(19)
(11)EP 4 053 654 A1

(12)EUROPEAN PATENT APPLICATION
published in accordance with Art. 153(4) EPC

(43)Date of publication:
07.09.2022 Bulletin 2022/36

(21)Application number: 20888867.7

(22)Date of filing:  28.05.2020
(51)International Patent Classification (IPC): 
G05B 19/042(2006.01)
(86)International application number:
PCT/CN2020/092762
(87)International publication number:
WO 2021/098179 (27.05.2021 Gazette  2021/21)
(84)Designated Contracting States:
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated Extension States:
BA ME
Designated Validation States:
KH MA MD TN

(30)Priority: 20.11.2019 CN 201911142908

(71)Applicant: Huawei Technologies Co., Ltd.
Shenzhen, Guangdong 518129 (CN)

(72)Inventor:
  • CHEN, Xiubo
    Shenzhen, Guangdong 518129 (CN)

(74)Representative: Thun, Clemens 
Mitscherlich PartmbB Patent- und Rechtsanwälte Sonnenstraße 33
80331 München
80331 München (DE)

  


(54)DATA MANAGEMENT METHOD, APPARATUS AND DEVICE, AND INTELLIGENT VEHICLE


(57) A data management method in an intelligent vehicle is provided. A sensor management system of the intelligent vehicle includes at least two groups of sensors (11), and each group of sensors (11) are connected to one intelligent driving controller (12). Different intelligent driving controllers (12) communicate with each other by using an interconnection module. A first intelligent driving controller receives first data sent by a first group of sensors, where the first data is data collected by the first group of sensors. Then, the first intelligent driving controller receives second data sent by a second intelligent driving controller, where the second data is data collected by a second group of sensors connected to the second intelligent driving controller. Then, the first intelligent driving controller determines a first traveling track of the intelligent vehicle based on the first data and the second data. The foregoing method may be applied to vehicles such as an intelligent vehicle, a connected vehicle, a new energy vehicle, and an autonomous vehicle.




Description


[0001] This application claims priority to Chinese Patent Application No. 201911142908.5, filed with the China National Intellectual Property Administration on November 20, 2019, and entitled "DATA MANAGEMENT METHOD, APPARATUS, AND DEVICE, AND INTELLIGENT VEHICLE", which is incorporated herein by reference in its entirety.

TECHNICAL FIELD



[0002] This application relates to the field of vehicles, and in particular, to a data management method, apparatus, and device, and an intelligent vehicle.

BACKGROUND



[0003] As an artificial intelligence (artificial intelligence, AI) technology is applied to the field of conventional vehicles, intelligent driving gradually becomes an inevitable development trend in the field of vehicles. A research direction of the intelligent driving is autonomous driving (automated driving, AD). The International Society of Automotive Engineers (SAE International) defines a plurality of levels, such as L0 to L5, of autonomous driving based on degrees of automation from low to high, where L1 represents manual driving and L5 represents full-autonomous driving. Requirements on functional safety of intelligent vehicles increase with the level.

[0004] Various types of sensors in an intelligent vehicle are connected to an intelligent driving controller by using a vehicle gateway. The vehicle gateway sends data collected by the sensors to the intelligent driving controller, and then the intelligent driving controller controls the vehicle. To meet security and reliability requirements of the intelligent vehicle, a plurality of vehicle gateways are usually deployed in the intelligent vehicle. The intelligent driving controller communicates with the sensors by using the vehicle gateways. The vehicle gateways collect and aggregate the data collected by the sensors, and then send the aggregated data to the intelligent driving controller. However, deployment of the plurality of gateways occupies limited space in the vehicle and increases costs of the entire vehicle. Therefore, how to provide a data management method that is easy to implement and that has low costs becomes a technical problem to be urgently resolved.

SUMMARY



[0005] This application provides a data management method, apparatus, and device, and a system, to implement sensor redundancy, and ensure security and reliability of intelligent driving. In addition, no additional hardware device that occupies limited space in a vehicle, such as an external gateway, is added. This is easy to implement, and has low costs.

[0006] According to a first aspect, a data management method is provided, where the method is applied to a sensor management system of an intelligent vehicle. The sensor management system includes at least two groups of sensors and at least two intelligent driving controllers, each group of sensors are connected to one intelligent driving controller, and different intelligent driving controllers communicate with each other by using an interconnection module. The method includes: A first intelligent driving controller receives first data sent by a first group of sensors, where the first group of sensors include at least one sensor, and the first data is data collected by the first group of sensors; then the first intelligent driving controller receives second data sent by a second intelligent driving controller, where the second data is data collected by a second group of sensors connected to the second intelligent driving controller, the second intelligent driving controller is connected to the second group of sensors, the second group of sensors include at least one second sensor, and the second data is the data collected by the second group of sensors; and the first intelligent driving controller receives determines a first traveling track of the intelligent vehicle based on the first data and the second data. According to the foregoing method, sensors are grouped and connected to different intelligent driving controllers, and the intelligent driving controllers forward, by using interconnection modules, data collected by the sensors, so that aggregation of data collected by each group of sensors is implemented on each intelligent driving controller, and sensor redundancy is implemented. In this method, no hardware device such as an external gateway that occupies limited space in a vehicle is added. This is easy to implement, and has low costs.

[0007] In a possible implementation, each group of sensors include different sensor groups that are divided according to a preset rule, where the preset rule includes: first, grouping sensors based on locations of the sensors in the intelligent vehicle, and sensors in a same group can collect data of a 360-degree area around the intelligent vehicle. In this way, even if one group of sensors or one sensor is faulty, the data of the 360-degree area around the intelligent vehicle can be obtained based on another sensor group; and then grouping the sensors based on sensor types, where each sensor belongs to only one sensor group.

[0008] In another possible implementation, each intelligent driving controller includes a first control module, a second control module, and an interconnection module. The first control module and the second control module separately communicate with the interconnection module through a high-speed bus, and the first control module communicates with the second control module through a low-speed bus. The first control module is configured to configure and manage the interconnection module, the second control module is configured to manage the interconnection module when the first control module is faulty, and the interconnection module is configured to transmit data between different intelligent driving controllers.

[0009] In another possible implementation, the first intelligent driving controller includes three modes. When a security level required by the intelligent vehicle is higher than a preset level, the first intelligent driving controller is set to a dual-controller redundancy mode. When the security level required by the intelligent vehicle is not higher than the preset level, the first intelligent driving controller is set to a first control module-only control mode. When the first control module is faulty, the first intelligent driving controller is set to a second control module-only control mode.

