A multi-vehicle positioning device for intelligent driving test

Abstract

This application discloses a multi-vehicle positioning device for intelligent driving testing, relating to the technical field of intelligent driving testing. The device includes a fixed base station installed at the test site, and master vehicle positioning components and slave vehicle positioning components installed on master and slave test vehicles. The fixed base station receives satellite signals and provides position references for the test vehicles. The slave vehicle positioning components feed back slave vehicle position information to the master vehicle positioning components, and the master vehicle positioning components feed back the master and slave vehicle position information to a host computer. Both master and slave vehicle positioning components are equipped with an automatic power switching module, which connects to a main power supply and a backup power supply. This module automatically switches to the backup power supply when the main power supply fails, ensuring stable power supply. The technical solution in this application can automatically switch power during testing, avoiding data transmission interruptions caused by power outages, reducing testing risks and uncertainties, and meeting the requirement for continuous positioning during intelligent driving testing.

Description

Technical Field

[0001] This utility model relates to the technical field of intelligent driving testing, and more specifically, to a multi-vehicle positioning device for intelligent driving testing. Background Technology

[0002] The rapid development of intelligent driving technology has placed higher demands on multi-vehicle collaborative testing. In the verification of key scenarios such as rear-end collisions and platooning, the accurate acquisition of dynamic relationship data among multiple vehicles directly affects the reliability assessment of autonomous driving algorithms.

[0003] Existing technologies in multi-vehicle cooperative positioning have many problems, including: 1) Traditional positioning schemes typically rely on a single sensor, such as using a satellite navigation positioning component for location information acquisition. However, satellite navigation positioning components are susceptible to environmental interference, resulting in positioning drift, and they may fail to locate when the signal is blocked. Similarly, using an inertial navigation unit for location information acquisition can lead to error accumulation over long periods, resulting in inaccurate positioning information and affecting test results. 2) In traditional positioning schemes, most positioning components typically use independent control architectures to transmit information to the host computer. This results in multi-level signal forwarding and a lack of unified coordination, making the entire system complex, difficult to debug and maintain. Furthermore, both the master vehicle and slave vehicles feed back their positioning information to the host computer. 1) The information cannot be synchronized in time, making it impossible to obtain the relative positions of the master vehicle and slave vehicle at a certain moment during the test; 2) In traditional multi-vehicle test devices, the independent control architecture of the master vehicle and slave vehicle directly relies on a single power input. This design will cause a power outage when the external power supply is abnormal or fails, resulting in data transmission interruption, which seriously affects the continuity and accuracy of the entire intelligent driving test, and may even lead to test failure, increasing test risk and uncertainty; 3) Due to the complexity of the test environment, the independent control architecture in traditional multi-vehicle test devices is usually connected to multiple external devices. When these devices are working, they will generate electromagnetic interference and electrostatic discharge phenomena. These interferences will directly affect the accuracy of data transmission and reduce the measurement accuracy and stability of the entire intelligent driving test system. Utility Model Content

[0004] The purpose of this invention is to address the problems existing in the prior art by providing a multi-vehicle positioning device for intelligent driving testing. It features an independent fixed base station and communication and positioning components on the master vehicle and each slave vehicle. The slave vehicle positioning components feed back their position information to the master vehicle positioning component, and the master vehicle positioning component feeds back the master and slave vehicle position information to the host computer, forming a multi-vehicle collaborative positioning device. The fixed base station feeds back reference position information to the host computer, providing a reference for testers to accurately obtain the position information of each test vehicle, facilitating monitoring of each test vehicle. Furthermore, an automatic power switching module is incorporated into the master and slave vehicle positioning components, automatically switching to a backup power supply when the main power supply fails, avoiding data transmission interruptions due to power outages, reducing testing risks and uncertainties, preventing information loss, improving testing efficiency, and meeting the testing requirements of actual road conditions.

[0005] The technical solution of this utility model is: a multi-vehicle positioning device for intelligent driving testing is provided, the device comprising:

[0006] Fixed base station, master vehicle positioning component and at least two slave vehicle positioning components;

[0007] The fixed base station is set up in the center of the test site to receive satellite signals during the test and feed them back to the host computer to provide position reference for each test vehicle.

[0008] The vehicle positioning component is installed on the test vehicle and includes a vehicle wireless communication device, a vehicle navigation device, and a vehicle transmission circuit board. The vehicle navigation device is used to feed back the vehicle position information to the vehicle transmission circuit board, and the vehicle transmission circuit board is used to send the vehicle position information to the master vehicle positioning component through the vehicle wireless communication device.

[0009] The main vehicle positioning component is installed on the test vehicle and includes a main vehicle wireless communication device, a main vehicle navigation device, and a main vehicle transmission circuit board. The main vehicle navigation device is used to feed back the main vehicle position information to the main vehicle transmission circuit board, and the main vehicle transmission circuit board is used to send the main vehicle position information and the received slave vehicle position information to the host computer through the main vehicle wireless communication device.

[0010] The main vehicle transmission circuit board and the slave vehicle transmission circuit board are equipped with an automatic power switching module. The input of the automatic power switching module is connected to the external main power supply and backup power supply. It is used to connect to the power supply and automatically switch to the backup power supply when the main power supply fails to ensure stable power supply.

[0011] Furthermore, the main vehicle wireless communication device and the main vehicle navigation device are respectively connected to the main vehicle transmission circuit board via cables. The main vehicle transmission circuit board includes a first power automatic switching module and a first power conversion module.

[0012] The first power automatic switching module includes a main power input terminal, a backup power input terminal, and a power output terminal. The main power input terminal and the backup power input terminal are connected to an external 24V main power supply and a 12V backup power supply, respectively. The power output terminal is connected to the first power conversion module, which is used to convert the power supplied from the first power automatic switching module into a constant power supply and supply it to the main vehicle transmission circuit board.

