Data injection method and device, autonomous driving system and medium

Abstract

This invention relates to the field of autonomous driving technology, and discloses a data injection method, apparatus, autonomous driving system, and medium. The data injection method is applied to an autonomous driving system, which includes a simulator and a controller. The simulator includes a memory and an image injection card, and the image injection card includes a processing chip and at least one serializer. This invention improves the configurability of the data injection interface by: when the image injection card receives a request signal, transmitting data from a preset bus interface to the image injection card via the simulator's memory; processing the data through the image injection card's processing chip to form data in a preset protocol format, and transmitting the preset protocol format data to the image injection card's serializer; parsing the preset protocol format data through the serializer to form target data, and transmitting the target data to the controller; and so on.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a data injection method, apparatus, autonomous driving system and medium. Background Technology

[0002] During the system acceptance phase of the autonomous driving system development process, hardware-in-the-loop testing is required. This hardware-in-the-loop testing involves injecting image data of a virtual road scene into the autonomous driving system through a simulator. The autonomous driving system analyzes the virtual road scene in the image data and guides the vehicle inside the simulation system to run in the correct direction.

[0003] Currently, existing image data injection methods include inputting image data into the cECU system in GMSL (Gross Mobile Electronic Control Unit) format via large data channels such as USB / Ethernet. However, image injection via large data channels like USB / Ethernet has the following problems: in actual use of images by autonomous driving systems, images need to be input through dedicated image interfaces such as GMSL; and for hardware-in-the-loop testing requirements, it is impossible to test all critical paths. Summary of the Invention

[0004] The main objective of this invention is to provide a data injection method, apparatus, autonomous driving system, and medium, aiming to improve the configurability of the data injection interface.

[0005] To achieve the above objectives, the present invention provides a data injection method applied to an autonomous driving system. The autonomous driving system includes a simulator and a controller. The simulator includes a memory and an image injection card. The image injection card includes a processing chip and at least one serializer. The data injection method includes the following steps:

[0006] When the image injection card receives a request signal, it transmits data to the image injection card through the emulator's memory based on a preset bus interface;

[0007] The data is processed by the processing chip of the image injection card to form data in a preset protocol format, and the preset protocol format data is transmitted to the serializer of the image injection card.

[0008] The serializer parses the preset protocol format data to form target data, and then transmits the target data to the controller.

[0009] Preferably, the step of transmitting data to the image injection card via the emulator's memory based on a preset bus interface when the image injection card receives a request signal includes:

[0010] When a request signal is received from the controller, the image injection card sends a request to the emulator's memory at a preset frequency.

[0011] According to the communication protocol of the preset bus interface, the data corresponding to the request is sent to the image injection card through the emulator's memory, wherein the preset bus interface is a PCIE3.0 interface or a PCIE4.0 interface.

[0012] Preferably, the image injection card includes an FPGA chip, and the step of processing the data through the image injection card to form data in a preset protocol format, and transmitting the preset protocol format data to the serializer of the image injection card includes:

[0013] The processing chip's ARM software schedules and calls the CSI2-TX channel interface, and packages the data into a preset protocol format through the CSI2-TX channel interface, and transmits the preset protocol format data to the serializer of the image injection card; wherein, the preset protocol format data is CSI-2 protocol format data.

[0014] Preferably, the step of parsing the preset protocol format data through the serializer to form target data and transmitting the target data to the controller includes:

[0015] The serializer parses the preset protocol format data to form LVDS protocol format serial data;

[0016] The serial data in LVDS protocol format is modulated into target data by the modulator of the serializer, and the target data is transmitted to the controller.

[0017] Preferably, before the step of transmitting data to the image injection card via the emulator's memory based on a preset bus interface when the image injection card receives a request signal, the data injection method further includes:

[0018] The image injection card is connected to the emulator's memory via a preset bus interface.