[0010] In another possible implementation, an interconnection module of the first intelligent driving controller communicates with an interconnection module of the second intelligent driving controller through a high-speed bus, and a second control module of the first intelligent driving controller communicates with a second control module of the second intelligent driving controller through a low-speed bus.

[0011] In another possible implementation, the method further includes: The first intelligent driving controller sends a probe request signal to a first control module of the first intelligent driving controller by using the second control module of the first intelligent driving controller; and when no probe response signal is received in K consecutive periodicities, the first intelligent driving controller determines that the first control module is faulty, where K is a positive integer.

[0012] In another possible implementation, the method further includes: The first intelligent driving controller sends a probe request signal to the second intelligent driving controller; and when no probe response signal is received in K consecutive periodicities, the first intelligent driving controller determines that the second intelligent driving controller is faulty, where K is a positive integer.

[0013] In another possible implementation, the method further includes: The first intelligent driving controller sends the first data to the second intelligent driving controller, so that the second intelligent driving controller determines a second traveling track of the intelligent vehicle based on the first data and the second data, and sends the second traveling track to an arbiter.

[0014] In another possible implementation, the method further includes: The first intelligent driving controller sends the first traveling track to the arbiter, so that the arbiter determines a traveling track of the intelligent vehicle based on the first traveling track and the second traveling track.

[0015] According to a second aspect, this application provides a data management apparatus, where the management apparatus includes units configured to perform the data management method according to any one of the first aspect or the possible implementations of the first aspect.

[0016] According to a third aspect, this application provides a data management device, including a processor and a memory, where the memory is configured to store computer instructions, and the processor is configured to perform, according to the computer instructions, the data management method according to any one of the first aspect or the possible implementations of the first aspect.

[0017] According to a fourth aspect, this application provides an intelligent driving vehicle, where the intelligent vehicle includes a sensor management system. The sensor management system includes at least two groups of sensors, each group of sensors are connected to one intelligent driving controller, and different intelligent driving controllers communicate with each other by using an interconnection module. A first intelligent driving controller receives first data sent by a first group of sensors, and is configured to receive data collected by the first group of sensors. The first group of sensors include at least one sensor, and the first data is the data collected by the first group of sensors. The first intelligent driving controller receives second data sent by a second intelligent driving controller, and the second data is data collected by a second group of sensors connected to the second intelligent driving controller. The first intelligent driving controller determines a first traveling track of the intelligent vehicle based on the first data and the second data.

[0018] According to a fifth aspect, this application provides a sensor management system, where the sensor management system includes at least two groups of sensors, each group of sensors are connected to one intelligent driving controller, and different intelligent driving controllers communicate with each other by using an interconnection module. A first intelligent driving controller receives first data sent by a first group of sensors, and is configured to receive data collected by the first group of sensors. The first group of sensors include at least one sensor, and the first data is the data collected by the first group of sensors. The first intelligent driving controller receives second data sent by a second intelligent driving controller, and the second data is data collected by a second group of sensors connected to the second intelligent driving controller. The first intelligent driving controller determines a first traveling track of the intelligent vehicle based on the first data and the second data.

[0019] According to a sixth aspect, this application provides a computer-readable storage medium. The computer-readable storage medium stores instructions. When the instructions are run on a computer, the computer is enabled to perform the method in the foregoing aspect.

[0020] According to a seventh aspect, this application provides a computer program product including instructions. When the computer program product is run on a computer, the computer is enabled to perform the method according to the foregoing aspect.

[0021] Based on the implementations provided in the foregoing aspects, this application may provide more implementations through further combination.

BRIEF DESCRIPTION OF DRAWINGS



[0022] 

FIG. 1 is a schematic diagram of a logical architecture of a data management system of an intelligent vehicle according to this application;

FIG. 2 is a schematic diagram of another logical architecture of a data management system of an intelligent vehicle according to this application;

FIG. 3 is a schematic diagram of grouping of sensors in a sensor management system of an intelligent vehicle according to this application;

FIG. 4 is a schematic diagram of a structure of an intelligent driving controller of an intelligent vehicle according to this application;

FIG. 5 is a schematic flowchart of a data management method for an intelligent vehicle according to this application;

FIG. 6 is an interaction diagram of a data management method for an intelligent vehicle according to this application;

FIG. 7 is a schematic diagram of a structure of a data management apparatus of an intelligent vehicle according to this application; and

FIG. 8 is a schematic diagram of a structure of a data management device of an intelligent vehicle according to this application.


DESCRIPTION OF EMBODIMENTS



[0023] The following clearly describes technical solutions in this application with reference to the accompanying drawings in embodiments of this application.

[0024] FIG. 1 is a schematic diagram of a logical structure of a sensor management system of an intelligent vehicle according to this application. As shown in the figure, the system includes a sensor 11 and an intelligent driving controller 12. The sensor 11 may be specifically a single-port device. That is, the sensor 11 includes only one data transmission port, and transmits data to the intelligent driving controller 12 through the data transmission port. The system includes two or more intelligent driving controllers 12. A redundancy design is formed between different devices of the two or more intelligent driving controllers 12. When any device of the intelligent driving controller 12 is faulty, the other device may assist in completing a data processing process, to avoid a single point of failure of the intelligent driving controller 12 that affects safety and reliability of the intelligent vehicle.

[0025] The sensor 11 in FIG. 1 may specifically include a radar 1101 and an image capture device 1102. The radar 1101 may include light detection and ranging (light detection and ranging, lidar) and radio detection and ranging (radio detection and ranging, radar), where the radio detection and ranging is further divided into a millimeter wave radar (millimeter wave radar, mmw radar) and an ultrasonic radar (Ultrasonic radar) based on radio waves. Considering that the lidar has a wide detection range and high detection accuracy, and the mmw radar has a strong penetration capability, can adapt to complex and changeable weather, and has a relatively stable detection performance, in actual application, at least one lidar and one mmw radar are configured in an intelligent vehicle for target detection. The image capture device 1102 may be any device having a camera, for example, may be a camera.