[0013] Furthermore, the first automatic power switching module includes a P-MOS transistor, a pull-up resistor, a pull-down resistor, a first Schottky diode, and a second Schottky diode;

[0014] The main power input terminal is connected to the source S of the P-MOS transistor through the first Schottky diode. The drain D of the P-MOS transistor is connected to the power output terminal. The backup power input terminal is connected to the position between the drain D of the P-MOS transistor and the power output terminal through the second Schottky diode. The gate G of the P-MOS transistor is connected to the position between the first Schottky diode and the source S of the P-MOS transistor through a pull-up resistor. The gate G of the P-MOS transistor is also connected to GND through a pull-down resistor.

[0015] Furthermore, the main vehicle transmission circuit board also includes a first MCU unit, a CAN bus module, a USB to serial port module, a first LAN Ethernet module, a first isolation module, a second isolation module, and a third isolation module;

[0016] The CAN bus module communicates with the first MCU unit through the first isolation module, the USB to serial port module communicates with the first MCU unit through the second isolation module, and the first LAN Ethernet module communicates with the first MCU unit through the third isolation module. Each isolation module is used to suppress electromagnetic interference in the circuit and to provide electrostatic protection for the circuit on the first MCU unit side.

[0017] Furthermore, the first isolation module includes a common-mode choke and an ESD array. The common-mode choke is connected between the first MCU unit and the CAN bus module via a signal line. One end of the ESD array is connected in parallel to the signal line between the first MCU unit and the common-mode choke, and the other end is connected to GND. The common-mode choke is used to suppress common-mode interference noise in the circuit, and the ESD array is used to provide electrostatic discharge protection for the circuit between the first MCU unit and the common-mode choke.

[0018] Furthermore, the main vehicle transmission circuit board also includes a first 12V_PoE communication module and a first 24V_PoE communication module;

[0019] The first 12V_PoE communication module is communicatively connected to the first MCU unit and electrically connected to the first power conversion module. The first 12V_PoE communication module is used to realize data communication between the first MCU unit and external Ethernet devices and to provide 12V power to external devices.

[0020] The first 24V_PoE communication module is communicatively connected to the first MCU unit and electrically connected to the first power conversion module. The first 24V_PoE communication module is used to realize data communication between the first MCU unit and external Ethernet devices and to provide 24V power to external devices via PoE.

[0021] Furthermore, the first 12V_PoE communication module includes a PHY chip, a PSE power supply chip, and a network transformer;

[0022] The network transformer is connected to the first MCU unit via a PHY chip and is also electrically connected to the first power conversion module via a PSE power supply chip. The second voltage regulator module can provide 12V power to the network transformer. The PHY chip is used to realize bidirectional communication between the first MCU unit and the external Ethernet device. The PSE power supply chip is used to superimpose the 12V power from the first power conversion module onto the signal line connected to the Ethernet device to power it. The network transformer is used to realize signal isolation between the PHY chip and the external Ethernet device.

[0023] Furthermore, the main vehicle transmission circuit board also includes a first switch module and a reset module. The first switch module is located between the first power automatic switching module and the first power conversion module and is used to turn the main vehicle transmission circuit board on or off. The reset module is connected to the first MCU unit and is used to reset the first MCU unit.

[0024] Furthermore, the vehicle wireless communication device and the vehicle navigation device are respectively connected to the vehicle transmission circuit board via cables. The vehicle transmission circuit board includes a second power automatic switching module, a second power conversion module, a second MCU unit, a second LAN Ethernet module, a second 12V_PoE communication module, a second 24V_PoE communication module, and a fourth isolation module.

[0025] The input of the second power automatic switching module is connected to an external 24V main power supply and a 12V backup power supply, and the output is connected to the second power conversion module. The second power conversion module is used to convert the power supplied from the second power automatic switching module into a constant power supply and supply it to the vehicle transmission circuit board. The second LAN Ethernet module communicates with the second MCU unit through the fourth isolation module. The second 12V PoE communication module and the second 24V PoE communication module communicate with the second MCU unit respectively.

[0026] Furthermore, the vehicle transmission circuit board also includes a second switch module, which is located between the second power automatic switching module and the second power conversion module, and is used to turn the vehicle transmission circuit board on or off.

[0027] The beneficial effects of this utility model are:

[0028] First, the technical solution of this utility model sets up corresponding circuit boards for the master vehicle and slave vehicle, and sets up an automatic power switching module and a power conversion module in the circuit boards. The main power input terminal and the backup power input terminal of the automatic power switching module are connected to the external 24V main power supply and 12V backup power supply, respectively. The power output terminal of the automatic power switching module is connected to the first power conversion module. It can automatically switch to the backup power supply when the main power supply fails or the voltage is abnormal, ensuring that the subsequent power conversion module can continuously and stably supply power, ensuring the normal operation of the entire circuit board, avoiding data transmission interruption caused by power failure, and reducing testing risks and uncertainties. The power conversion module can convert the power output of the automatic power switching module into a constant power supply to power the various modules in the circuit board, avoiding problems such as voltage fluctuations, power failures or module resets during the switching of main and backup power, ensuring the continuous and stable operation of the circuit board, and effectively preventing data loss or functional abnormalities caused by power fluctuations.

[0029] Secondly, the technical solution of this utility model sets up an isolation module between each communication module, including the CAN bus module, USB to serial port module and LAN Ethernet module, and the MCU unit. The isolation module is equipped with a common mode choke and ESD array, which can suppress electromagnetic interference during the test and provide electrostatic protection for the communication circuit between each communication module and the MCU unit, so as to improve the anti-interference capability of the circuit board and ensure the stability of signal transmission between each communication module and the MCU unit.

[0030] Third, the technical solution of this utility model is to set up a positioning device including inertial navigation and GPS navigation in each positioning component of each master vehicle and slave vehicle, and set up a fixed base station in the center of the multi-vehicle test site. After each positioning component measures the position data, it uploads it to the host computer. At the same time, the fixed base station also feeds back reference position data to the host computer. After these are uploaded to the host computer, they can provide a reference for the test personnel to accurately obtain the position information of each test vehicle, which is convenient for the test personnel to monitor each test vehicle.

