Dynamic trajectory generation method and device

Abstract

According to the dynamic trajectory generation method and device provided by the invention, after the power-on instruction is received, the conventional application is started through the first communication interface, the rapid application is started through the second communication interface, and the applications started by the first communication interface and the second communication interface can be exchanged according to the application scene, so that the dynamic trajectory generation efficiency is improved. Therefore, system starting resources are separated from resources needing to quickly start the application, part of hardware resources are started preferentially, the problem of resource preemption in the system starting process is avoided, the received vehicle body data can be processed based on the quick start application, and compared with reversing related functions in the prior art, only a single communication interface is arranged, and the system starting efficiency is improved. According to the technical scheme, through a software and hardware combination method, quick response and presentation of a dynamic track function can be realized with a low-workload, low-cost, simpler and more stable method, so that auxiliary picture functions such as quick backing-up and backing-up dynamic track line adding are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-mounted multimedia display screens, and in particular to a method and device for generating a dynamic trajectory line. Background Art

[0002] As one of the important components of future smart cars, the in-vehicle central control multimedia screen has increasingly rich functional requirements. At present, most in-vehicle central control multimedia screens on the market are usually implemented based on the Android operating system. The Android system has a rich application ecosystem, but the huge and complex system leads to a long boot time, and it takes a long time to use all functions. For example, the dynamic trajectory line of reversing, radar information display and other functions. For example, if the cockpit product based on the Android system realizes fast reversing, it usually takes 3s-6s to turn on the reversing function. Therefore, only the reversing screen can be displayed, and there is no dynamic trajectory line and radar information screen display, resulting in a poor user experience.

[0003] At present, there are a lot of studies in the prior art on how to achieve the technical solutions of fast reversing and dynamic trajectory lines. For example, in patent CN115167929A, it is recorded that before the Android system is started, the Linux system first completes the corresponding initialization of reversing, and the reversing video screen is displayed in advance to the user. Thereby realizing the function of fast reversing. In patent CN111260746A, it is recorded that by incremental development in Android's native EVS (Extended View System), the touch and screen functions are realized. EVS is a reversing subsystem that is slower than the fast reversing start time and faster than the normal reversing start time. In patent CN114329008A, it is recorded that by compressing and displaying the dynamic reversing trajectory line, the demanding requirements of extremely small storage space are met without affecting the display effect of the trajectory line. In patent CN107161080B, a method for realizing the reversing trajectory line during the startup of the vehicle is described. It is mentioned that after the reversing and display functions are started, the software method of displaying the reversing is mentioned. It is impossible to realize dynamic trajectory lines in fast reversing of Android car machines. Patent CN105109409A provides a method for fast display of reversing images that supports dynamic vehicle auxiliary lines. A software method is proposed to open a memory partition for storing data for drawing dynamic trajectory lines. During the kernel startup process, images are drawn using this data. This patent mainly deals with a method for drawing the trajectory line image itself when reversing quickly. It does not mention how to quickly obtain the steering wheel data of the vehicle body and dynamically transform the image.

[0004] Some of the above methods are to optimize how to quickly start the reversing screen, some are to optimize the storage of the dynamic trajectory line of reversing, or optimize the function of drawing the screen when quickly starting reversing. Most of them use software methods to optimize the dynamic trajectory line of fast reversing, which is a link in this big function. For Android car machines, many of the methods mentioned have been replaced and implemented by the Android system. However, more auxiliary functions in the rapid reversing of the car machine rely on the data fed back from the car body for dynamic processing and interface changes. If the data is not obtained in time or is abnormal, it will directly affect the performance and function realization of the reversing function. If the data acquisition has to wait for a long time, then even if the dynamic trajectory line can be drawn earlier, it is necessary to wait until the data can be obtained before the auxiliary function screen can be presented.