[0019] Preferably, before the step of transmitting data to the image injection card via the emulator's memory based on a preset bus interface when the image injection card receives a request signal, the image injection method further includes:

[0020] The processing chip of the image injection card is connected to the serializer of the image injection card through the CSI2-TX channel interface.

[0021] Preferably, before the step of transmitting data to the image injection card via the emulator's memory based on a preset bus interface when the image injection card receives a request signal, the image injection method further includes:

[0022] The simulator is connected to the controller via the serializer of the image injection card.

[0023] Furthermore, to achieve the above objectives, the present invention also provides a data injection device, the data injection device comprising:

[0024] The receiving module is used to transmit data to the image injection card through the emulator's memory based on a preset bus interface when the image injection card receives a request signal;

[0025] The processing module is used to process the data through the processing chip of the image injection card, form data in a preset protocol format, and transmit the data in the preset protocol format to the serializer of the image injection card;

[0026] The parsing module is used to parse the preset protocol format data through the serializer to form target data, and transmit the target data to the controller.

[0027] In addition, to achieve the above objectives, the present invention also provides an autonomous driving system comprising: a memory, a processor, and a data injection program stored in the memory and executable on the processor, wherein the data injection program, when executed by the processor, implements the steps of the data injection method as described above.

[0028] In addition, to achieve the above objectives, the present invention also provides a medium, which is a computer-readable storage medium storing a data injection program, which, when executed by a processor, implements the steps of the data injection method described above.

[0029] This invention proposes a data injection method, apparatus, autonomous driving system, and medium. The data injection method is applied to an autonomous driving system, which includes a simulator and a controller. The simulator includes a memory and an image injection card. The image injection card includes a processing chip and at least one serializer. The data injection method includes: when the image injection card receives a request signal, transmitting data to the image injection card via the simulator's memory based on a preset bus interface; processing the data using the image injection card's processing chip to form preset protocol format data, and transmitting the preset protocol format data to the image injection card's serializer; parsing the preset protocol format data using the serializer to form target data, and transmitting the target data to the controller. This invention improves the configurability of the data injection interface by transmitting data from the simulator's memory to the image injection card via a preset bus interface when the image injection card receives a request signal; processing the data using the image injection card's processing chip to form preset protocol format data, and transmitting the preset protocol format data to the image injection card's serializer; parsing the preset protocol format data using the serializer to form target data, and transmitting the target data to the controller; thereby improving the configurability of the data injection interface. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of the present invention;

[0031] Figure 2 This is a flowchart illustrating the first embodiment of the data injection method of the present invention;

[0032] Figure 3 This is a loopback diagram illustrating the hardware-in-the-loop test of the autonomous driving system using the data injection method of the present invention.

[0033] Figure 4 This is a schematic diagram of the data injection process of the data injection method of the present invention;

[0034] Figure 5 This is a flowchart illustrating the second embodiment of the data injection method of the present invention;

[0035] Figure 6 This is a flowchart illustrating the third embodiment of the data injection method of the present invention;

[0036] Figure 7 This is a flowchart illustrating the fourth embodiment of the data injection method of the present invention;

[0037] Figure 8 This is a schematic diagram of the functional modules of the first embodiment of the data injection device of the present invention.

[0038] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0039] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0040] like Figure 1 As shown, Figure 1 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of the present invention.

[0041] The device in this embodiment of the invention can be a mobile terminal or a server device.

[0042] like Figure 1 As shown, the device may include: a processor 1001, such as a CPU; a network interface 1004; a user interface 1003; a memory 1005; and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0043] Those skilled in the art will understand that Figure 1 The device structure shown does not constitute a limitation on the device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0044] like Figure 1 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a data injection program.

[0045] The operating system is a program that manages and controls the data injection device and software resources, and supports the operation of the network communication module, user interface module, data injection program and other programs or software; the network communication module is used to manage and control the network interface 1002; the user interface module is used to manage and control the user interface 1003.