[0026] The foregoing components or devices may communicate with each other through a controller area network (controller area network, CAN), a vehicle Ethernet, or the like. This is not limited in this application. The devices in the intelligent driving controller 12 that form the redundancy design may be devices of a same type, or may be devices of different types in some cases, for example, controllers of different types. Further, the intelligent driving controller 12 is merely an example in this application. In another possible implementation, the sensor management system may include another type of controller, for example, a vehicle control unit, and sensors corresponding to the vehicle control unit.

[0027] Optionally, in addition to the single-port device, the sensor may be further a multi-port device. This is not limited in this application.

[0028] FIG. 2 is a diagram of another logical structure of the sensor management system of the intelligent vehicle according to an embodiment of this application. A difference between FIG. 2 and FIG. 1 is that a structure of an intelligent driving controller and a relationship between sensors and intelligent driving controller are further explained in FIG. 2. As shown in the figure, sensors are divided into a plurality of groups, each group of sensors are connected to one intelligent driving controller, and different intelligent driving controllers communicate with each other by using an interconnection module. For ease of description, the at least two groups of sensors may be sequentially denoted as sensor groups 1 to N. Intelligent driving controllers connected to the groups of sensors are sequentially denoted as intelligent driving controllers 1 to N, where N is a positive integer greater than 1.

[0029] An intelligent driving controller i (i is any integer from 1 to N) may receive first data sent by a group of sensors, namely, a sensor group i, that is connected to the intelligent driving controller i, and receive second data sent by another intelligent driving controller (for example, an intelligent driving controller other than the intelligent driving controller i in the intelligent driving controllers 1 to N), where the second data is data collected by a sensor group (for example, a sensor group other than the sensor group i in the sensor groups 1 to N) that is connected to the another intelligent driving controller. Then the intelligent driving controller i determines a traveling track of the intelligent vehicle based on the first data and the second data.

[0030] In the embodiment shown in FIG. 2, the sensors may be specifically grouped according to a preset rule. The preset rule may be: first grouping the sensors based on locations of the sensors in the intelligent vehicle, where each sensor belongs to only one sensor group, and sensors in a same group can collect data in a 360-degree area around the intelligent vehicle. When a group of sensors or one sensor is faulty, another group of sensors can still collect data in the 360-degree area around the intelligent vehicle, to prevent the intelligent vehicle from being out of control due to data missing in an area. Then, the sensors are grouped based on sensor types, so that each group of sensors cover as many sensor types as possible, to avoid a case in which a group of sensors do not collect a type of data because all the sensors in the sensor group are of a same type.

[0031] For ease of understanding, this application further provides a specific example to describe a sensor grouping process. Refer to FIG. 3. The sensor management system may include three types of sensors: lidar, radar, and a camera. A quantity of sensors of each type is 4, and the four sensors cover four directions of a vehicle body, such as the front, the rear, the left, and the right. The sensors are first grouped based on the locations of the intelligent vehicle. For example, two front sensors, two left sensors, one right sensor, and one rear sensor are divided to a first group, and one front sensor, one left sensor, two right sensors, and two rear sensors are divided to a second group. In this way, both the first group of sensors and the second group of sensors can collect the data of the 360-degree area around the intelligent vehicle. Then, the sensors are grouped based on the sensor types. For example, two lidars, two radars, and two cameras are divided to the first group, and the other two lidars, two radars, and two cameras are divided to the second group.

[0032] In this example, the first group of sensors may include a front lidar, a left camera, a rear lidar, a rear radar, a right radar, and a right camera. The second group of sensors may include a front radar, a front camera, a left lidar, a left camera, a rear camera, and a right lidar. It may be understood that a quantity of sensors in each group may be the same or different. For example, in some cases, a quantity of sensors in the first group may be 7, and a quantity of sensors in the second group may be 5. In actual application, balancing of a quantity of sensors in each group may implement balancing of the intelligent driving controllers connected to each group of sensors.

[0033] Each intelligent driving controller includes an interconnection module, a first control module, and a second control module. Both the first control module and the second control module may configure and manage the interconnection module. The configuration of the interconnection module mainly includes configuring transmission parameters to start the interconnection module. The transmission parameters may include a port, a virtual local area network (Virtual Local Area Network, VLAN), and a transmission rate. The management of the interconnection module mainly includes monitoring a working status of the interconnection module and checking data transmitted by the interconnection module.

[0034] When dual-controller redundancy configuration is performed on the interconnection module by using the first control module and the second control module, the first control module performs power-on and reset deassertion on the interconnection module by default, configures the transmission parameters of the interconnection module, and starts the interconnection module. The interconnection module receives data sent by a group of sensors connected to the interconnection module, and then transmits the data to the first control module of the intelligent driving controller and a first control module of another intelligent driving controller. In this way, a first control module of each intelligent driving controller may receive data collected by sensors connected to the intelligent driving controller and data that is collected by other sensors and shared by the another intelligent driving controller. Therefore, each intelligent driving controller can obtain data collected by sensors 1 to P.

[0035] When an intelligent driving controller is faulty, for example, when a first control module is faulty, a second control module takes over an interconnection module, monitors a working status of the interconnection module, and checks data transmitted by the interconnection module. A case in which the intelligent vehicle is out of control because the interconnection module is not supervised can be avoided, and the interconnection module can still work normally. In this case, the interconnection module may receive data sent by a group of sensors connected to the interconnection module, and transmit the data to a first control module of another intelligent driving controller. The another intelligent driving controllers can still obtain data from sensors 1 to P. This ensures data integrity and implements data redundancy. It should be noted that, to avoid impact of the first control module on the interconnection module, an independent clock and power supply may be configured in the interconnection module.

[0036] In actual application, the interconnection module, the first control module, and the second control module of the intelligent driving controller may be implemented by using three independent chips, and each chip includes a processor and a storage unit. The processor may be any type of processor. For example, the processor may be a central processing unit (central processing unit, CPU), a digital signal processor (digital signal processor, DSP), an application-specific integrated circuit (Application-Specific Integrated Circuit, ASIC), or a field-programmable gate array (Field-Programmable Gate Array, FPGA).

[0037] In a possible implementation, the intelligent driving controller may alternatively be implemented by using two independent chips. The interconnection module and the second control module are deployed on one chip, and the first control module is independently deployed on the other chip. Further, the intelligent driving controller may alternatively be implemented by using one chip, and software functions of the interconnection module and the second control module are implemented by using the chip of the first control module.