[0005] The current Android cockpit products usually implement auxiliary functions such as reversing and dynamic trajectory lines in the multimedia screen. The MCU (Microcontroller Unit) is mainly used to obtain vehicle body data, such as steering wheel angle information, through the CAN (Controller Area Network) bus. The MCU sends the data to the MPU (Microprocessor Unit) through the communication interface. After the MPU application is started, it parses the data. Call or generate different reversing trajectory line pictures and paste them on the reversing screen. Implement reversing dynamic trajectory lines. It is usually implemented in the reversing function after the normal startup of Android. However, in the fast reversing (starting between 3s-6s), due to the early startup time, the fast reversing uses the same communication interface as the MCU, which affects the startup of the Android system. As a result, the services and applications in the startup of the Android system cannot open the communication interface, resulting in functional abnormalities. The handover of control through software is more complicated, labor-intensive, and prone to errors. At the same time, there are many core functions in the Android multimedia screen startup service that need to communicate with the MCU. Once an error occurs, it will affect the stability of the vehicle multimedia screen, which is a fatal problem for vehicle-mounted products. Summary of the invention

[0006] The technical problem to be solved by the present invention is: to provide a method and device for generating a dynamic trajectory, configure at least two communication interfaces on the MCU and MPU circuits, and decouple the resource preemption problem during the startup of the software Android system by combining software and hardware.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0008] A dynamic trajectory generation method, comprising:

[0009] receiving a power-on instruction, starting a regular application through a first communication interface according to the power-on instruction, and starting a quick application through a second communication interface;

[0010] The vehicle body data is received, and it is determined whether the conventional application has been started. If not, the vehicle body data is transmitted through the second communication interface, and the vehicle body data is processed according to the fast application to generate a dynamic trajectory.

[0011] In order to solve the above technical problems, another technical solution adopted by the present invention is:

[0012] A dynamic trajectory generating device comprises an MCU and an MPU; a first communication interface of the MCU is connected to a first communication interface of the MPU, and is used to start a conventional application in the MPU; a second communication interface of the MCU is connected to a second communication interface of the MPU, and is used to start a fast application in the MPU, and to generate a dynamic trajectory by processing the vehicle body data according to the fast application.

[0013] The beneficial effects of the present invention are as follows: after receiving a power-on instruction, conventional applications are started through the first communication interface, and quick applications are started through the second communication interface, and the applications started by the first communication interface and the second communication interface can be exchanged according to the application scenario, thereby separating the resources for system startup from the resources for applications that require quick startup, and enabling priority startup of some hardware resources, thereby avoiding the problem of resource preemption during system startup, and being able to process the received vehicle body data based on the quick startup application. Compared with the prior art in which only a single communication interface is set and the handover of control is achieved by software, the present technical solution, through a combination of software and hardware, can achieve rapid response and presentation of dynamic trajectory functions in a low-workload, low-cost, simpler and more stable way, thereby achieving auxiliary screen functions such as quick reversing and adding reversing dynamic trajectory lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A flow chart of the steps of a method for generating a dynamic trajectory line in an embodiment of the present invention;

[0015] Figure 2 Schematic diagram of a first structure of a dynamic trajectory generating device in an embodiment of the present invention;

[0016] Figure 3 A second structural schematic diagram of a dynamic trajectory generating device in an embodiment of the present invention;

[0017] Figure 4 A second structural schematic diagram of a dynamic trajectory generating device in an embodiment of the present invention;

[0018] Figure 5A second structural schematic diagram of a dynamic trajectory generating device in an embodiment of the present invention;

[0019] Figure 6 Another step flow chart of a method for generating a dynamic trajectory line in an embodiment of the present invention;

[0020] Description of labels:

[0021] 1. MCU; 2. MPU; 3. Level matching module; 4. Bus transceiver. DETAILED DESCRIPTION

[0022] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in conjunction with the implementation modes and the accompanying drawings.

[0023] Please refer to Figure 1 , a dynamic trajectory generation method, characterized by comprising:

[0024] receiving a power-on instruction, starting a regular application through a first communication interface according to the power-on instruction, and starting a quick application through a second communication interface;

[0025] The vehicle body data is received, and it is determined whether the conventional application has been started. If not, the vehicle body data is transmitted through the second communication interface, and the vehicle body data is processed according to the fast application to generate a dynamic trajectory.

