN bus.

The distributed domain controller system based on the network architecture of the automatic driving system further comprises an intelligent integrated autonomous unit 500. Therein, intelligent fusion autonomous unit 500 may include a radar fusion subunit 501, a lidar fusion subunit 502, seven radars 503, and three lidar 504. Wherein, the seven radars 503 can be six SR-MR-radars and one LR-radar; the three lidar 504 may be two rear lidar and one front lidar. The radar fusion subunit 501 CAN be connected with seven radars 503 through the CAN bus respectively, the laser radar fusion subunit 502 CAN be connected with three laser radars 504 through on-vehicle ethernet mode or CAN bus, the radar fusion subunit 501 and the laser radar fusion subunit 502 CAN be connected with on-vehicle ethernet switch domain unit 102 through on-vehicle ethernet mode respectively, the radar fusion subunit 501 and the laser radar fusion subunit 502 CAN be connected with central gateway unit 201 through the CAN bus respectively, the radar fusion subunit 501 CAN be connected with microcontroller MCU1013 through the CAN bus respectively.

The distributed domain controller system based on the network architecture of the automatic driving system further comprises an outside information communication V2X unit 600, the outside information communication V2X unit 600 CAN be based on any one of DSRC, C-V2X and LTE-V wireless communication technology, the outside information communication V2X unit 600 CAN be connected with the central gateway unit 201 through a CAN bus, and the outside information communication V2X unit 600 CAN be connected with the vehicle-mounted Ethernet switch domain unit 102 through a vehicle-mounted Ethernet mode.

The distributed domain controller system based on the network architecture of the automatic driving system also comprises a remote wireless communication unit 700, and the remote wireless communication unit 700 is embedded with security filtering gateway software 710. The remote wireless communication unit 700 may be connected to the in-vehicle ethernet switch domain unit 102 through an in-vehicle ethernet manner and to the center gateway unit 201 through a CAN bus.

The distributed domain controller system based on the network architecture of the autopilot system further comprises an ultrasonic unit 800, wherein the ultrasonic unit 800 comprises a plurality of ultrasonic subunits, and the ultrasonic subunits CAN be respectively connected with the microcontroller MCU1013 through a CAN bus.

As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by software plus a necessary general hardware platform. Based on such understanding, the technical solutions of the present application may be essentially implemented in the form of software products and design figures, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and include instructions for causing a computer device (which may be a personal computer, a server, or a network communication device such as a media gateway, etc.) to execute the methods described in the embodiments or some parts of the embodiments of the present application.

It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A distributed domain controller system based on a network architecture of an autopilot system, comprising:

a vehicle control unit including a central gateway unit, a power domain control unit, a chassis domain control unit, a vehicle body control domain unit, an electronic cabin unit, the central gateway unit is used for exchanging and transmitting data, the power domain control unit is used for controlling a power system of the vehicle, the chassis domain control unit is used for controlling a chassis system of the vehicle, the vehicle body control domain unit is used for controlling a vehicle body electronic system of the vehicle, the electronic cabin unit is used for controlling and processing a cabin instrument and a navigation infotainment system of the vehicle, the power domain control unit, the chassis domain control unit, the vehicle body control domain unit and the electronic cabin unit are respectively connected with the central gateway unit through a Control Area Network (CAN) bus, the central gateway unit is connected with the vehicle-mounted Ethernet switch domain unit in a vehicle-mounted Ethernet mode;

the central domain calculation control subunit comprises a microprocessor SOC and a microcontroller MCU, the microprocessor SOC and the microcontroller MCU are respectively connected with the vehicle-mounted Ethernet switch domain unit in a vehicle-mounted Ethernet mode, and the microprocessor SOC and the microcontroller MCU are respectively connected with the central gateway unit through a Control Area Network (CAN) bus.

2. The system of claim 1, wherein the central gateway unit comprises a plurality of communication ports, and the power domain control unit, the chassis domain control unit, the body control domain unit and the electronic cabin unit are respectively connected to the communication ports of the central gateway unit through a Control Area Network (CAN) bus to realize connection with the central gateway unit.