[0038] In consideration of reliability and costs, in actual application, refer to FIG. 4. A system on chip (system on chip, SoC) may be used as the first control module, and a microcontroller (microcontroller unit, MCU) whose security level is higher than a preset level is used as the second control module. For example, the preset level is an automotive safety integration level (automotive safety integration level, ASIL) B, and an MCU of ASIL D may be used as the second control module. The interconnection module may be implemented by using a local area network switch (local area network switch, LSW).

[0039] It should be noted that the system architectures shown in FIG. 1 and FIG. 2 are merely examples of the system architectures provided in the data management method provided in this application. The connection relationship between the sensors and the intelligent driving controllers shown in FIG. 3 is merely an example for better describing grouping of sensors provided in the data management method provided in this application. The structure of the intelligent driving controller shown in FIG. 4 is merely an example for better describing the structure of the intelligent driving controller provided in the data management method provided in this application. These constitute no limitation on the embodiments of this application.

[0040] This application provides a data management method. In the method, sensors are grouped, and each group of sensors are connected to one intelligent driving controller. An interconnection module inside the intelligent driving controller serves as a switching center in the intelligent driving controller. Each intelligent driving controller may receive, by using a switching center, data collected by a group of sensors connected to the intelligent driving controller, and receive data that is collected by another group of sensors and sent by another intelligent driving controller. In this way, each intelligent driving controller can obtain complete sensor data to implement a sensor redundancy solution. The intelligent driving controller generates a traveling track of an intelligent vehicle based on the complete sensor data, and driving safety can be ensured when the intelligent vehicle travels according to the traveling track. In addition, in the method, no hardware device needs to be customized, and no additional hardware device, such as a vehicle gateway and a cable connected to the vehicle gateway, is added. Therefore, limited space in the vehicle is not occupied, deployment is simple, and costs are reduced.

[0041] In addition, in this application, dual-controller redundancy configuration is further performed on an interconnection module by using a first control module and a second control module in the intelligent driving controller, so that when the first control module is faulty, the second control module takes over and monitors the interconnection module, to avoid impact of the first control module on the interconnection module. The interconnection module can still transmit data to a first control module of another intelligent driving controller, to implement redundant control management on the interconnection module. This improves reliability and security of a single intelligent driving controller. Further, the sensors are first grouped based on locations of the sensors in the intelligent vehicle, and then grouped based on sensor types, so that each group of sensors can cover a 360-degree area around a vehicle body. Even if a sensor or a group of sensors are faulty, the intelligent driving controller can also implement data redundancy based on data that is collected by another group of sensors and shared by another intelligent driving controller, to further improve reliability and a fault tolerance capability.

[0042] Next, the data management method provided in this application is described with reference to FIG. 5 by using an example in which a sensor system includes two intelligent driving controllers. As shown in the figure, the method includes the following steps.

[0043] S501: A first group of sensors send first data to a first intelligent driving controller.

[0044] The first group of sensors include at least one sensor, and the first data is data collected by the first group of sensors. The first group of sensors are connected to the first intelligent driving controller, and the first intelligent driving controller is configured to receive the data collected by the first group of sensors. In actual application, the first intelligent driving controller may send sensor configuration information to the first group of sensors in advance through a link connection between the first group of sensors and the first intelligent driving controller, so that the first group of sensors configure collection parameters such as collection periodicities and sensor angles based on the sensor configuration information. In this way, the sensors may collect the first data based on the foregoing collection parameters, and send the first data to the first intelligent driving controller through a link between the first group of sensors and the first intelligent driving controller.

[0045] In a process in which the first group of sensors send the first data, the first intelligent driving controller may further update the sensor configuration information based on the received first data, and then send updated sensor configuration information to the first group of sensors, so that the first group of sensors adjust the collection parameters based on the updated configuration information. For example, when a data amount of the first data cannot meet a requirement, the first intelligent driving controller may further update the sensor configuration information to adjust the collection periodicities of the sensors.

[0046] Considering that the data amount of the first data is relatively large, the link connection between the first group of sensors and the first intelligent driving controller may be implemented by using a high-speed bus. The high-speed bus is a bus whose rate is higher than a preset rate, and may be specifically vehicle Ethernet or a peripheral component interconnect express (Peripheral Component Interconnect express, PCI-Express). It should be noted that when the first data is a video stream, the high-speed bus may alternatively be a low voltage differential signaling (Low Voltage Differential Signaling, LVDS) bus.

[0047] S502: A second group of sensors send second data to a second intelligent driving controller.

[0048] The second group of sensors include at least one sensor, and the second data is data collected by the second group of sensors. The second group of sensors are connected to the second intelligent driving controller, and the second intelligent driving controller is configured to receive the data collected by the second group of sensors. The second group of sensors may send the second data to the second intelligent driving controller in a same manner as the first group of sensors. A link connection between the second group of sensors and the second intelligent driving controller may be implemented in a same manner as the link connection between the first group of sensors and the first intelligent driving controller. Details are not described herein again.

[0049] It should be noted that S501 and S502 may be performed at the same time, or may be performed in a specified sequence. This is not limited in this application.

[0050] S503: The second intelligent driving controller sends the second data to the first intelligent driving controller.

[0051] The intelligent driving controllers communicate with each other by using an interconnection module. Therefore, the second intelligent driving controller may send the second data to an interconnection module of the first intelligent driving controller by using an interconnection module of the second intelligent driving controller. In this way, the first intelligent driving controller may obtain the first data collected by the first group of sensors and the second data collected by the second group of sensors, that is, can obtain complete data.

[0052] A link connection between the interconnection modules may be implemented by using a high-speed bus. In consideration of a transmission rate, the link connection may be implemented by gigabit Ethernet (Gigabit Ethernet, GE) or 10 gigabit Ethernet (XGE, 10 GE).

[0053] S504: The first intelligent driving controller determines a first traveling track of an intelligent vehicle based on the first data and the second data.

[0054] It may be understood that an intelligent driving controller may determine a traveling track of the intelligent vehicle through calculation based on data collected by sensors. The traveling track may be identified by using traveling parameters, and is used to indicate the intelligent vehicle to travel according to the foregoing traveling parameters. The traveling parameters may specifically include information including a traveling speed, a traveling acceleration, and a traveling direction. In actual application, the traveling speed, the traveling acceleration, and the traveling direction may be represented by using curves that change with time, that is, a speed curve, an acceleration curve, and a direction curve. For ease of description, in this embodiment of this application, the traveling track determined by the first intelligent driving controller based on the first data and the second data is referred to as the first traveling track.