[0046] exist Figure 1In the data injection device shown, the data injection device calls the data injection program stored in the memory 1005 through the processor 1001 and executes the operations in the various embodiments of the data injection method described below.

[0047] Based on the above hardware structure, an embodiment of the data injection method of the present invention is proposed.

[0048] Reference Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the data injection method of the present invention, wherein the data injection method includes:

[0049] Step S10: When the image injection card receives a request signal, it transmits data to the image injection card through the emulator's memory based on a preset bus interface.

[0050] Step S20: The data is processed by the processing chip of the image injection card to form data in a preset protocol format, and the preset protocol format data is transmitted to the serializer of the image injection card.

[0051] Step S30: The serializer parses the preset protocol format data to form target data, and transmits the target data to the controller.

[0052] In this embodiment, when the image injection card receives a request signal, data is transmitted from the emulator's memory to the image injection card via a preset bus interface. The image injection card's processing chip processes the data to form preset protocol format data, which is then transmitted to the image injection card's serializer. The serializer parses the preset protocol format data to form target data, which is then transmitted to the controller. This improves the configurability of the data injection interface.

[0053] The following will provide a detailed explanation of each step:

[0054] Step S10: When the image injection card receives a request signal, it transmits data to the image injection card through the emulator's memory based on a preset bus interface.

[0055] In this embodiment, the data injection method is applied to an autonomous driving system, wherein the autonomous driving system includes a simulator and a controller, the simulator includes a simulator memory and an image injection card, and the image injection card includes a processing chip and at least one serializer.

[0056] The simulator is connected to the controller. The simulator includes the simulator's memory and an image injection card. The simulator is used to inject virtual road scenes into the controller in the form of simulated image data.

[0057] The simulator's memory is connected to the image injection card. The simulator's memory is used to store simulation image data, which consists of image data generated by the simulation software for testing and training the vehicle controller, or pre-recorded image data for testing and training the vehicle controller. The simulation image data includes, but is not limited to, static environment simulations such as roads, traffic facilities, and buildings, as well as dynamic environment simulations of pedestrians, target test vehicles, and other vehicles, and weather information such as temperature, humidity, wind speed, and weather conditions.

[0058] The image injection card is connected to the emulator's memory. The image injection card includes a processing chip and at least one serializer. The image injection card is used to listen to the controller's request signal in real time and request data from the emulator's memory according to the request signal. The processing chip of the image injection card processes the data to form data in a preset protocol format and transmits the preset protocol format data to at least one serializer of the image injection card. The serializer parses the preset protocol format data to form target data and transmits the target data to the controller so that the controller can perform hardware-in-the-loop testing based on the target data.

[0059] The controller is used to perform hardware-in-the-loop testing based on simulation image data, and to analyze and determine whether the various functions and performance of the autonomous driving system are normal.

[0060] Reference Figure 3 , Figure 3 This is a loopback diagram of hardware-in-the-loop testing for an autonomous driving system. The data injection method of this invention is as follows: Figure 3 The process of injecting image data into the controller is the process by which the simulator injects image data into the controller.

[0061] When the image injection card receives a request signal, it requests data from the emulator's memory via the image injection card, and then transmits the data from the preset bus interface to the image injection card via the emulator's memory. The request signal requests the controller to send data to the emulator so that the controller can perform hardware-in-the-loop testing of the autonomous driving system based on the data. The preset bus interface is preferably a PCIE 3.0 interface, a PCIE 4.0 interface, or a high-speed interface similar to PCIE 3.0 or PCIE 4.0.

[0062] Furthermore, in another embodiment, before step S10, the data injection method further includes: connecting the image injection card to the emulator's memory via a preset bus interface.

[0063] In this embodiment, before the image injection card receives a request signal, the image injection card is connected to the emulator's memory through a preset bus interface; thus, data can be transferred from the emulator's memory to the image injection card, achieving high-bandwidth, low-latency data transmission.