[0031] Fourth, in the technical solution of this utility model, each slave vehicle positioning component communicates directly with the master vehicle positioning component, and the master vehicle positioning component communicates directly with the host computer. This allows the master vehicle positioning component to collect slave vehicle positioning data first, and then send it to the host computer in a unified manner through a wireless communication device. This enables the relative positions of the master vehicle and slave vehicles at a certain moment to be obtained during the test, while reducing the number of wireless communication nodes and the risk of signal conflict. Attached Figure Description

[0032] The advantages of the above and / or additional aspects of this utility model will become apparent and readily understood in the description of the embodiments taken in conjunction with the following drawings, wherein:

[0033] Figure 1 This is a schematic block diagram of the overall structure of a multi-vehicle positioning device according to an embodiment of the present utility model;

[0034] Figure 2 This is a schematic diagram of the structure of each functional module on the main vehicle transmission circuit board according to an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the structure of various functional modules on the vehicle transmission circuit board according to an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram showing the distribution of various ports on the outer casing of the main vehicle transmission circuit board according to an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram showing the distribution of various ports on the outer housing of the vehicle transmission circuit board according to an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the structure of a first 12V_PoE communication module according to an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the structure of a first power automatic switching module according to an embodiment of the present invention.

[0040] Among them, 01-main vehicle transmission circuit board, 0100-first 12V power output port, 0101-first 12V power input port, 0102-first 24V power input port, 0103-USB port, 010301-standard rectangular USB port, 010302-elliptical USB port, 010303-dual-pin rectangular USB port, 0104-CAN port, 0105-first LAN port, 010501-rectangular LAN port, 010502-circular LAN port, 01 06-First 12V_PoE output port, 0107-First 24V_PoE output port, 0108-First switch button, 0109-Reset button, 02-Vehicle transmission circuit board, 0201-Second 12V power input port, 0202-Second 24V power input port, 0203-Second LAN port, 0204-Second 12V_PoE output port, 0205-Second 24V_PoE output port, 0206-Second switch button, 0207-Second 12V power output port. Detailed Implementation

[0041] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of this utility model and the features thereof can be combined with each other.

[0042] In the following description, many specific details are set forth in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0043] like Figures 1 to 6 As shown, this embodiment provides a multi-vehicle positioning device for intelligent driving testing. The device includes: a fixed base station, a master vehicle positioning component, and at least two slave vehicle positioning components.

[0044] The fixed base station is set in the center of the test site for multi-vehicle collaborative testing. It is used to receive GPS satellite signals during multi-vehicle collaborative testing and to feed the GPS satellite signals back to the host computer to provide a unified coordinate system and reference origin for each test vehicle.

[0045] In this embodiment, the tester can summarize the GPS satellite signals fed back by the fixed base station and the position signals fed back by each test vehicle in the host computer, compare the position information fed back by the fixed base station with the position information fed back by each test vehicle, determine whether each test vehicle has a position deviation, and thus be able to correct the test vehicle in time to avoid affecting the test results.

[0046] The fixed base station includes a GPS base station, a first GPS antenna, a first wireless communication module, and a first communication antenna.

[0047] The GPS base station is fixed on the ground in the center of the test site, with a fixed bracket on its upper end. The first GPS antenna is installed on the fixed bracket and is connected to the GPS base station via a cable. The GPS base station is used to receive GPS satellite signals through the first GPS antenna and convert the GPS satellite signals into differential signals (i.e., positioning data) and send them to the first wireless communication module.

[0048] In this embodiment, the GPS base station can use existing base stations, such as Huace Hi-Target iBase, Nanfang N3 base station, Trimble SPS985 (Tianbao SPS985 GNSS satellite receiver), etc. These base stations can automatically complete the signal conversion through internal hardware after receiving satellite signals, and can be used immediately after installation.

[0049] The first wireless communication module and the first communication antenna are respectively mounted on a fixed bracket. The first wireless communication module is connected to the GPS fixed base station via a cable, and the first communication antenna is connected to the first wireless communication module via a cable. The first wireless communication module is used to receive the differential signal sent by the GPS fixed base station and send the differential signal to the host computer through the first communication antenna.

[0050] In this embodiment, the first wireless communication module can use existing devices, such as Trimble TDL450H (Tianbao TDL450H data communication module), Ebyte E32 LoRa wireless module (Ebyte E32 LoRa wireless serial port module), ZLG E810-DTU, etc. These devices can be used immediately after installation.

[0051] The master vehicle positioning component is used to establish communication connections with each slave vehicle positioning component during testing, and is responsible for sending the measured master vehicle data and the received slave vehicle data to the host computer, so that the testers can monitor the status of each test vehicle based on the data received by the host computer, which facilitates the testers to control each test vehicle in a timely manner.

[0052] The main vehicle positioning component is installed on the test vehicle and includes a main vehicle wireless communication device, a main vehicle navigation device, and a main vehicle transmission circuit board 01. The main vehicle wireless communication device and the main vehicle navigation device are respectively connected to the main vehicle transmission circuit board via cables.

[0053] The main vehicle wireless communication device includes a second wireless communication module and a second communication antenna. The second wireless communication module and the second communication antenna are respectively installed on the top of the main vehicle. The second communication antenna is connected to the second wireless communication module via a cable. The second wireless communication module is connected to the main vehicle transmission circuit board via a cable. The second wireless communication module is used to establish communication connections with the host computer and each slave vehicle positioning component.

[0054] In this embodiment, the second wireless communication module can be a LoRa wireless module (Long Range), such as the Ebyte E32-433T30D LoRa serial wireless communication module. This module can achieve broadcast communication and point-to-point communication functions by manually configuring the address in serial port pass-through mode, without the need for programming.

[0055] The main vehicle navigation device includes a first inertial navigation module and a first GPS navigation module, used to measure the position information of the main vehicle and feed the position information back to the main vehicle transmission circuit board 01. Specifically, the first GPS navigation module and the first inertial navigation module are fixed inside the main vehicle by a bracket, the antenna of the first GPS navigation module is installed on the top of the main vehicle, and the first GPS navigation module and the first inertial navigation module are respectively connected to the main vehicle transmission circuit board 01 via cables.