[0026] From the above description, it can be seen that the beneficial effects of the present invention are: after receiving the power-on command, the regular application is started through the first communication interface, and the quick application is started through the second communication interface, and the applications started by the first communication interface and the second communication interface can be exchanged according to the application scenario, so as to separate the resources for system startup from the resources for the application that needs to be started quickly, so as to achieve priority startup of some hardware resources, avoid the problem of resource preemption during system startup, and can process the received vehicle body data based on the quick startup application. Compared with the prior art in which only a single communication interface is set and the handover of control is achieved by software, the technical solution can achieve rapid response and presentation of dynamic trajectory functions through the combination of software and hardware with low workload, low cost, simpler and more stable method, thereby realizing auxiliary screen functions such as rapid reversing and adding reversing dynamic trajectory lines.

[0027] Furthermore, after receiving the vehicle body data, the method further includes: determining whether the conventional application has completed startup, and if so, transmitting the vehicle body data through the first communication interface path, and processing the vehicle body data according to the conventional application to generate a dynamic trajectory.

[0028] From the above description, it can be seen that after receiving the vehicle body data and determining that the conventional application has completed startup, the vehicle body data is transmitted based on the first communication interface, and the vehicle body data is processed according to the conventional application to generate a dynamic trajectory, so that the vehicle body data can be processed using more complete functions in the conventional application to optimize the generated dynamic trajectory.

[0029] Further, the receiving of vehicle body data includes: determining whether the received vehicle body data is received through the second communication interface in an interruption or polling manner, and if so, executing the step of determining whether the conventional application has completed startup.

[0030] It can be seen from the above description that by using a triggering method such as interruption or polling for communication, a corresponding triggering method can be selected according to a specific hardware interface to meet control requirements in different application scenarios.

[0031] Another embodiment of the present invention provides a dynamic trajectory generating device, including an MCU and an MPU; the MCU includes a first communication interface and a second communication interface, and the MPU includes a first communication interface and a second communication interface; the first communication interface of the MCU is connected to the first communication interface of the MPU, and is used to start a regular application in the MPU; the second communication interface of the MCU is connected to the second communication interface of the MPU, and is used to start a quick application in the MPU, and to process vehicle body data according to the quick application to generate a dynamic trajectory.

[0032] From the above description, it can be seen that by configuring at least two interactive communication interfaces on the MCU and MPU circuits, it is possible to start regular applications through the first communication interface and start quick applications through the second communication interface, separate the resources for system startup from the resources for quick-start applications, and enable priority startup of some hardware resources, thereby avoiding the problem of resource preemption during system startup, and being able to process the received vehicle body data based on the quick-start application. Compared with the prior art in which only a single communication interface is set and the control handover is achieved by software, the present technical solution can generate dynamic trajectories in a low-workload, low-cost, simpler and more stable way, thereby realizing auxiliary screen functions such as adding reversing dynamic trajectory lines.

[0033] Furthermore, it also includes a level matching module; one end of the level matching module is respectively connected to the first communication interface and the second communication interface of the MCU, and the other end of the level matching module is respectively connected to the first communication interface and the second communication interface of the MPU.

[0034] It can be seen from the above description that by setting a level matching module and connecting the MCU and the MPU through the level matching module, the level between the MCU and the MPU is matched through the action of the level matching module.

[0035] Furthermore, it also includes a bus transceiver; the first communication interface of the bus transceiver is connected to the third communication interface of the MCU; the bus transceiver is used to obtain vehicle body data.

[0036] From the above description, it can be seen that by receiving the body data through the bus transceiver and transmitting the body data through the third communication interface of the MCU, it is avoided to occupy the communication interface between the MCU and the MPU for receiving the body data, thereby improving data processing efficiency.

[0037] Furthermore, the first communication interface of the MCU includes an SPI interface, an I2C interface and a UART interface; the second communication interface of the MCU includes an SPI interface, an I2C interface or a UART interface; the number and type of the first communication interface of the MPU correspond to the number and type of the first communication interface of the MCU; the type of the second communication interface of the MPU corresponds to the type of the second communication interface of the MCU.