[0055] S505: The first intelligent driving controller sends the first traveling track to an arbiter.

[0056] Considering that the sensor management system may include a plurality of intelligent driving controllers, and each intelligent driving controller may determine a traveling track based on data collected by sensors, the first intelligent driving controller may further send the first traveling track to the arbiter, so that the arbiter performs arbitration based on the first traveling track and a traveling track sent by another intelligent driving controller, to determine a final traveling track. This can ensure security and reliability of intelligent driving.

[0057] In this embodiment, the arbiter is a component that can arbitrate traveling tracks sent by the plurality of intelligent driving controllers. As an example, the arbiter may be a vehicle control unit. The vehicle control unit may determine the final traveling track based on the received traveling tracks, and control the intelligent vehicle to travel according to the final traveling track. Certainly, in some possible implementations, the arbiter may alternatively be another component, for example, may be a component dedicated to traveling track arbitration.

[0058] The first intelligent driving controller may specifically send the first traveling track to the arbiter through a link connection between the arbiter and the first intelligent driving controller. The link connection may be implemented by using a high-speed bus. Details are not described herein again.

[0059] S506: The first intelligent driving controller sends the first data to the second intelligent driving controller.

[0060] Specifically, the first intelligent driving controller may further communicate with the second intelligent driving controller through a link connection between the interconnection modules, and send the first data to the interconnection module of the second intelligent driving controller by using the interconnection module of the first intelligent driving controller. In this way, the second intelligent driving controller may obtain the first data collected by the first group of sensors and the second data collected by the second group of sensors, that is, obtain the complete data.

[0061] S507: The second intelligent driving controller determines a second traveling track of the intelligent vehicle based on the first data and the second data.

[0062] In specific implementation, the second intelligent driving controller may calculate a traveling track of the intelligent vehicle in a same manner as the first intelligent driving controller. For ease of description, in this embodiment of this application, the traveling track determined by the second intelligent driving controller based on the first data and the second data is referred to as the second traveling track.

[0063] S508: The second intelligent driving controller sends the second traveling track to the arbiter.

[0064] The second intelligent driving controller may send the second traveling track to the arbiter through a link connection between the arbiter and the second intelligent driving controller. For a specific implementation process, refer to the related content description of sending the first traveling track to the arbiter by the first intelligent driving controller. Details are not described herein again.

[0065] S509: The arbiter determines the traveling track of the intelligent vehicle based on the first traveling track and the second traveling track.

[0066] Specifically, the arbiter may arbitrate the first traveling track and the second traveling track according to a preset arbitration rule, to determine the traveling track of the intelligent vehicle. The arbitration rule may be set based on a service requirement. In some possible implementations, the arbitration rule may be: determining the first traveling track as the traveling track of the intelligent vehicle by default, and when detecting that an error such as a check code error occurs on the first traveling track, determining the second traveling track as the traveling track of the intelligent vehicle. In other possible implementations, the arbitration rule may alternatively be: detecting the first traveling track and the second traveling track, when both the first traveling track and the second traveling track pass the detection, selecting any traveling track as the traveling track of the intelligent vehicle, and when an error occurs on one traveling track, determining the other traveling track as the traveling track of the intelligent vehicle.

[0067] It should be noted that the steps identified by dashed lines in FIG. 5, that is, S505 to S509, are optional steps, and S506 and S503 may be performed at the same time, or may be performed in a specified sequence. Similarly, S504 and S507, and S505 and S508 may be performed at the same time, or may be performed in a specified sequence. This is not limited in this application.

[0068] In this application, in addition to sensor redundancy, to improve safety and reliability of the intelligent vehicle, a redundancy design is also implemented inside a single intelligent driving controller. Next, a data processing process of the intelligent driving controller is further described with reference to an internal structure of the intelligent driving controller shown in FIG. 6.

[0069] On the basis of the embodiment shown in FIG. 5, FIG. 6 is a schematic diagram of interaction between a group of sensors and an intelligent driving controller connected to the sensors. The intelligent driving controller includes a first control module, a second control module, and an interconnection module. For example, a group of sensors may be a front lidar, a left camera, a rear lidar, a rear radar, a right radar, and a right camera, and may be connected to the intelligent driving controller through a link 1, specifically, connected to the interconnection module of the intelligent driving controller. The first control module is connected to the interconnection module through a link 2, and is connected to the second control module through a link 3, and the second control module is connected to a fourth control module through a link 4. The link 1, the link 2, and the link 4 may be implemented by using high-speed buses, and the link 3 may be implemented by using a low-speed bus.

[0070] For specific implementation of the high-speed bus, refer to the related content description in the embodiment shown in FIG. 5. The low-speed bus is a bus whose rate is not higher than a preset rate, and may be specifically any one of a serial peripheral interface (Serial Peripheral Interface, SPI), a bidirectional two-wire synchronous serial bus interface I2C, a management data input/output (Management Data Input/output, MDIO), or a CAN bus.

[0071] When the intelligent driving controller is started, the first control module may configure the interconnection module to start the interconnection module, so that the interconnection module is in a normal working state. When configuring the interconnection module, the first control module may first perform power-on and reset deassertion on the interconnection module. To prevent control signals for power-on/off and reset/reset deassertion from being affected by a fault of the first control module or the second control module, the first control module and the second control module may deliver the control signals by using a transit device.

[0072] In some possible implementations, the transit device may be a complex programmable logic device (Complex Programmable Logic Device, CPLD) register. The first control module may deliver a first control signal to the CPLD through a link 6 between the first control module and the CPLD. The CPLD delivers, based on the first control signal, a power-on and reset deassertion instruction to the interconnection module through a link 7 between the CPLD and the interconnection module, and performs power-on and reset deassertion on the interconnection module. Then, the first control module may deliver interconnection module configuration information through a link 5 between the first control module and the interconnection module, to configure transmission parameters of the interconnection module, such as a port, a VLAN, and a transmission rate. The link 5, the link 6, and the link 7 may be implemented by using low-speed buses. For example, the link 5 may be implemented by using an MDIO, and the link 6 and the link 7 may be implemented by using an SPI or an I2C.