[0056] The main vehicle transmission circuit board 01 includes a first power automatic switching module, a first power conversion module, a first MCU unit, a CAN bus module, a USB to serial port module, a first LAN Ethernet module, a first 12V_PoE communication module, a first 24V_PoE communication module, a first isolation module, a second isolation module, and a third isolation module.

[0057] The first power automatic switching module includes a main power input terminal, a backup power input terminal, and a power output terminal. The main power input terminal and the backup power input terminal are connected to an external 24V main power supply and a 12V backup power supply, respectively. The power output terminal is connected to the first power conversion module. The first power automatic switching module is used to automatically switch to the backup power supply when the main power supply fails or the voltage is abnormal, ensuring that the subsequent first power conversion module can continuously and stably supply power, thereby ensuring the normal operation of the entire main vehicle transmission circuit board 01 without interruption.

[0058] Specifically, the circuit structure of the first power automatic switching module is as follows: Figure 7As shown, it includes a P-MOS transistor, a pull-up resistor, a pull-down resistor, a first Schottky diode, and a second Schottky diode. The main power input terminal of the first power automatic switching module is connected to the source S of the P-MOS transistor through the first Schottky diode. The drain D of the P-MOS transistor is connected to the power output terminal of the first power automatic switching module. The backup power input terminal is connected to the position between the drain D of the P-MOS transistor and the power output terminal of the first power automatic switching module through the second Schottky diode. The gate G of the P-MOS transistor is connected to the position between the first Schottky diode and the source S of the P-MOS transistor through the pull-up resistor. At the same time, the gate G of the P-MOS transistor is connected to GND through the pull-down resistor.

[0059] The working principle of the first power automatic switching module is as follows: When the 24V main power supply is working normally, it supplies power to the source S of the P-MOS transistor through the first Schottky diode. The voltage at the source S is 24V (the losses of the diode and P-MOS transistor are ignored in this embodiment). The gate G of the P-MOS transistor is connected between the pull-up resistor and the pull-down resistor. The pull-up resistor and the pull-down resistor can act as a voltage divider, making the voltage at the gate G less than the voltage at the source S, which satisfies the conduction condition of the P-MOS transistor. At this time, the P-MOS transistor conducts, and the 24V main power supply directly supplies power to the output terminal of the first power automatic switching module. At the same time, the 24V main power supply voltage is higher than the 12V backup power supply voltage, and the second Schottky diode is reverse biased and does not conduct. When the 24V main power supply fails (e.g., 24V → 0V), the source (S) of the P-MOS transistor has no voltage, the gate-source voltage difference is insufficient, the P-MOS transistor is turned off, and the first Schottky diode is also not conducting. At this time, the second Schottky diode is forward biased, and the 12V backup power supply directly supplies power to the output of the first power automatic switching module through the second Schottky diode. When the 24V main power supply returns to normal, the source (S) voltage of the P-MOS transistor is 24V, the gate (G) voltage is less than the source (S) voltage, the P-MOS transistor is turned on, the 24V main power supply directly supplies power to the output of the first power automatic switching module, the second Schottky diode is reverse biased, and the 12V backup power supply is not supplied.

[0060] The first power conversion module internally comprises a first voltage regulator module, a second voltage regulator module, and a third voltage regulator module connected in parallel. The input of the first voltage regulator module is connected to the first automatic power switching module, and its output is connected to the first MCU unit, the CAN bus module, the USB-to-serial module, the first LAN Ethernet module, the first isolation module, the second isolation module, and the third isolation module. This is used to convert the power supplied from the first automatic power switching module to 5V and supply it to the first MCU unit, the CAN bus module, the USB-to-serial module, the first LAN Ethernet module, the first isolation module, and the third isolation module, respectively. The system includes a first automatic power switching module and a third isolation module; the input of the second voltage regulator module is connected to the first automatic power switching module, and the output of the second voltage regulator module is connected to the first 12V_PoE communication module, for converting the power supplied from the first automatic power switching module to 12V and supplying it to the first 12V_PoE communication module; the input of the third voltage regulator module is connected to the first automatic power switching module, and the output of the third voltage regulator module is connected to the first 24V_PoE communication module, for converting the power supplied from the first automatic power switching module to 24V and supplying it to the first 24V_PoE communication module.

[0061] In this embodiment, the first voltage regulator module can be a buck DC-DC module, such as TI LM2596-5.0 (fixed 5V), MP1584, or XL4015 (adjustable, set to 5V). The second voltage regulator module can be a buck-boost DC-DC converter, such as TI LM5156, LTC3115-1, or XL6009 (set to fixed output 12V). The third voltage regulator module can be a boost DC-DC converter, such as XL6009, MT3608, or TPS55340.

[0062] The CAN bus module communicates with the first MCU unit through the first isolation module. The first isolation module is used to suppress electromagnetic interference and provide electrostatic protection to improve the anti-interference capability of the main vehicle transmission circuit board 01 and ensure the stability of signal transmission between the CAN bus module and the first MCU unit.

[0063] The first isolation module includes a common-mode choke and an ESD array. The common-mode choke is connected between the first MCU unit and the CAN bus module via a signal line. One end of the ESD array is connected in parallel to the signal line between the first MCU unit and the common-mode choke, and the other end is connected to GND. The common-mode choke is used to suppress common-mode interference noise in the circuit, reduce electromagnetic interference, and improve the anti-interference capability of the signal. The ESD array is used to provide electrostatic discharge protection for the circuit between the first MCU unit and the common-mode choke.

[0064] The USB-to-serial module communicates with the first MCU unit through the second isolation module. The second isolation module is also used to suppress electromagnetic interference and provide electrostatic protection. The structure and connection method of the second isolation module are the same as those of the first isolation module, and will not be described again here.

[0065] The first LAN Ethernet module communicates with the first MCU unit through the third isolation module. The third isolation module is also used to suppress electromagnetic interference and provide electrostatic protection. The structure and connection method of the third isolation module are the same as those of the first isolation module, and will not be described again here.