3. The system of claim 1, wherein the power domain control unit, the chassis domain control unit, and the body control domain unit include respective pluralities of electronic control unit ECUs, and the respective ECUs of the power domain control unit, the chassis domain control unit, and the body control domain unit are respectively connected to the communication port of the central gateway unit through a control area network, CAN, bus to enable connection with the central gateway unit.

4. The system of claim 1, wherein the electronic cockpit unit is further connected to the on-board ethernet switch domain unit by way of an on-board ethernet network.

5. The system of claim 1, wherein the electronic cabin unit is further interfaced to the HDMI of the Central Domain computation control unit via a High Definition Multimedia Interface (HDMI) line.

6. The system of any one of claims 1-5, further comprising: the map control unit, the map control unit includes high accuracy map controller and sensor, the quantity of sensor is a plurality of, high accuracy map controller is used for route calculation, global planning and the location of vehicle, the sensor is used for detecting the positional information of vehicle, high accuracy map controller with the sensor is connected, high accuracy map controller pass through on-vehicle ethernet mode with on-vehicle ethernet switch field unit is connected to and through controller LAN CAN bus with central gateway unit is connected.

7. The system of claim 6, wherein the high-precision map controller comprises a positioning subunit and a map data processing engine, and the positioning subunit and the map data processing engine communicate with each other in an inter-process communication technology (IPC) manner of an operating system.

8. The system of any one of claims 1-5, further comprising: visual calculation and the control unit, visual calculation and the control unit is based on image recognition technology, visual calculation and the control unit is used for detecting and discerning external environment, visual calculation and the control unit includes intelligent visual controller and camera, the quantity of camera is a plurality of, intelligent visual controller with the camera is connected, visual controller through on-vehicle ethernet mode with on-vehicle ethernet switch domain unit connects to and through control LAN CAN bus with central gateway unit connects.

9. The system of any one of claims 1-5, further comprising: the intelligent fusion autonomous unit is used for realizing real-time fusion of multi-mode sensor data and comprises a radar fusion subunit, a laser radar fusion subunit, a short-distance and medium-distance millimeter wave radar, a long-distance millimeter wave radar and a laser radar, wherein the number of the short-distance and medium-distance millimeter wave radar, the number of the long-distance millimeter wave radar and the number of the laser radar are respectively multiple, the radar fusion subunit is connected with the short-distance and medium-distance millimeter wave radar and the long-distance millimeter wave radar through a Control Area Network (CAN) bus, the laser radar fusion subunit is connected with the laser radar through a vehicle-mounted Ethernet mode or the Control Area Network (CAN) bus, the radar fusion subunit and the laser radar fusion subunit are respectively connected with the vehicle-mounted Ethernet switch domain unit through a vehicle-mounted Ethernet mode, and the radar fusion subunit and the laser radar fusion subunit are respectively connected with the vehicle-mounted Ethernet switch domain unit through the Control Area Network (CAN) bus The central gateway unit is connected, and the radar fusion subunit is connected with the microcontroller MCU through a control area network CAN bus.

10. The system of any one of claims 1-5, further comprising: the vehicle-mounted Ethernet switch comprises an external information communication V2X unit, an external information communication V2X unit and an external information control V2X unit, wherein the external information communication V2X unit is used for realizing communication between a vehicle and the outside, and the external information control V2X unit is connected with the vehicle-mounted Ethernet switch domain unit in a vehicle-mounted Ethernet mode and is connected with the central gateway unit through a Control Area Network (CAN) bus.

11. The system of any one of claims 1-5, further comprising: the remote wireless communication unit is used for remote wireless communication of vehicles, safety filtering gateway software is embedded in the remote wireless communication unit and used for filtering unsafe network information content in the remote wireless communication, and the remote wireless communication unit is connected with the vehicle-mounted Ethernet switch domain unit in a vehicle-mounted Ethernet mode and connected with the central gateway unit through a Control Area Network (CAN) bus.

12. The system of any one of claims 1-5, further comprising: the ultrasonic unit is used for detecting objects in a close range of the vehicle and comprises a plurality of ultrasonic subunits, and the ultrasonic subunits are connected with the microcontroller MCU through a Control Area Network (CAN) bus respectively.