[0073] After the configuration, the interconnection module starts to work, and sends data collected by the sensors to the first control module through the link 2 between the interconnection module and the first control module, for example, sends data collected by the front lidar, the left camera, the rear lidar, the rear radar, the right radar, and the right camera. The first control module may further read an error correcting code (Error Correcting Code, ECC) of a static random access memory (Static Random Access Memory, SRAM) and packet statistics information (such as packet loss information and error packet information) of each port in the interconnection module through the link 5, and perform cyclic redundancy check (Cyclic Redundancy Check, CRC) on the link 5, to implement management on the interconnection module, and avoid a case in which the intelligent vehicle is out of control when the interconnection module transmits data with low reliability.

[0074] Certainly, interconnection modules between different intelligent driving controllers further establish a link connection (which is not shown in FIG. 6) by using a high-speed bus. The interconnection module sends the foregoing data to an interconnection module of another intelligent driving controller through the link connection. The another intelligent driving controller sends data to a first control module inside the another intelligent driving controller in a same manner as the intelligent driving controller shown in FIG. 6.

[0075] Through the foregoing data interaction, a first control module of each intelligent driving controller may obtain data collected by each group of sensors. That is, each intelligent driving controller may obtain complete data, to implement sensor data redundancy.

[0076] In actual application, a first control module and a second control module in a same intelligent driving controller may monitor working statuses of each other through heartbeat monitoring. Specifically, the intelligent driving controller may periodically send a probe request signal to the first control module by using the second control module. When the second control module detects no probe response signal in K consecutive periodicities, the intelligent driving controller determines that the first control module is faulty.

[0077] K is a positive integer, and a value of K may be set according to an empirical value. For example, K may be 3. In some cases, for example, when a security level requirement is relatively high, the value of K may alternatively be 1. In other words, when the second control module detects no probe response signal in a current periodicity, the intelligent driving controller determines that the first control module is faulty.

[0078] When the first control module is faulty, the second control module takes over the interconnection module to enable the interconnection module to work normally. In this way, the interconnection module may transmit data to an interconnection module of another intelligent driving controller. The second control module may read the SRAM ECC and the packet statistics information of each port in the interconnection module through a link 8, and perform cyclic redundancy check on the link 8, to manage the interconnection module, and avoid the case in which the intelligent vehicle is out of control when the interconnection module transmits data with low reliability. The link 8 may be implemented by using a low-speed bus, for example, may be implemented by using an MDIO.

[0079] Certainly, heartbeat monitoring may also be performed between different intelligent driving controllers. Specifically, the heartbeat monitoring may be performed between different intelligent driving controllers through a link connection between second control modules, or through a link connection formed by a link connection between a second control module and an interconnection module and a link connection between interconnection modules.

[0080] Heartbeat monitoring between a first intelligent driving controller and a second intelligent driving controller is used as an example for description. The first intelligent driving controller sends a probe request signal to the second intelligent driving controller through either of the foregoing two link connections. When the first intelligent driving controller detects no probe response signal from the second intelligent driving controller in K consecutive periodicities, the first intelligent driving controller determines that the second intelligent driving controller is faulty. To ensure safety and reliability of intelligent driving, the first intelligent driving controller may perform safe stopping based on received data.

[0081] Further, after the intelligent vehicle stops, the second control module may further deliver a second control signal through a link 9 between the second control module and the CPLD register, and the CPLD register delivers a reset and power-off instruction to the interconnection module based on the second control signal through the link 7. After the interconnection module is powered off, a mobile data center (mobile data center, MDC) is powered off to avoid power exhaustion of a battery. The link 7 and the link 9 may be implemented by using low-speed buses, for example, may be implemented by using an SPI or an I2C.

[0082] It should be noted that the intelligent driving controller may be compatible with three modes, which specifically include a dual-controller redundancy mode, a first control module-only control mode, and a second control module-only control mode. When a security level required by the intelligent vehicle is higher than a preset level, for example, when an autonomous driving level of the intelligent vehicle is greater than or equal to L3, the first intelligent driving controller is set to the dual-controller redundancy mode. When the security level required by the intelligent vehicle is not higher than the preset level, for example, when the autonomous driving level of the intelligent vehicle is less than L3, or there is another redundancy solution for the intelligent vehicle, the first intelligent driving controller is set to the first control module-only control mode. If the first control module is faulty, the first intelligent driving controller is set to the second control module-only control mode.

[0083] When the first intelligent driving controller is set to the dual-controller redundancy mode, for a configuration process of the interconnection module, refer to the related content description in the embodiment shown in FIG. 6. When the first intelligent driving controller is set to the first control module-only control mode, only the first control module interconnects with and manages the configuration module. For a configuration process and a management process, refer to the related content description in the embodiment shown in FIG. 6. When the first intelligent driving controller is set to the second control module-only control mode, the second control module may first perform power-on and reset deassertion on the interconnection module. For details, refer to FIG. 6. The second control module may first deliver a third control signal to the CPLD register through the link 9. The CPLD register delivers the power-on and reset deassertion instruction based on the third control signal through the link 7. After the interconnection module is powered on and the reset is deasserted, the second control module configures the interconnection module through the link 8, and manages the interconnection module through the link 8 after the configuration succeeds.

[0084] It should be noted that, for brief description, the method embodiments are described as a combination of a series of actions. However, a person skilled in the art should know that this application is not limited to the described sequence of the actions.

[0085] Another appropriate step combination that a person skilled in the art can think of based on the content described above also falls within the protection scope of this application. In addition, a person skilled in the art should also appreciate that all the embodiments described in the specification are example embodiments, and the related actions are not necessarily mandatory to this application.

[0086] The foregoing describes in detail the data management method provided in this application with reference to FIG. 1 to FIG. 6. The following describes a data management apparatus and device provided in this application with reference to FIG. 7 and FIG. 8.

[0087] FIG. 7 shows a data management apparatus 700 according to this application. The management apparatus 700 includes a receiving unit 710 and a storage unit 720.

[0088] The receiving unit 710 is configured to receive first data sent by a first group of sensors, and a first intelligent driving controller is configured to receive data collected by the first group of sensors, where the first group of sensors include at least one sensor, and the first data is the data collected by the first group of sensors.

[0089] The receiving unit 710 is further configured to receive second data sent by a second intelligent driving controller, where the second data is data collected by a second group of sensors connected to the second intelligent driving controller.

[0090] The determining unit 720 is configured to determine a first traveling track of an intelligent vehicle based on the first data and the second data.