[0066] The first 12V_PoE communication module is communicatively connected to the first MCU unit and electrically connected to the second voltage regulator module. The first 12V_PoE communication module is used to realize data communication between the first MCU unit and external Ethernet devices and to provide 12V power to external devices via PoE.

[0067] The first 12V PoE communication module includes a PHY chip, a PSE power supply chip, and a network transformer. The network transformer is connected to the first MCU unit via the PHY chip, enabling bidirectional communication between the network transformer and the first MCU unit. The PHY chip is electrically connected to the first voltage regulator module, which provides 5V power to the PHY chip. The network transformer is also electrically connected to the second voltage regulator module via the PSE power supply chip, which provides 12V power to the network transformer. The PHY chip enables bidirectional communication between the first MCU unit and external Ethernet devices. The PSE power supply chip adds the 12V power from the second voltage regulator module to the signal lines connecting the Ethernet devices to power the external devices. The network transformer provides signal isolation between the PHY chip and the external Ethernet devices, ensuring electrical safety and signal integrity in Ethernet communication.

[0068] The first 24V_PoE communication module is communicatively connected to the first MCU unit and electrically connected to the third voltage regulator module. The first 24V_PoE communication module is used to realize data communication between the first MCU unit and external Ethernet devices and to provide 24V power to external devices via PoE.

[0069] The structure and connection method of the first 24V_PoE communication module are the same as those of the first 12V_PoE communication module, and will not be described again here.

[0070] The main vehicle transmission circuit board 01 also includes a first switch module and a reset module. The first switch module is located between the first power automatic switching module and the first power conversion module and is used to turn the main vehicle transmission circuit board 01 on or off. The reset module is connected to the first MCU unit and is used to reset the first MCU unit. The reset module is electrically connected to the first voltage regulator module and the first voltage regulator module can provide a 5V voltage to the reset module.

[0071] In this embodiment, the reset module is connected to the RESET pin of the first MCU unit and is reset by hardware triggering.

[0072] The main vehicle transmission circuit board 01 also includes a first 12V power input port 0101, a first 24V power input port 0102, a USB port 0103, a CAN port 0104, a first LAN port 0105, a first 12V_PoE output port 0106, a first 24V_PoE output port 0107, a first switch button 0108 (POWER), a reset button 0109 (SYSTEM), and a first 12V power output port 0100.

[0073] The first 12V power input port 0101 is connected to the backup power input terminal of the first power automatic switching module, and is used to connect the external 12V backup power to the first power automatic switching module; the first 24V power input port 0102 is connected to the main power input terminal of the first power automatic switching module, and is used to connect the external 24V main power to the first power automatic switching module.

[0074] USB port 0103 is connected to a USB-to-serial module, which enables the USB-to-serial module to communicate with external devices through USB port 0103; CAN port 0104 is connected to a CAN bus module, which enables the CAN bus module to communicate with external devices through CAN port 0104; and the first LAN port 0105 is connected to a first LAN Ethernet module, which enables the first LAN Ethernet module to communicate with external devices through the first LAN port 0105.

[0075] The first 12V_PoE output port 0106 is connected to the network transformer in the first 24V_PoE communication module, and the network transformer in the first 24V_PoE communication module can communicate with external Ethernet devices through the first 12V_PoE output port 0106; the first 24V_PoE output port 0107 is connected to the network transformer in the first 24V_PoE communication module, and the network transformer in the first 24V_PoE communication module can communicate with external Ethernet devices through the first 24V_PoE output port 0107.

[0076] The first switch button 0108 is connected to the first switch module; the reset button 0109 is connected to the reset module. The first 12V power output port 0100 is connected to the second voltage regulator module via a wire, and is used to connect to external electrical equipment and provide it with 12V power.

[0077] like Figure 4 As shown, the main vehicle transmission circuit board 01 is externally enclosed in a housing. The first 12V power input port 0101, the first 24V power input port 0102, the USB port 0103, the CAN port 0104, the first LAN port 0105, the first 12V_PoE output port 0106, the first 24V_PoE output port 0107, the first switch button 0108, and the reset button 0109 on the main vehicle transmission circuit board 01 are respectively fixed on the housing of the main vehicle transmission circuit board 01.

[0078] In this embodiment, both the main vehicle wireless communication device and the main vehicle navigation device can communicate with the main vehicle transmission circuit board 01 via USB port 0103, CAN port 0104 or the first LAN port 0105.

[0079] like Figure 4 As shown, multiple USB ports 0103 can be set on the main vehicle transmission circuit board 01. The connection method, circuit topology, and protection scheme of each USB port 0103 are consistent to facilitate mass design, manufacturing, and debugging. The multi-port design allows for future upgrades or additions of new equipment without modifying the main vehicle transmission circuit board 01, enabling other individual devices (such as sensors, debugging tools, cameras, memory, USB flash drives, and WiFi modules) to be connected in different situations. The multi-port design also provides redundancy backup in case the device becomes unusable due to the failure of a certain port. Similarly, multiple CAN ports 0104 and the first LAN port 0105 can also be set. For the first LAN port 0105, different shapes can be set to meet the needs of different devices, such as... Figure 4 The rectangular LAN port 010501 (RJ45, 1000M) and the circular LAN port 010502 (LAN1, LAN2, LAN3) are similarly designed. Similarly, the USB port 0103 can also be configured with different shapes, such as... Figure 4 The standard rectangular USB port 010301 (USB 3.0 Type-A, the most common host interface), the oval USB port 010302 (USB 3.0 / 3.1 Type-C, the new generation reversible interface), and the dual-row rectangular USB port 010303 (USB 3.0 Micro-B, which has pins with the same spacing inside, mostly used on the device side and data hard drive).

[0080] The slave vehicle positioning component is used to establish communication connections with each slave vehicle positioning component during testing and is responsible for sending the measured local slave vehicle data to the master vehicle positioning component.

[0081] The vehicle positioning component is installed on the tested vehicle and includes a vehicle wireless communication device, a vehicle navigation device, and a vehicle transmission circuit board 02. The vehicle wireless communication device and the vehicle navigation device are respectively connected to the vehicle transmission circuit board 02 via cables.