[0038] From the above description, it can be seen that at least one of the commonly used and universal interfaces of vehicle-mounted chips such as SPI interface, I2C interface and UART interface can be used as the first communication interface of MCU, and SPI interface, I2C interface or UART interface can be used as the second communication interface of MCU. Different types and numbers of interfaces can be selected for communication between MCU and MPU according to different usage requirements, so as to be applicable to more usage scenarios.

[0039] Furthermore, the MCU also includes a GPIO interface; the GPIO interface of the MCU is combined with the SPI interface to form the first communication interface or the second communication interface; the MPU includes a GPIO interface, which is correspondingly connected to the GPIO interface of the MCU.

[0040] From the above description, it can be seen that by adding a GPIO interface and using it in combination with the SPI interface, the GPIO interface can be used to notify the SPI interface to perform data transmission, which reduces the workload compared to using software polling to achieve communication between SPI interfaces.

[0041] Further, the first communication interface of the MCU is configured as a master device, and the first communication interface of the MPU is configured as a slave device; or the first communication interface of the MCU is configured as a slave device, and the first communication interface of the MPU is configured as a master device.

[0042] And the second communication interface of the MCU is configured as a master device, and the second communication interface of the MPU is configured as a slave device; or the second communication interface of the MCU is configured as a slave device, and the second communication interface of the MPU is configured as a master device.

[0043] From the above description, it can be seen that since the master-slave configuration is determined according to the communication interface used, such as the UART interface does not distinguish between master and slave, while the SPI interface distinguishes between master and slave, when a master-slave interface is adopted, by setting the MCU as the master device and the MPU as the slave device, or setting the MPU as the master device and the MCU as the slave device, the master-slave configuration relationship between the MCU and the MPU can be set according to different application scenarios to achieve different control methods and meet the control requirements in different scenarios.

[0044] The above-mentioned dynamic trajectory generation method and device of the present invention can be applied to the scenario of hierarchical application startup, especially in the scenario of vehicle-mounted central control multimedia screen, by configuring at least two interfaces of MCU and MPU, the fast reversing application and the conventional application can be started separately, and the generation of auxiliary screens such as dynamic trajectory lines can be realized, which is described below through specific implementation methods:

[0045] Embodiment 1

[0046] Please refer to Figure 1 , a dynamic trajectory generation method, comprising:

[0047] S1. Receive a power-on instruction, and start a regular application through a first communication interface according to the power-on instruction, and start a quick application through a second communication interface; wherein, the first communication interface can also be used to start a quick application, and the second communication interface can also be used for regular applications, that is, the applications started by the first communication interface and the second communication interface can be exchanged according to application scenarios; at the same time, the "application" refers to an application scenario in general, not specifically an Android app or a Linux application, etc.

[0048] S2, receiving vehicle body data, and determining whether the conventional application has completed startup; specifically: determining whether the received vehicle body data is received by interrupting or polling through the second communication interface, and if received, executing the step of determining whether the conventional application has completed startup; if not received, making no response;

[0049] When it is determined that the conventional application has not been started, S21 is executed to transmit the vehicle body data through the second communication interface, and the vehicle body data is processed by the fast application to generate a dynamic trajectory;

[0050] When it is determined that the conventional application has been started, executing S22, transmitting the vehicle body data through the first communication interface path, and processing the vehicle body data according to the conventional application to generate a dynamic trajectory;

[0051] Taking the vehicle reversing scenario as an example, the conventional application includes a normal reversing application, and the fast application includes a fast reversing application; that is, when the normal reversing application is not started, the vehicle body data is transmitted based on the second communication interface, and the vehicle body data is processed by the fast reversing application to generate a dynamic trajectory;

[0052] Furthermore, when the user is using the fast reversing application interface, even if the Android system has been started or the normal reversing application has been started, the system still displays the current reversing screen based on the fast reversing application.