[0064] Furthermore, in another embodiment, prior to step S10, the data injection method further includes: connecting the processing chip of the image injection card to the serializer of the image injection card via a CSI2-TX channel interface.

[0065] In this embodiment, before the image injection card receives a request signal, the processing chip of the image injection card is connected to at least one serializer via the CSI2-TX channel interface, so that data can be transmitted from the processing chip of the image injection card to at least one serializer; and the receiving end cannot distinguish whether the data is real data or simulated data.

[0066] Furthermore, in another embodiment, prior to step S10, the data injection method further includes connecting the simulator to the controller via the serializer of the image injection card.

[0067] In this embodiment, before the image injection card receives the request signal, the simulator is connected to the controller via at least one serializer so that the controller can perform hardware-in-the-loop testing based on the data to test whether the various functions and performance of the autonomous driving system are normal.

[0068] Step S20: The data is processed by the processing chip of the image injection card to form data in a preset protocol format, and the preset protocol format data is transmitted to the serializer of the image injection card.

[0069] In this embodiment, after the image injection card receives data, the processing chip of the image injection card processes the data to form data in a preset protocol format, and then transmits the preset protocol format data to the serializer of the image injection card.

[0070] Step S30: The serializer parses the preset protocol format data to form target data, and transmits the target data to the controller.

[0071] In this embodiment, after the serializer of the image injection card receives data in a preset protocol format, it parses the preset protocol format data to form corresponding target data and transmits the target data to the controller so that the controller can perform hardware-in-the-loop testing of the autonomous driving system based on the target data. There can be one or more serializers, and the serializer is connected to the controller one-to-one, thereby realizing the simulation of the controller receiving channel and the simulator channel working together one-to-one.

[0072] In this embodiment, when the image injection card receives a request signal, data is transmitted from the emulator's memory to the image injection card via a preset bus interface. The image injection card's processing chip processes the data to form preset protocol format data, which is then transmitted to the image injection card's serializer. The serializer parses the preset protocol format data to form target data, which is then transmitted to the controller. This improves the configurability of the data injection interface.

[0073] Furthermore, based on the first embodiment of the data injection method of the present invention, a second embodiment of the data injection method of the present invention is proposed.

[0074] The second embodiment of the data injection method differs from the first embodiment in that it refines step S10, whereby, when the image injection card receives a request signal, data is transmitted to the image injection card via the emulator's memory based on a preset bus interface. (Refer to...) Figure 5 This step specifically includes:

[0075] Step S11: When a request signal is received from the controller, a request is sent to the emulator's memory at a preset frequency through the image injection card;

[0076] Step S12: According to the communication protocol of the preset bus interface, the data corresponding to the request is sent to the image injection card through the memory of the emulator, wherein the preset bus interface is a PCIE3.0 interface or a PCIE4.0 interface.

[0077] In this embodiment, when a request signal is received from the controller, a request is sent to the emulator's memory via the image injection card; the data corresponding to the request is sent from a preset bus interface to the image injection card via the emulator's memory, wherein the preset bus interface is a PCIE3.0 interface or a PCIE4.0 interface; thereby achieving high-bandwidth, low-latency data transmission.

[0078] The following will provide a detailed explanation of each step:

[0079] Step S11: When a request signal is received from the controller, a request is sent to the emulator's memory through the image injection card.

[0080] In this embodiment, the image injection card communicates with the emulator's memory via a pre-defined bus interface communication protocol. (Refer to...) Figure 4 , Figure 4This is a schematic diagram of the data injection process. The image injection card includes a processing chip, DDR memory, and at least one serializer; the processing chip is used for data scheduling and data transmission with the controller via the serializer; the DDR memory is used to cache data from the emulator's memory.

[0081] When the image injection card receives a request signal from the controller, it sends a request corresponding to the request signal to the emulator's memory; the request is for the image injection card to request the emulator's memory to send the corresponding image data.