[0082] The vehicle-to-vehicle wireless communication device includes a third wireless communication module and a third communication antenna. The third wireless communication module and the third communication antenna are respectively installed on the top of the vehicle. The third communication antenna is connected to the third wireless communication module via a cable. The third wireless communication module is connected to the vehicle-to-vehicle transmission circuit board 02 via a cable. The third wireless communication module is used to establish a communication connection with the main vehicle positioning component.

[0083] In this embodiment, the third wireless communication module can be a LoRa wireless module (Long Range), such as the Ebyte E32-433T30D LoRa serial wireless communication module. This module can realize broadcast communication and point-to-point communication functions in serial port pass-through mode.

[0084] The vehicle navigation device includes a second inertial navigation module and a second GPS navigation module, used to measure the vehicle's position information and feed it back to the vehicle's transmission circuit board 02. Specifically, the second GPS navigation module and the second inertial navigation module are fixed inside the vehicle by a bracket, the antenna of the second GPS navigation module is mounted on the top of the vehicle, and the second GPS navigation module and the second inertial navigation module are respectively connected to the vehicle's transmission circuit board 02 via cables.

[0085] The vehicle transmission circuit board 02 includes a second power automatic switching module, a second power conversion module, a second MCU unit, a second LAN Ethernet module, a second 12V_PoE communication module, a second 24V_PoE communication module, and a fourth isolation module.

[0086] The main power input terminal and the backup power input terminal of the second power automatic switching module are connected to the external 24V main power supply and 12V backup power supply, respectively. The power output terminal of the second power automatic switching module is connected to the second power conversion module. The second power automatic switching module is used to automatically switch to the backup power supply when the main power supply fails or the voltage is abnormal, so as to ensure that the downstream second power conversion module can continuously and stably supply power, thereby ensuring the normal operation of the entire vehicle transmission circuit board 02 without interruption.

[0087] The structure and connection method of the second automatic power switching module are the same as those of the first automatic power switching module, and will not be described again here.

[0088] The second power conversion module internally includes a fourth, fifth, and sixth voltage regulator module connected in parallel. The input of the fourth voltage regulator module is connected to the second automatic power switching module, and its output is connected to the second MCU unit, the second LAN Ethernet module, and the fourth, fifth, and sixth voltage regulator modules, respectively. It converts the power supplied from the second automatic power switching module to 5V and supplies it to the second MCU unit, the second LAN Ethernet module, the fourth, fifth, and sixth voltage regulator modules. The input of the fifth voltage regulator module is connected to the second automatic power switching module, and its output is connected to the second 12V_PoE communication module, converting the power supplied from the second automatic power switching module to 12V and supplying it to the second 12V_PoE communication module. The input of the sixth voltage regulator module is connected to the second automatic power switching module, and its output is connected to the second 24V_PoE communication module, converting the power supplied from the second automatic power switching module to 24V and supplying it to the second 24V_PoE communication module.

[0089] In this embodiment, the fourth voltage regulator module can be a buck DC-DC module, such as TI LM2596-5.0 (fixed 5V), MP1584, or XL4015 (adjustable, set to 5V). The fifth voltage regulator module can be a buck-boost DC-DC converter, such as TI LM5156, LTC3115-1, or XL6009 (set to fixed output 12V). The sixth voltage regulator module can be a boost DC-DC converter, such as XL6009, MT3608, or TPS55340.

[0090] The second LAN Ethernet module communicates with the second MCU unit through the fourth isolation module. The fourth isolation module is also used to suppress electromagnetic interference and provide electrostatic protection. The structure and connection method of the fourth isolation module are the same as those of the first isolation module, and will not be described again here.

[0091] The second 12V_PoE communication module is connected to the second MCU unit and electrically connected to the fifth voltage regulator module. The second 12V_PoE communication module is used to realize data communication between the second MCU unit and external Ethernet devices and to provide 12V power to external devices via PoE.

[0092] The structure and connection method of the second 12V_PoE communication module are the same as those of the first 12V_PoE communication module, and will not be described again here.

[0093] The second 24V_PoE communication module is connected to the second MCU unit and electrically connected to the sixth voltage regulator module. The second 24V_PoE communication module is used to realize data communication between the second MCU unit and external Ethernet devices and to provide 24V power to external devices via PoE.

[0094] The structure and connection method of the second 24V_PoE communication module are the same as those of the first 12V_PoE communication module, and will not be described again here.

[0095] The vehicle transmission circuit board 02 also includes a second switch module, which is located between the second power automatic switching module and the second power conversion module, and is used to turn the vehicle transmission circuit board 02 on or off.

[0096] The vehicle transmission circuit board 02 also includes a second 12V power input port 0201, a second 24V power input port 0202, a second LAN port 0203, a second 12V_PoE output port 0204, a second 24V_PoE output port 0205, a second switch button 0206 (POWER), and a second 12V power output port 0207.

[0097] The second 12V power input port 0201 is connected to the backup power input terminal of the second power automatic switching module, and is used to connect the external 12V backup power to the second power automatic switching module; the second 24V power input port 0202 is connected to the main power input terminal of the second power automatic switching module, and is used to connect the external 24V main power to the second power automatic switching module.

[0098] The second LAN port 0203 is connected to the second LAN Ethernet module, which can communicate with external devices through the second LAN port 0105.

[0099] The second 12V_PoE output port 0204 is connected to the network transformer in the second 24V_PoE communication module. The network transformer in the second 24V_PoE communication module can communicate with external Ethernet devices through the second 12V_PoE output port 0106. The second 24V_PoE output port 0205 is connected to the network transformer in the second 24V_PoE communication module. The network transformer in the second 24V_PoE communication module can communicate with external Ethernet devices through the second 24V_PoE output port 0106.

[0100] The second switch button 0206 is connected to the second switch module. The second 12V power output port 0207 is connected to the fifth voltage regulator module via a wire, and is used to connect to external electrical equipment and provide it with 12V power.