[0053] Embodiment 2

[0054] The difference between this embodiment and the first embodiment is that the control method in the first embodiment is implemented by a specific device;

[0055] Please refer to Figure 2-Figure 5 A dynamic trajectory generation device includes an MCU1, an MPU2, a level matching module 3 and a bus transceiver 4; wherein the MCU1 receives and processes the vehicle body data through the bus transceiver 4. The level matching module 3 is used to achieve level matching between the MCU1 and the MPU2. In actual application, a level conversion IC or a voltage divider resistor network can be selected to achieve level matching between the MCU1 and the MPU2. The MPU2 is used to run the Android system and various Android application software such as displaying a reversing screen.

[0056] The MCU1 includes a first communication interface and a second communication interface, and the MPU2 includes a first communication interface and a second communication interface; the first communication interface of the MCU1 is connected to the first communication interface of the MPU2, and is used to start the regular application in the MPU; the second communication interface of the MCU1 is connected to the second communication interface of the MPU2, and is used to start the fast application in the MPU, and to generate a dynamic trajectory by processing the vehicle body data according to the fast application; one end of the level matching module 3 is respectively connected to the first communication interface and the second communication interface of the MCU1, and the other end of the level matching module 3 is respectively connected to the first communication interface and the second communication interface of the MPU2; the first communication interface of the bus transceiver 4 is connected to the third communication interface of the MCU1; the bus transceiver 4 is used to obtain vehicle body data.

[0057] Among them, the first communication interface of the MCU1 includes an SPI interface, an I2C interface and a UART interface; the second communication interface of the MCU1 includes an SPI interface, an I2C interface or a UART interface; the second communication interface and the first communication interface can be the same, and can be freely matched according to the chip used in the project to realize the communication function.

[0058] The number and type of the first communication interface of the MPU2 correspond to the number and type of the first communication interface of the MCU1; the type of the second communication interface of the MPU2 corresponds to the type of the second communication interface of the MCU1. At the same time, in an optional embodiment, the MCU1 also includes a GPIO interface; the GPIO interface of the MCU1 is combined with the SPI interface to form the first communication interface or the second communication interface; the MPU2 includes a GPIO interface, which is connected to the GPIO interface of the MCU1.

[0059] At the same time, according to different usage scenarios, the first communication interface of the MCU1 can be configured as a master device, and the first communication interface of the MPU2 can be configured as a slave device; or the first communication interface of the MCU1 can be configured as a slave device, and the first communication interface of the MPU2 can be configured as a master device. And the second communication interface of the MCU1 can be configured as a master device, and the second communication interface of the MPU2 can be configured as a slave device; or the second communication interface of the MCU1 can be configured as a slave device, and the second communication interface of the MPU2 can be configured as a master device.

[0060] Please refer to Figure 2 , which is the first structure in this embodiment:

[0061] The second communication interface of the MCU1 includes an SPI interface and a GPIO interface, and the first communication interface includes a UART interface; the MPU2 has the same interface type and quantity as the MCU1, and is connected correspondingly through the level matching module 3.

[0062] Since the SPI interface protocol stipulates a master-slave mode, that is, the party in master mode can actively initiate data transmission, and the party in slave mode can only wait for the master party to initiate communication; if the SPI interface of MCU1 is configured as slave mode, the SPI interface of MPU2 is configured as master mode; conversely, if the SPI interface of MCU1 is configured as master mode, the SPI interface of MPU2 is configured as slave mode.

[0063] At the same time, when the GPIO interface is enabled and in use, the GPIO interface of MCU1 is configured as output mode, and the GPIO interface of MPU2 is configured as input mode, so that MCU1 can actively notify MPU2, and form an optimized communication interface with the SPI interface, that is, MCU1 can actively notify MPU2 of the SPI communication function.

[0064] Please refer to Figure 6 , the specific working principle of the structure is as follows:

[0065] S1. Receive the power-on command, and the MCU1 system (including Linux and other systems) starts; start the fast application through the second communication interface: prioritize loading the SPI driver and configuring the GPIO mode, and the fast reversing application runs in the init process of the Android system, that is, in the first process started by the system; at the same time, start the regular application through the first communication interface: MPU2 is powered on and the boot program is started.