[0082] Step S12: According to the communication protocol of the preset bus interface, the data corresponding to the request is sent to the image injection card through the memory of the emulator, wherein the preset bus interface is a PCIE3.0 interface or a PCIE4.0 interface.

[0083] In this embodiment, according to the communication protocol of the preset bus interface, the emulator's memory will request the corresponding data to be transmitted from the preset bus interface to the DDR memory of the image injection card, wherein the preset bus interface is a PCIE3.0 interface or a PCIE4.0 interface.

[0084] In this embodiment, when a request signal is received from the controller, a request is sent to the emulator's memory via the image injection card; the data corresponding to the request is sent from a preset bus interface to the image injection card via the emulator's memory, wherein the preset bus interface is a PCIE3.0 interface or a PCIE4.0 interface; thereby achieving high-bandwidth, low-latency data transmission.

[0085] By using a PCIe 3.0 or PCIe 4.0 interface, high-bandwidth data can be input from the emulator's memory to the DDR memory of the image injection card, where the DDR memory is used to cache data from the emulator's memory.

[0086] In this embodiment, when a request signal is received from the controller, a request is sent to the emulator's memory via the image injection card; the data corresponding to the request is sent from a preset bus interface to the image injection card via the emulator's memory, wherein the preset bus interface is a PCIE3.0 interface or a PCIE4.0 interface; thereby achieving high-bandwidth, low-latency data transmission.

[0087] Furthermore, based on the first and second embodiments of the data injection method of the present invention, a third embodiment of the data injection method of the present invention is proposed.

[0088] The third embodiment of the data injection method differs from the first and second embodiments in that it refines step S20, which involves processing the data through the processing chip of the image injection card to form preset protocol format data and transmitting the preset protocol format data to the serializer of the image injection card. (Refer to...) Figure 6 This step specifically includes:

[0089] Step S21: The CSI2-TX channel interface is called through the ARM software scheduling of the processing chip, and the data is packaged into a preset protocol format through the CSI2-TX channel interface, and the preset protocol format data is transmitted to the serializer; wherein, the preset protocol format data is CSI-2 protocol format data.

[0090] In this embodiment, the ARM software of the processing chip in the image injection card schedules and calls the CSI2-TX channel interface, and packages the data into a preset protocol format through the CSI2-TX channel interface, and transmits the preset protocol format data to the serializer of the image injection card; thereby, the processing chip simulates the data into a real image data format, so that the controller does not need to adapt or adjust the data subsequently.

[0091] The following will provide a detailed explanation of each step:

[0092] Step S21: The CSI2-TX channel interface is scheduled and called through the ARM software of the processing chip, and the data is packaged into a preset protocol format through the CSI2-TX channel interface, and the preset protocol format data is transmitted to the serializer of the image injection card; wherein, the preset format data is CSI-2 protocol format data.

[0093] In this embodiment, refer to Figure 4 , Figure 4 The diagram illustrates the data injection process. The image injection card includes a processing chip, at least one serializer, and DDR memory. The processing chip is used to schedule the data, and the DDR memory is used to cache data from the emulator's memory.

[0094] After the image data from the emulator's memory is received in the DDR memory of the image injection card, the CSI2-TX channel interface is called through the ARM software scheduler of the processing chip. The data is then packaged into CSI-2 protocol format data through the CSI2-TX channel interface and sent to the serializer of the image injection card via the CSI2-TX channel interface. The preset protocol format data is preferably CSI-2 protocol format data.

[0095] The image injection card's processing chip enables complete matching between CSI2-TX and commonly used controller camera interfaces (usually CSI2-RX). By aligning the camera data formats corresponding to each controller, the controller can seamlessly receive simulated image data (the controller still considers it to be data transmitted from a real camera). No adaptation or adjustment to the controller software is required during this process.

[0096] This allows the processing chip to convert the data into CSI-2 protocol format, enabling the controller to receive the simulation image data seamlessly without needing to adapt or adjust the data subsequently.

