Method for realizing DDS service on embedded sensor access platform

An embedded and sensor technology, applied in the direction of instruments, transmission systems, inter-program communication, etc., can solve problems such as increased hardware costs, affecting system message communication, lack of exception recovery mechanism, etc., to achieve high stability, reduce costs, and improve exceptions The effect of the recovery mechanism

Active Publication Date: 2019-09-06
AUTOCORE INTELLIGENT TECH NANJING CO LTD
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Problems solved by technology

[0003] At present, domestic autopilot companies usually use the robot operating system ROS (Robot Operating System) to build an autopilot software platform. The advantage of ROS is that it is widely used in industrial control, provides a message-based publish-subscribe distributed communication mechanism, and is easy for multi-sensor integration; but At the same time, ROS depends on the UBUNTU or WINDOWS operating system, which will inevitably have certain requirements on the hardware platform, and hardware redundancy backup will increase the cost of hardware; ROS Master abnormality or congestion will affect the entire system message communication

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  • Method for realizing DDS service on embedded sensor access platform
  • Method for realizing DDS service on embedded sensor access platform
  • Method for realizing DDS service on embedded sensor access platform

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Embodiment

[0029] DDS service is widely used in the field of industrial control, which is convenient for multi-sensor access and data communication, and has the advantage of integrating AUTOSAR. This solution is based on DDS service to complete sensor data communication.

[0030] Such as figure 1 As shown, this solution uses a low-cost MCU (Microcontroller Unit) for sensor access. The MCU usually has a USB port, an Ethernet port, a serial port, and a CAN bus to facilitate sensor access; it is equipped with an embedded real-time operating system (such as FreeRTOS), and Realize the streamlined Micro DDS service that conforms to the DDS specification, communicate with the data processing unit through the DDS service, and complete the release of sensor data, and the data processing is completed by the high-performance data processing unit.

[0031] Such as figure 2 As shown, the DDS service is implemented based on the embedded system, and the message exchange completely complies with the ...

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Abstract

The invention relates to a method for realizing a DDS service on an embedded sensor access platform, and the method comprises the steps: taking embedded hardware as the sensor access platform, carrying an embedded real-time operation system, and carrying out the message communication with a data processing unit through employing the DDS service. According to the invention, the sensor access platform is constructed based on an embedded manner, so that low-cost hardware redundancy backup can be realized; meanwhile, DDS service is realized based on an embedded mode, complete DDS service is formedwith the data processing unit, and a perfect abnormal recovery mechanism is provided.

Description

technical field [0001] The invention belongs to the technical field of automatic driving and relates to communication between sensors and controllers, in particular to a method for realizing DDS service between an embedded sensor access platform and a data processing unit. Background technique [0002] At the beginning of the 21st century, autonomous driving developed rapidly with the help of AI technology. From a technical perspective, autonomous driving can be dismantled into environmental perception, precise positioning, decision-making and planning, and control and execution. Like traditional car companies, autonomous driving still needs the help of on-board multi-sensors for environmental perception, but regardless of software or hardware, it is necessary to ensure high reliability and high stability of the entire system; usually important sensors and domain controllers in terms of hardware need For redundant backup, the software needs to provide a complete exception re...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F9/54H04L29/08
CPCG06F9/546H04L67/12
Inventor 王保曾张旸陈诚
Owner AUTOCORE INTELLIGENT TECH NANJING CO LTD
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