[0101] like Figure 5 As shown, a housing is provided outside the vehicle transmission circuit board 02. The second 12V power input port 0201, the second 24V power input port 0202, the second LAN port 0203, the second 12V_PoE output port 0204, the second 24V_PoE output port 0205, the second switch button 0206, and the second 12V power output port 0207 on the vehicle transmission circuit board 02 are respectively fixed on the housing of the vehicle transmission circuit board 02.

[0102] In this embodiment, both the vehicle wireless communication device and the vehicle navigation device can communicate with the vehicle transmission circuit board 02 through the second LAN port 0203.

[0103] like Figure 5 As shown, multiple rectangular second LAN ports 0203 can be set on the vehicle transmission circuit board 02. The connection method, circuit topology and protection scheme of each port are consistent, which facilitates batch design, manufacturing and debugging. The multi-port design can provide redundancy backup, so that other individual devices (such as sensors, debugging tools, cameras, memory, USB flash drives, WiFi modules) can be connected in different situations, while preventing the device 2 from becoming unusable after a certain port is damaged.

[0104] The working principle of the multi-vehicle positioning device for intelligent driving testing provided in this embodiment is as follows:

[0105] First, determine the number of slave vehicles to be tested for intelligent driving, prepare the corresponding number of slave vehicle positioning components according to the number of slave vehicles, fix the assembled fixed base station in the center of the test site, assemble the master vehicle positioning component and slave vehicle positioning component according to the connection method described above, and then fix the assembled master vehicle positioning component and slave vehicle positioning component on the master vehicle and slave vehicle respectively.

[0106] The main vehicle transmission circuit board 01 and the slave vehicle transmission circuit board 02 are manually turned on by pressing the first switch button 0108 and the second switch button 0206. The main vehicle navigation device measures the location information of the main vehicle and feeds it back to the main vehicle transmission circuit board 01. Each slave vehicle navigation device measures the location information of its corresponding slave vehicle and feeds it back to the slave vehicle transmission circuit board 02. The slave vehicle transmission circuit board 02 receives the location data of each slave vehicle and sends it to the main vehicle transmission circuit board 01 through the slave vehicle wireless communication device. The main vehicle transmission circuit board 01 receives the location data of the main vehicle and each slave vehicle and sends it to the host computer through the main vehicle wireless communication device. The fixed base station obtains satellite signals through the first GPS antenna and converts them into location data, which is fed back to the host computer through the first communication antenna. The test personnel summarize the location data received by the host computer to monitor the location information of each test vehicle.

[0107] For the main vehicle transmission circuit board 01, after the switch of the main vehicle transmission circuit board 01 is turned on by the first switch button 0108, the external 24V main power supply starts to supply power to the first power automatic switching module. The first power conversion module converts the power output of the first power automatic switching module into 5V, 12V and 24V power respectively. The 5V power supplies the first MCU unit, CAN bus module, USB to serial port module, first LAN Ethernet module, first isolation module, second isolation module, third isolation module, reset module, PHY chip in the first 12V_PoE communication module and PHY chip in the first 24V_PoE communication module respectively. The 12V power supplies the PSE power supply chip and network transformer in the first 12V_PoE communication module and the first 12V_PoE output port respectively. The 24V power supplies the PSE power supply chip and network transformer in the first 24V_PoE communication module. When the external 24V main power supply fails, the 12V backup power supply is switched to supply power to the first power automatic switching module, and the main vehicle transmission circuit board 01 works normally. For any one of the CAN bus module, USB to serial port module, and first LAN Ethernet module, when transmitting data to the first MCU unit, the corresponding isolation module uses an internal common-mode choke and ESD array to suppress electromagnetic interference and provide electrostatic protection, ensuring the stability of signal transmission.

[0108] For the vehicle-to-everything (V2) transmission circuit board 02, after the switch of the V2 transmission circuit board 02 is turned on by the second switch button 0206, the external 24V main power supply begins to supply power to the second power automatic switching module. The second power conversion module converts the power output of the second power automatic switching module into 5V, 12V, and 24V power respectively. The 5V power supplies the PHY chip in the second MCU unit, the second LAN Ethernet module, the fourth isolation module, the PHY chip in the second 12V_PoE communication module, and the PHY chip in the second 24V_PoE communication module. The 12V power supplies the PSE power supply chip and network transformer in the second 12V_PoE communication module, as well as the second 12V_PoE output port. The 24V power supplies the PSE power supply chip and network transformer in the second 24V_PoE communication module. When the external 24V main power supply fails, the 12V backup power supply is switched to supply power to the second power automatic switching module, and the V2 transmission circuit board 02 operates normally. For the second LAN Ethernet module, when it transmits data to the second MCU unit, the fourth isolation module uses its internal common-mode choke and ESD array to suppress electromagnetic interference and protect against electrostatic discharge, ensuring the stability of signal transmission.

[0109] In this utility model, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0110] The shapes of the components in the accompanying drawings are schematic and may differ from their actual shapes. The drawings are only used to illustrate the principle of this utility model and are not intended to limit this utility model.

[0111] Although the present invention has been disclosed in detail with reference to the accompanying drawings, it should be understood that these descriptions are merely exemplary and not intended to limit the application of the present invention. The scope of protection of the present invention is defined by the appended claims and may include various modifications, alterations, and equivalents made to the invention without departing from the scope and spirit of the present invention.

Claims

1. A multi-vehicle positioning device for intelligent driving testing, characterized in that, The device includes: a fixed base station, a master vehicle positioning component, and at least two slave vehicle positioning components; The fixed base station is set in the center of the test site and is used to receive satellite signals during the test and feed them back to the host computer to provide position reference for each test vehicle. The vehicle positioning component is installed on the test vehicle and includes a vehicle wireless communication device, a vehicle navigation device and a vehicle transmission circuit board (02). The vehicle navigation device is used to feed back the vehicle position information to the vehicle transmission circuit board (02), and the vehicle transmission circuit board (02) is used to send the vehicle position information to the master vehicle positioning component through the vehicle wireless communication device. The main vehicle positioning component is installed on the test vehicle and includes a main vehicle wireless communication device, a main vehicle navigation device and a main vehicle transmission circuit board (01). The main vehicle navigation device is used to feed back the main vehicle position information to the main vehicle transmission circuit board (01). The main vehicle transmission circuit board (01) is used to send the main vehicle position information and the received slave vehicle position information to the host computer through the main vehicle wireless communication device. The main vehicle transmission circuit board (01) and the slave vehicle transmission circuit board (02) are equipped with an automatic power switching module. The input end of the automatic power switching module is connected to the external main power supply and backup power supply for power supply access. When the main power supply fails, it automatically switches to the backup power supply to ensure stable power supply.