[0097] In this embodiment, the ARM software of the processing chip in the image injection card schedules and calls the CSI2-TX channel interface, and packages the data into a preset protocol format through the CSI2-TX channel interface, and transmits the preset protocol format data to the serializer; thereby, the processing chip simulates the data into a real image data format, so that the controller does not need to adapt or adjust the data subsequently.

[0098] Furthermore, based on the first, second, and third embodiments of the data injection method of the present invention, a fourth embodiment of the data injection method of the present invention is proposed.

[0099] The fourth embodiment of the data injection method differs from the first, second, and third embodiments in that it refines step S30, which involves parsing the preset protocol format data using the serializer to form target data and transmitting the target data to the controller. (Refer to...) Figure 7 This step specifically includes:

[0100] Step S31: The serializer parses the preset protocol format data to form LVDS protocol format serial data;

[0101] Step S32: Modulate the LVDS protocol format serial data into target data through the modulator of the serializer, and transmit the target data to the controller.

[0102] In this embodiment, the serializer of the image injection card parses the preset protocol format data to form the corresponding LVDS protocol format serial data; the modulator of the serializer modulates the LVDS protocol format serial data into target data and transmits the target data to the controller, thereby realizing the simulation of one-to-one cooperation between the controller's receiving channel and the simulator's transmitting channel, so that the controller can perform hardware-in-the-loop testing of the autonomous driving system based on the target data.

[0103] The following will provide a detailed explanation of each step:

[0104] Step S31: The serializer parses the preset protocol format data to form LVDS protocol format serial data.

[0105] In this embodiment, refer to Figure 4 , Figure 4 The flowchart illustrates the data injection process. After the serializer receives the preset protocol format data sent by the image injection card, it parses the preset protocol format data to form the corresponding LVDS protocol format serial data. The preset protocol format data is preferably CSI-2 protocol format data.

[0106] Step S32: Modulate the LVDS protocol format serial data into target data through the modulator of the serializer, and transmit the target data to the controller.

[0107] In this embodiment, refer to Figure 4 , Figure 4 A schematic diagram of the data injection process; the serializer includes a modulator used to modulate the data onto a coaxial cable.

[0108] The serial data in LVDS protocol format is modulated into target data in coaxial cable format by the modulator of the serializer, and the target data is sent to the controller so that the controller can perform hardware-in-the-loop testing of the autonomous driving system based on the target data; wherein, the target data is preferably in CSI-2 protocol format.

[0109] In this embodiment, the serializer parses the preset protocol format data to form the corresponding LVDS protocol format serial data; the serializer modulator modulates the LVDS protocol format serial data into target data and transmits the target data to the controller, thereby realizing the simulation of one-to-one cooperation between the controller's receiving channel and the simulator's transmitting channel, so that the controller can perform hardware-in-the-loop testing of the autonomous driving system based on the target data.

[0110] The present invention also provides a data injection device. (See reference...) Figure 8 The data injection device of the present invention includes:

[0111] The receiving module 10 is used to transmit data to the image injection card through the emulator's memory based on a preset bus interface when the image injection card receives a request signal.

[0112] Processing module 20 is used to process the data through the processing chip of the image injection card, form data in a preset protocol format, and transmit the data in the preset protocol format to the serializer of the image injection card;

[0113] The parsing module 30 is used to parse the preset protocol format data through the serializer to form target data, and transmit the target data to the controller.

[0114] Furthermore, the present invention also provides a medium, which is a computer-readable storage medium storing a data injection program thereon, which, when executed by a processor, implements the steps of the data injection method described above.

[0115] The method implemented when the data injection program running on the processor is executed can be referred to in various embodiments of the data injection method of the present invention, and will not be repeated here.