[0066] S2. The MCU1 receives CAN data and processes the information sent from the car body, including but not limited to steering wheel angle information. At this time, the SPI and GPIO have been configured. When the car body data is obtained, an interrupt is triggered through the GPIO interface, and the MPU2 is notified to read the data.

[0067] If the conventional application has been started at this time, S22 is executed to start the normal reversing function; at this time, normal reversing obtains the data of MCU1 through the UART interface; the steering wheel angle information and related vehicle body data can be parsed through the data, so as to select the corresponding reversing trajectory line picture, map it, and complete the display of the dynamic trajectory line on the reversing screen.

[0068] If the regular application has not been started at this time, S21 is executed to start the fast reversing function; at this time, the fast reversing function is notified of information transmission through the GPIO interrupt, and the steering wheel angle information and the required vehicle body data can be obtained through SPI; through the obtained data, different pictures are called for mapping (the display of the Android system has multiple layers, and the images of different layers are superimposed to achieve the superimposed display of two or more pictures); when the radar information screen needs to be displayed, similarly, the radar data is obtained through SPI, and different pictures are selected for mapping according to the radar data type, so as to realize the reversing dynamic trajectory line and radar dynamic picture, as well as various auxiliary dynamic pictures.

[0069] Embodiment 3

[0070] This embodiment provides an implementation method different from the structure in the second embodiment, which is as follows:

[0071] Please refer to Figure 3 , the second communication interface of the MCU1 includes an SPI interface, and the first communication interface includes a UART interface; the MPU2 has the same interface type and number as the MCU1, and is correspondingly connected through the level matching module 3. Similarly, the SPI interface of the MCU1 can be configured as a slave mode, and the SPI interface of the MPU2 can be configured as a master mode; or the SPI interface of the MCU1 can be configured as a master mode, and the SPI interface of the MPU2 can be configured as a slave mode.

[0072] Since the GPIO interface is not used in this embodiment, during the communication process of the SPI interface, neither MCU1 nor MPU2 can actively notify the other party to transmit data; to address this problem, a polling method is adopted at the software level so that MCU1 and MPU2 can obtain each other's data; wherein the communication method between the interfaces is not limited to the interrupt or polling method, and includes the use of other trigger methods for communication.

[0073] Please refer to Figure 4 In another optional implementation, the second communication interface of the MCU1 includes an I2C interface, and the first communication interface includes a UART interface; the MPU2 has the same interface type and number as the MCU1, and is connected correspondingly through the level matching module 3. Similarly, the I2C interface of the MCU1 can be configured as a slave mode, and the I2C interface of the MPU2 can be configured as a master mode; or the I2C interface of the MCU1 can be configured as a master mode, and the I2C interface of the MPU2 can be configured as a slave mode.

[0074] Please refer to Figure 5 In another optional implementation, the second communication interface of the MCU1 includes an SPI interface, and the first communication interface includes an I2C interface; at the same time, it also includes a GPIO1 interface and a GPIO2 interface, the GPIO1 interface can be used in conjunction with the SPI interface or the I2C interface, and the GPIO2 interface can also be used in conjunction with the SPI interface or the I2C interface; the MPU2 has the same interface type and quantity as the MCU1, and is connected correspondingly through the level matching module 3. Similarly, the SPI interface and I2C interface of the MCU1 can be configured as a slave mode, and the SPI interface and I2C interface of the MPU2 can be configured as a master mode; or the SPI interface and I2C interface of the MCU1 can be configured as a master mode, and the SPI interface and I2C interface of the MPU2 can be configured as a slave mode, or other combined configuration methods.

[0075] At the same time, the solution in this embodiment can be used in a multi-core heterogeneous SOC (system on chip) or in a single-chip solution, taking into account solutions of different costs.

[0076] Solve the complex software workload of the single communication interface handover process during the Android system startup process. Through the dual communication interfaces on the MCU and MPU circuits, some hardware resources are started first; at the same time, the resource grabbing problem during the Android system startup process is decoupled. In fast reversing, a simpler and more stable method with low workload and low cost is implemented to add auxiliary screen functions such as reversing dynamic trajectory lines.

