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1. WO2020135730 - VEHICLE-MOUNTED CONTROL UNIT, AND FPGA-BASED VEHICLE AUTOMATIC DRIVING METHOD AND DEVICE

Publication Number WO/2020/135730
Publication Date 02.07.2020
International Application No. PCT/CN2019/129248
International Filing Date 27.12.2019
IPC
G05D 1/02 2020.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
CPC
B60W 2420/42
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
2420Indexing codes relating to the type of sensors based on the principle of their operation
42Image sensing, e.g. optical camera
B60W 2420/52
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
2420Indexing codes relating to the type of sensors based on the principle of their operation
52Radar, Lidar
B60W 60/001
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
60Drive control systems specially adapted for autonomous road vehicles
001Planning or execution of driving tasks
G01S 13/867
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
13Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
86Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
867Combination of radar systems with cameras
G05D 1/0088
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
0088characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
G05D 1/0246
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0231using optical position detecting means
0246using a video camera in combination with image processing means
Applicants
  • 百度在线网络技术(北京)有限公司 BAIDU ONLINE NETWORK TECHNOLOGY (BEIJING) CO., LTD. [CN]/[CN]
Inventors
  • 胡稼悦 HU, Jiayue
Agents
  • 北京同立钧成知识产权代理有限公司 LEADER PATENT & TRADEMARK FIRM
Priority Data
201811625816.828.12.2018CN
201910013122.707.01.2019CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) VEHICLE-MOUNTED CONTROL UNIT, AND FPGA-BASED VEHICLE AUTOMATIC DRIVING METHOD AND DEVICE
(FR) UNITÉ DE COMMANDE EMBARQUÉE, ET PROCÉDÉ ET DISPOSITIF DE CONDUITE AUTOMATIQUE DE VÉHICULE À BASE DE FPGA
(ZH) 车载控制单元、基于FPGA的车辆自动驾驶方法及装置
Abstract
(EN)
Provided are a vehicle-mounted control unit, and a field-programmable gate array (FPGA)-based vehicle automatic driving method and device, comprising an MCU and a first SoC achieved by means of an FPGA and ARM integrated arrangement; a vehicle-mounted control unit is arranged on a self-driving automobile; the FPGA of the first SoC receives video data sent by a vehicle sensor (101) and visually perceives the video data using a first neural network algorithm (102) to obtain first perception information, then sends the first perception information to an ARM of the first SoC (103); the ARM of the first SoC processes the first perception information to obtain first decision information and sends same to an MCU (104); finally, the MCU generates a control instruction according to the first decision information and sends it to a corresponding actuating mechanism. During the process, by means of the integrated arrangement of the FPGA and ARM on the first SoC, sensor data is processed by the FPGA and ARM and then sent to the MCU, reducing the burden of the MCU.
(FR)
L’invention concerne une unité de commande embarquée, et un procédé et un dispositif de conduite automatique de véhicule à base de matrice prédiffusée programmable par l’utilisateur (FPGA), comprenant une MCU et un premier SoC réalisé au moyen d’un agencement intégré d’une FPGA et d’ARM ; une unité de commande embarquée est agencée dans une automobile à conduite autonome ; la FPGA du premier SoC reçoit des données vidéo envoyées par un capteur de véhicule (101) et perçoit visuellement les données vidéo au moyen d’un premier algorithme de réseau neural (102) pour obtenir des premières informations de perception, puis envoie les premières informations de perception à un ARM du premier SoC (103) ; l’ARM du premier SoC traite les premières informations de perception pour obtenir des premières informations de décision et les envoie à une MCU (104) ; enfin, la MCU génère une instruction de commande en fonction des premières informations de décision et l’envoie à un mécanisme actionneur correspondant. Durant le processus, au moyen de l’agencement intégré de la FPGA et d’ARM sur le premier SoC, des données de capteur sont traitées par la FPGA et l’ARM puis envoyées à la MCU, réduisant le fardeau de la MCU.
(ZH)
一种车载控制单元、基于FPGA的车辆自动驾驶方法及装置,包括MCU以及通过FPGA和ARM集成设置实现第一SoC,车载控制单元设置在自动驾驶汽车上,第一SoC的FPGA接收车载传感器发送的视频数据(101),利用第一神经网络算法对视频数据进行视觉感知(102),得到第一感知信息后向第一SoC的ARM发送该第一感知信息(103),第一SoC的ARM处理该第一感知信息得到第一决策信息并发送给MCU(104),最终由MCU根据该第一决策信息生成控制指令并发送给相应的执行机构。该过程中,第一SoC上通过FPGA和ARM集成设置,由FPAG和ARM对传感器数据进行处理后发送给MCU,降低MCU的负担。
Also published as
JP2020572668
EP2019903938
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