[0116] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0117] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0118] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0119] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method of data injection, characterized by, The data injection method is applied to an automatic driving system, the automatic driving system comprising a simulator and a controller, the simulator comprising a memory of the simulator and an image injection card, the image injection card comprising a processing chip and at least one serializer, the data injection method comprising the following steps: When the image injection card receives a request signal, data is transmitted to the image injection card through the memory of the simulator based on a preset bus interface; The data is processed by the processing chip of the image injection card to form preset protocol format data, and the preset protocol format data is transmitted to the serializer of the image injection card, comprising: the CSI2-TX channel interface is called and dispatched by the ARM software of the processing chip, and the data is packaged into preset protocol format data through the CSI2-TX channel interface, and the preset protocol format data is transmitted to the serializer of the image injection card; wherein the preset protocol format data is CSI-2 protocol format data, the CSI2-TX channel interface is matched with the camera interface of the to-be-tested intelligent driving controller through the processing chip, and the simulation image data is received by the controller without feeling by aligning the camera data formats corresponding to each controller; The preset protocol format data is analyzed by the serializer to form target data, and the target data is transmitted to the controller, comprising: the preset protocol format data is analyzed by the serializer to form LVDS protocol format serial data; the LVDS protocol format serial data is modulated into coaxial line format target data by the modulator of the serializer, and the target data is transmitted to the controller.

2. The data injection method of claim 1, wherein, The step of transmitting data to the image injection card through the memory of the simulator based on the preset bus interface when the image injection card receives a request signal comprises: When receiving a request signal sent by the controller, sending a request to the memory of the simulator at a preset frequency through the image injection card; According to the communication protocol of the preset bus interface, the data corresponding to the request is sent to the image injection card through the memory of the simulator, wherein the preset bus interface is a PCIE3.0 interface or a PCIE4.0 interface.

3. The data injection method of claim 1, wherein, Before the step of transmitting data to the image injection card through the memory of the simulator based on the preset bus interface when the image injection card receives a request signal, the data injection method further comprises: Connecting the image injection card to the memory of the simulator through a preset bus interface.

4. The data injection method of claim 1, wherein, Before the step of transmitting data to the image injection card through the memory of the simulator based on the preset bus interface when the image injection card receives a request signal, the image injection method further comprises: Connecting the processing chip of the image injection card to the serializer of the image injection card through the CSI2-TX channel interface.

5. The data injection method of claim 1, wherein, Before the step of transmitting the data to the image injection card through the memory of the emulator based on the preset bus interface when the image injection card receives a request signal, the image injection method further comprises: connecting the emulator to a controller through a serializer of the image injection card.

6. A data injection device, characterized by The data injection device comprises: a receiving module configured to transmit the data to the image injection card through the memory of the emulator based on the preset bus interface when the image injection card receives a request signal; a processing module configured to process the data through a processing chip of the image injection card to form preset protocol format data and transmit the preset protocol format data to a serializer of the image injection card, including: calling a CSI2-TX channel interface through ARM software of the processing chip, packing the data into the preset protocol format data through the CSI2-TX channel interface, and transmitting the preset protocol format data to the serializer of the image injection card; wherein the preset protocol format data is CSI-2 protocol format data, the CSI2-TX channel interface is matched with a camera interface of a to-be-tested intelligent driving controller through the processing chip, and the controller is realized to receive simulated image data without sensing by aligning camera data formats corresponding to various controllers; an analyzing module configured to analyze the preset protocol format data through the serializer to form target data and transmit the target data to the controller, including: analyzing the preset protocol format data through the serializer to form LVDS protocol format serial data; modulating the LVDS protocol format serial data into target data in a coaxial line format through a modulator of the serializer, and transmitting the target data to the controller.

7. An autonomous driving system, characterized by, The automatic driving system comprises a memory, a processor, and a data injection program stored on the memory and executable on the processor, and the data injection program, when executed by the processor, implements the steps of the data injection method according to any one of claims 1 to 5.

8. A medium, the medium being a computer-readable storage medium, characterized in that, The computer readable storage medium stores a data injection program, and the data injection program, when executed by the processor, implements the steps of the data injection method according to any one of claims 1 to 5.

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