[0077] In summary, the present invention provides a method and device for generating a dynamic trajectory line. Through the dual communication interfaces on the MCU and MPU circuits, after receiving the power-on command, conventional applications are started through the first communication interface, and fast applications are started through the second communication interface. The applications started by the first communication interface and the second communication interface can be exchanged according to the application scenario, thereby separating the resources started by the system from the resources that need to start the application quickly, and realizing the priority startup of some hardware resources, solving the complex software workload of the single communication interface handover process during the startup of the Android system; at the same time, decoupling the resource preemption problem during the startup of the Android system, and realizing the addition of auxiliary screen functions such as reversing dynamic trajectory lines in the fast reversing application scenario with low workload, low cost, simpler and more stable methods. At the same time, the technical solution can be used for multi-core heterogeneous SOCs, and can also be used in single-chip solutions, taking into account solutions of different costs.

[0078] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for generating a dynamic trajectory, characterized in that: include: receiving a power-on instruction, starting a regular application through a first communication interface according to the power-on instruction, and starting a quick application through a second communication interface; The vehicle body data is received, and it is determined whether the conventional application has been started. If not, the vehicle body data is transmitted through the second communication interface, and the vehicle body data is processed according to the fast application to generate a dynamic trajectory.

2. A method for generating a dynamic trajectory according to claim 1, characterized in that: After receiving the vehicle body data, the method further includes: It is determined whether the conventional application has been started. If so, the vehicle body data is transmitted through the first communication interface path, and the vehicle body data is processed according to the conventional application to generate a dynamic trajectory.

3. A method for generating a dynamic trajectory according to claim 1, characterized in that: The receiving vehicle body data comprises: The second communication interface is used to determine whether the received vehicle body data is received in an interrupt or polling manner. If so, a step of determining whether the conventional application has completed startup is performed.

4. A dynamic trajectory generating device, characterized in that: Including MCU and MPU; The MCU includes a first communication interface and a second communication interface, and the MPU includes a first communication interface and a second communication interface; The first communication interface of the MCU is connected to the first communication interface of the MPU, and is used to start a conventional application in the MPU; The second communication interface of the MCU is connected to the second communication interface of the MPU, and is used to start a fast application in the MPU, and to generate a dynamic trajectory by processing vehicle body data according to the fast application.

5. A dynamic trajectory generating device according to claim 4, characterized in that: Also includes a level matching module; One end of the level matching module is connected to the first communication interface and the second communication interface of the MCU respectively, and the other end of the level matching module is connected to the first communication interface and the second communication interface of the MPU respectively.

6. A dynamic trajectory generating device according to claim 4, characterized in that: Also included is a bus transceiver; The first communication interface of the bus transceiver is connected to the third communication interface of the MCU; The bus transceiver is used to obtain vehicle body data.

7. A dynamic trajectory generating device according to claim 4, characterized in that: The first communication interface of the MCU includes an SPI interface, an I2C interface and a UART interface; The second communication interface of the MCU includes an SPI interface, an I2C interface or a UART interface; The number and type of the first communication interfaces of the MPU correspond to the number and type of the first communication interfaces of the MCU; The type of the second communication interface of the MPU corresponds to the type of the second communication interface of the MCU.

8. A dynamic trajectory generating device according to claim 5, characterized in that: The MCU also includes a GPIO interface; The GPIO interface and the SPI interface of the MCU are combined to form the first communication interface or the second communication interface; The MPU includes a GPIO interface, which is connected correspondingly to the GPIO interface of the MCU.

9. A dynamic trajectory generating device according to claim 4, characterized in that: The first communication interface of the MCU is configured as a master device, and the first communication interface of the MPU is configured as a slave device; Or the first communication interface of the MCU is configured as a slave device, and the first communication interface of the MPU is configured as a master device.

10. A dynamic trajectory generating device according to claim 4, characterized in that: The second communication interface of the MCU is configured as a master device, and the second communication interface of the MPU is configured as a slave device; Or the second communication interface of the MCU is configured as a slave device, and the second communication interface of the MPU is configured as a master device.

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