2. The multi-vehicle positioning device for intelligent driving testing as described in claim 1, characterized in that, The main vehicle wireless communication device and the main vehicle navigation device are respectively connected to the main vehicle transmission circuit board (01) via cables. The main vehicle transmission circuit board (01) includes a first power automatic switching module and a first power conversion module. The first power automatic switching module includes a main power input terminal, a backup power input terminal and a power output terminal. The main power input terminal and the backup power input terminal are respectively connected to an external 24V main power supply and a 12V backup power supply. The power output terminal is connected to a first power conversion module. The first power conversion module is used to convert the power supplied from the first power automatic switching module into a constant power supply and supply it to the main vehicle transmission circuit board (01).

3. The multi-vehicle positioning device for intelligent driving testing as described in claim 2, characterized in that, The first automatic power switching module includes a P-MOS transistor, a pull-up resistor, a pull-down resistor, a first Schottky diode, and a second Schottky diode; The main power input terminal is connected to the source S of the P-MOS transistor via a first Schottky diode. The drain D of the P-MOS transistor is connected to the power output terminal. The backup power input terminal is connected to the position between the drain D of the P-MOS transistor and the power output terminal via a second Schottky diode. The gate G of the P-MOS transistor is connected to the position between the first Schottky diode and the source S of the P-MOS transistor via a pull-up resistor. The gate G of the P-MOS transistor is also connected to GND via a pull-down resistor.

4. The multi-vehicle positioning device for intelligent driving testing as described in claim 1, characterized in that, The main vehicle transmission circuit board (01) also includes a first MCU unit, a CAN bus module, a USB to serial port module, a first LAN Ethernet module, a first isolation module, a second isolation module and a third isolation module; The CAN bus module communicates with the first MCU unit through the first isolation module, the USB to serial port module communicates with the first MCU unit through the second isolation module, and the first LAN Ethernet module communicates with the first MCU unit through the third isolation module. Each isolation module is used to suppress electromagnetic interference in the circuit and to provide electrostatic protection for the circuit on the first MCU unit side.

5. The multi-vehicle positioning device for intelligent driving testing as described in claim 4, characterized in that, The first isolation module includes a common-mode choke and an ESD array. The common-mode choke is connected between the first MCU unit and the CAN bus module via a signal line. One end of the ESD array is connected in parallel to the signal line between the first MCU unit and the common-mode choke, and the other end is connected to GND. The common-mode choke is used to suppress common-mode interference noise in the circuit, and the ESD array is used to provide electrostatic discharge protection for the circuit between the first MCU unit and the common-mode choke.

6. The multi-vehicle positioning device for intelligent driving testing as described in claim 1, characterized in that, The main vehicle transmission circuit board (01) also includes a first 12V_PoE communication module and a first 24V_PoE communication module; The first 12V_PoE communication module is communicatively connected to the first MCU unit and electrically connected to the first power conversion module. The first 12V_PoE communication module is used to realize data communication between the first MCU unit and external Ethernet devices and to provide 12V power to external devices. The first 24V_PoE communication module is communicatively connected to the first MCU unit and electrically connected to the first power conversion module. The first 24V_PoE communication module is used to realize data communication between the first MCU unit and external Ethernet devices and to provide 24V power to external devices via PoE.

7. The multi-vehicle positioning device for intelligent driving testing as described in claim 6, characterized in that, The first 12V_PoE communication module includes a PHY chip, a PSE power supply chip, and a network transformer; The network transformer is communicatively connected to the first MCU unit via a PHY chip. The network transformer is also electrically connected to the first power conversion module via a PSE power supply chip. The second voltage regulator module can provide 12V power to the network transformer. The PHY chip is used to realize bidirectional communication between the first MCU unit and external Ethernet devices. The PSE power supply chip is used to superimpose the 12V power from the first power conversion module onto the signal line connected to the Ethernet device to power it. The network transformer is used to realize signal isolation between the PHY chip and external Ethernet devices.

8. The multi-vehicle positioning device for intelligent driving testing as described in claim 2, characterized in that, The main vehicle transmission circuit board (01) also includes a first switch module and a reset module. The first switch module is located between the first power automatic switching module and the first power conversion module and is used to turn the main vehicle transmission circuit board (01) on or off. The reset module is connected to the first MCU unit and is used to reset the first MCU unit.

9. The multi-vehicle positioning device for intelligent driving testing as described in claim 1, characterized in that, The vehicle wireless communication device and the vehicle navigation device are respectively connected to the vehicle transmission circuit board (02) via cables. The vehicle transmission circuit board (02) includes a second power automatic switching module, a second power conversion module, a second MCU unit, a second LAN Ethernet module, a second 12V_PoE communication module, a second 24V_PoE communication module and a fourth isolation module. The input of the second power automatic switching module is connected to an external 24V main power supply and a 12V backup power supply, and the output is connected to the second power conversion module. The second power conversion module is used to convert the power supplied from the second power automatic switching module into a constant power supply and supply it to the vehicle transmission circuit board (02). The second LAN Ethernet module is connected to the second MCU unit through the fourth isolation module. The second 12V_PoE communication module and the second 24V_PoE communication module are connected to the second MCU unit respectively.

10. The multi-vehicle positioning device for intelligent driving testing as described in claim 1, characterized in that, The vehicle transmission circuit board (02) also includes a second switch module, which is disposed between the second power automatic switching module and the second power conversion module, and is used to turn the vehicle transmission circuit board (02) on or off.

Images