[0091] Optionally, each group of sensors include different sensor groups that are divided according to a preset rule, where the preset rule includes: first, grouping sensors based on locations of the sensors in the intelligent vehicle, where sensors in a same group can collect data of a 360-degree area around the intelligent vehicle; and then grouping the sensors based on sensor types, where each sensor belongs to only one sensor group.

[0092] Optionally, the first intelligent driving controller includes a first control module, a second control module, and an interconnection module. The first control module and the second control module separately communicate with the interconnection module through a high-speed bus, and the first control module communicates with the second control module through a low-speed bus. The first control module is configured to configure and manage the interconnection module, the second control module is configured to manage the interconnection module when the first control module is faulty, and the interconnection module is configured to transmit data between different intelligent driving controllers.

[0093] Optionally, the first intelligent driving controller includes three modes. When a security level required by the intelligent vehicle is higher than a preset level, the first intelligent driving controller is set to a dual-controller redundancy mode. When the security level required by the intelligent vehicle is not higher than the preset level, the first intelligent driving controller is set to a first control module-only control mode. When the first control module is faulty, the first intelligent driving controller is set to a second control module-only control mode.

[0094] Optionally, the interconnection module of the first intelligent driving controller communicates with an interconnection module of the second intelligent driving controller through a high-speed bus, and the second control module of the first intelligent driving controller communicates with a second control module of the second intelligent driving controller through a low-speed bus.

[0095] Optionally, the second control module of the first intelligent driving controller is specifically configured to send a probe request signal to the first control module of the first intelligent driving controller. When no probe response signal is received in K consecutive periodicities, the second control module determines that the first control module is faulty, where K is a positive integer.

[0096] Optionally, the first intelligent driving controller is specifically configured to send a probe request signal to the second intelligent driving controller. When no probe response signal is received in K consecutive periodicities, the first intelligent driving controller determines that the second intelligent driving controller is faulty, where K is a positive integer.

[0097] Optionally, the data management apparatus 700 further includes:
a first sending unit, configured to send the first data to the second intelligent driving controller, so that the second intelligent driving controller determines a second traveling track of the intelligent vehicle based on the first data and the second data, and sends the second traveling track to an arbiter.

[0098] Optionally, the data management apparatus 700 further includes:
a second sending unit, configured to send the first traveling track to the arbiter, so that the arbiter determines a traveling track of the intelligent vehicle based on the first traveling track and the second traveling track.

[0099] The management apparatus 700 according to this embodiment of this application may correspondingly perform the method described in the embodiments of this application. In addition, the foregoing and other operations and/or functions of the units in the management apparatus 700 are separately used to implement the corresponding procedures of the method in FIG. 5 and FIG. 6. For brevity, details are not described herein again.

[0100] FIG. 8 is a schematic diagram of a data management device 100 according to this application. As shown in the figure, the data management device 100 includes a processor 101, a storage medium 102, a communications interface 103, and a memory unit 104. The processor 701, the storage medium 102, the communications interface 103, and the memory unit 104 communicate with each other by using a bus 105, or may communicate with each other in another manner such as wireless transmission. The memory 102 is configured to store instructions, and the processor 101 is configured to execute the instructions stored in the memory 102. The memory 102 stores program code, and the processor 101 may invoke the program code stored in the memory 102 to perform the following operations:

receiving first data sent by a first group of sensors, where a first intelligent driving controller is configured to receive data collected by the first group of sensors, the first group of sensors include at least one sensor, and the first data is the data collected by the first group of sensors;

receiving second data sent by a second intelligent driving controller, where the second data is data collected by a second group of sensors connected to the second intelligent driving controller; and

determining a first traveling track of an intelligent vehicle based on the first data and the second data.



[0101] It should be understood that in this embodiment of this application, the processor 101 may be a CPU, or the processor 101 may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or another programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or the like. The general-purpose processor may be a microprocessor, any conventional processor, or the like.

[0102] The memory 102 may include a read-only memory and a random access memory, and provide instructions and data to the processor 101. The memory 102 may further include a nonvolatile random access memory. For example, the memory 102 may further store information about a device type.

[0103] The memory 102 may be a volatile memory or a nonvolatile memory, or may include a volatile memory and a nonvolatile memory. The nonvolatile memory may be a read-only memory (read-only memory, ROM), a programmable read-only memory (programmable ROM, PROM), an erasable programmable read-only memory (erasable PROM, EPROM), an electrically erasable programmable read-only memory (electrically EPROM, EEPROM), or a flash memory. The volatile memory may be a random access memory (random access memory, RAM), used as an external cache. Through example but not limitative description, many forms of RAMs may be used, for example, a static random access memory (static RAM, SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (synchronous DRAM, SDRAM), a double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), an enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), a synchronous link dynamic random access memory (synchlink DRAM, SLDRAM), and a direct rambus random access memory (direct rambus RAM, DR RAM).

[0104] The bus 105 may include a power bus, a control bus, a status signal bus, and the like in addition to a data bus. However, for clear description, various types of buses in the figure are marked as the bus 105.

[0105] It should be understood that the data management device 100 according to this embodiment of this application may correspond to the management apparatus 400 in the embodiments of this application, and may correspond to a corresponding subject in the method shown in FIG. 5 according to the embodiments of this application. In addition, the foregoing and other operations and/or functions of the modules in the data management device 100 are separately used to implement corresponding procedures of the method shown in FIG. 5. For brevity, details are not described herein again.

[0106] In another possible embodiment, this application further provides an intelligent driving vehicle. The intelligent driving vehicle includes the sensor management system shown in FIG. 1, and is configured to implement each operation step of the method shown in FIG. 5. For brevity, details are not described herein again.

[0107] In another possible embodiment, this application further provides a sensor management system. The sensor management system includes at least two groups of sensors shown in FIG. 2, each group of sensors are connected to one intelligent driving controller shown in FIG. 2, and different intelligent driving controllers communicate with each other by using an interconnection module.

[0108] A first intelligent driving controller receives first data sent by a first group of sensors, and is configured to receive data collected by the first group of sensors, where the first group of sensors include at least one sensor, and the first data is the data collected by the first group of sensors.

[0109] The first intelligent driving controller receives second data sent by a second intelligent driving controller, where the second data is data collected by a second group of sensors connected to the second intelligent driving controller.

[0110] The first intelligent driving controller determines a first traveling track of the intelligent vehicle based on the first data and the second data.

[0111] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or some of the procedures or functions according to the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or another programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or may be transmitted from a computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, computer, training device, or data center to another website, computer, training device, or data center in a wired (for example, a coaxial cable, an optical fiber, or a digital subscriber line (DSL)) or wireless (for example, infrared, radio, or microwave) manner. The computer-readable storage medium may be any usable medium accessible by a computer, or a data storage device, such as a training device or a data center, integrating one or more usable media. The usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, or a magnetic tape), an optical medium (for example, a DVD), a semiconductor medium (for example, a solid state drive (Solid State Disk, SSD)), or the like.

[0112] In addition, it should be noted that the described apparatus embodiment is merely an example. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected based on actual requirements to achieve the objectives of the solutions of this application. In addition, in the accompanying drawings of the apparatus provided by this application, connection relationships between the modules indicate that the modules have communication connections with each other, which may be specifically implemented as one or more communications buses or signal cables.


Claims

1. A data management method, wherein the method is applied to a sensor management system of an intelligent vehicle, the sensor management system comprises at least two groups of sensors, each group of sensors are connected to one intelligent driving controller, different intelligent driving controllers communicate with each other by using an interconnection module, and the method comprises:

receiving, by a first intelligent driving controller, first data sent by a first group of sensors, wherein the first intelligent driving controller is connected to the first group of sensors, the first group of sensors comprise at least one first sensor, and the first data is data collected by the first group of sensors;

receiving, by the first intelligent driving controller, second data sent by a second intelligent driving controller, wherein the second data is data collected by a second group of sensors connected to the second intelligent driving controller, the second intelligent driving controller is connected to the second group of sensors, the second group of sensors comprise at least one second sensor, and the second data is the data collected by the second group of sensors; and

determining, by the first intelligent driving controller, a first traveling track of the intelligent vehicle based on the first data and the second data.


 
2. The method according to claim 1, wherein each group of sensors comprise different sensors that are grouped according to a preset rule, the preset rule comprises: first, grouping the sensors based on a location of each sensor in the intelligent vehicle, wherein sensors in a same group may collect data of a 360-degree area around the intelligent vehicle; and then grouping the sensors based on sensor types, wherein each sensor belongs to only one sensor group.
 
3. The method according to claim 1 or 2, wherein each intelligent driving controller comprises a first control module, a second control module, and an interconnection module, the first control module and the second control module separately communicate with the interconnection module through a high-speed bus, the first control module communicates with the second control module through a low-speed bus, the first control module is configured to configure and manage the interconnection module, the second control module is configured to manage the interconnection module when the first control module is faulty, and the interconnection module is configured to transmit data between different intelligent driving controllers.
 
4. The method according to any one of claims 1 to 3, wherein the first intelligent driving controller comprises three modes, when a security level required by the intelligent vehicle is higher than a preset level, the first intelligent driving controller is set to a dual-controller redundancy mode; when the security level required by the intelligent vehicle is not higher than the preset level, the first intelligent driving controller is set to a first control module-only control mode; and when the first control module is faulty, the first intelligent driving controller is set to a second control module-only control mode.
 
5. The method according to any one of claims 1 to 4, wherein an interconnection module of the first intelligent driving controller communicates with an interconnection module of the second intelligent driving controller through a high-speed bus, and a second control module of the first intelligent driving controller communicates with a second control module of the second intelligent driving controller through a low-speed bus.
 
6. The method according to any one of claims 1 to 5, wherein the method further comprises:

sending, by the first intelligent driving controller, a probe request signal to a first control module of the first intelligent driving controller by using a second control module of the first intelligent driving controller; and

when no probe response signal is received in K consecutive periodicities, determining that the first control module is faulty, wherein K is a positive integer.


 
7. The method according to any one of claims 1 to 6, wherein the method further comprises:

sending, by the first intelligent driving controller, a probe request signal to the second intelligent driving controller; and

when no probe response signal is received in K consecutive periodicities, determining that the second intelligent driving controller is faulty, wherein K is a positive integer.


 
8. The method according to any one of claims 1 to 7, wherein the method further comprises:

sending, by the first intelligent driving controller, the first data to the second intelligent driving controller, so that the second intelligent driving controller determines a second traveling track of the intelligent vehicle based on the first data and the second data, and sends the second traveling track to an arbiter.


 
9. The method according to claim 8, wherein the method further comprises:
sending, by the first intelligent driving controller, the first traveling track to the arbiter, so that the arbiter determines a traveling track of the intelligent vehicle based on the first traveling track and the second traveling track.
 
10. A data management apparatus, wherein the apparatus comprises a receiving unit and a determining unit, wherein

the receiving unit is configured to receive first data sent by a first group of sensors, a first intelligent driving controller is configured to receive data collected by the first group of sensors, the first group of sensors comprise at least one sensor, and the first data is the data collected by the first group of sensors;

the receiving unit is further configured to receive second data sent by a second intelligent driving controller, wherein the second data is data collected by a second group of sensors connected to the second intelligent driving controller; and

the determining unit is configured to determine a first traveling track of an intelligent vehicle based on the first data and the second data.


 
11. A data management device, comprising a processor and a memory, wherein

the memory is configured to store computer instructions; and

the processor is configured to perform the method according to any one of claims 1 to 9 according to the computer instructions.


 
12. An intelligent vehicle, wherein the intelligent vehicle comprises a sensor management system, the sensor management system comprises at least two groups of sensors, each group of sensors are connected to one intelligent driving controller, and different intelligent driving controllers communicate with each other by using an interconnection module;

a first intelligent driving controller receives first data sent by a first group of sensors, wherein the first intelligent driving controller is configured to receive data collected by the first group of sensors, the first group of sensors comprise at least one sensor, and the first data is the data collected by the first group of sensors;

the first intelligent driving controller receives second data sent by a second intelligent driving controller, wherein the second data is data collected by a second group of sensors connected to the second intelligent driving controller; and

the first intelligent driving controller determines a first traveling track of the intelligent vehicle based on the first data and the second data.


 




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Cited references

REFERENCES CITED IN THE DESCRIPTION



This list of references cited by the applicant is for the reader's convenience only. It does not form part of the European patent document. Even though great care has been taken in compiling the references, errors or omissions cannot be excluded and the EPO disclaims all liability in this regard.

Patent documents cited in the description