A multi-terminal forwarding device, an automatic driving system and an automatic driving vehicle

Abstract

The application belongs to the technical field of automatic driving, and particularly relates to a multi-end forwarding device, an automatic driving system and an automatic driving vehicle. The device comprises a switch module and a comprehensive control module. The comprehensive control module is connected to the switch module. The switch module is provided with a plurality of switch interfaces, and the plurality of switch interfaces comprise interfaces for connecting a main computing unit and a redundant computing unit respectively. The comprehensive control module is provided with a plurality of data interfaces, and the plurality of data interfaces are used for connecting a perception device and a vehicle controller correspondingly. The comprehensive control module is used for controlling the perception data and the vehicle data obtained to be forwarded to the main computing unit or the redundant computing unit through the switch module, and is used for forwarding the control command received from the main computing unit or the redundant computing unit through the switch module to the corresponding data interface, so that the main computing unit and the redundant computing unit can receive the perception data and the vehicle data and issue the control command. The application effectively reduces the cost of the automatic driving system.

Description

Technical Field

[0001] This invention belongs to the field of autonomous driving technology, specifically relating to a multi-terminal forwarding device, an autonomous driving system, and an autonomous driving vehicle. Background Technology

[0002] With the rapid development of autonomous driving technology, more and more autonomous driving business scenarios are being implemented at an accelerated pace. Parks, airports, mines, ports and other fields have begun to use fully unmanned autonomous driving technology for operation, which can effectively reduce labor costs and improve operational efficiency.

[0003] However, current autonomous driving technology still faces some challenges. For example, in fully driverless autonomous driving systems, in most cases, if the primary system fails, the auxiliary system can only apply emergency braking and cannot continue driving. The vehicle remaining on the road introduces operational safety risks. While some solutions can effectively address scenarios where operation is impossible after the primary system fails, these require the installation of additional sensors, which cannot all be reused with the original vehicle sensors. This increases the cost of the autonomous driving system and hinders its mass production and deployment. Furthermore, current autonomous driving systems have numerous and complex components; a problem with any one component can affect the operational safety of the system, and the more components there are, the higher the risk of system failure.

[0004] In summary, existing technologies have high costs for autonomous driving systems due to the need to add sensors to address scenarios where the main system fails and cannot continue operating, and also pose high operational risks due to the large number of components. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-terminal forwarding device, an autonomous driving system, and an autonomous driving vehicle to solve the problem of high cost of autonomous driving systems in the prior art, which requires the addition of sensors to solve the problem of the inability to continue operation after the failure of the main system.

[0006] To solve the above-mentioned technical problems, the technical solution provided by this invention and the corresponding beneficial effects of the technical solution are as follows:

[0007] The present invention provides a multi-terminal forwarding device suitable for an autonomous driving system. The device includes a switch module and an integrated control module; the integrated control module is connected to the switch module; the switch module is provided with multiple switching interfaces, including interfaces for connecting to the main computing unit and redundant computing units in the autonomous driving system respectively.

[0008] The integrated control module is equipped with multiple data interfaces, which are used to connect to the sensing devices and the vehicle controller to obtain the sensing data and vehicle data required by the autonomous driving system. The integrated control module is used to control the processing of the acquired sensing data and vehicle data, or to forward them directly to the main computing unit and / or redundant computing unit through the switch module. It is also used to forward control commands received from the main computing unit and / or redundant computing unit through the switch module to the corresponding data interfaces, so as to enable both the main computing unit and the redundant computing unit to receive sensing data and vehicle data and issue control commands.

[0009] The beneficial effects of the above technical solution are as follows: The device of the present invention acquires perception data, positioning data, and vehicle data from the autonomous driving system through the integrated control module, and forwards them to the main computing unit and the redundant computing unit through the switch module. This satisfies the requirement that the main computing unit and the redundant computing unit simultaneously receive perception data, positioning data, and vehicle data from the autonomous driving system. In the event of a failure of the main computing unit, the redundant computing unit takes over control of the vehicle and continues to execute autonomous driving operations. All perception data, positioning data, 5G network data, and vehicle data in the system can be transmitted to the main computing unit and the redundant computing unit through this device, enabling the reuse of overall perception and positioning equipment for autonomous driving without the need for additional perception and positioning equipment. This reduces the overall cost of the autonomous driving system and facilitates the rapid commercialization of the project.

[0010] Furthermore, the plurality of switching interfaces also include a plurality of switching interfaces for connecting the second sensing device and a plurality of switching interfaces for connecting the routing device; the switch module is also used for communication to forward the sensing data collected by the second sensing device to the main computing unit and / or redundant computing unit; the second sensing device includes a lidar.

[0011] Furthermore, to facilitate power supply management, the device also includes a power management module, which provides power to both the switch module and the integrated control module.

[0012] Furthermore, to facilitate data acquisition and processing, the integrated control module includes a microcontroller unit and an FPGA connected to the switch module respectively; the sensing data includes data acquired by millimeter-wave radar, positioning data acquired by inertial navigation equipment, and video data acquired by camera equipment; the microcontroller unit is provided with several data interfaces for connecting to the millimeter-wave radar, multiple data interfaces for connecting to the inertial navigation equipment, and multiple data interfaces for connecting to the vehicle controller to acquire vehicle data and output control commands; the FPGA is provided with multiple data interfaces for connecting to the camera equipment to acquire video data, and the FPGA is used to compress and split the acquired video data before sending it to the switch module.

[0013] Furthermore, to enhance safety, the microcontroller unit is also used to store historical planned trajectories and current vehicle speed, and can effectively control the vehicle to stop based on historical planned trajectories and current vehicle speed when both the main computing unit and the redundant computing unit fail.

[0014] Furthermore, the microcontroller unit is also provided with an interface for connecting to a clock to obtain clock synchronization data, and an interface for connecting to a scheduling platform to obtain scheduling information.

[0015] Furthermore, the FPGA uses a GMSL interface to connect to the camera device; the microcontroller uses a CAN interface to connect to the millimeter-wave radar; the multiple interfaces for connecting to the inertial navigation device include a CAN interface, a serial port, a GPRMC interface, and a PPS interface; and the multiple interfaces for connecting to the vehicle controller include a CAN interface and a two-wire Ethernet interface.

[0016] Furthermore, the microcontroller unit and the FPGA are connected via RGMII and GPIO to exchange information; the exchanged information includes clock synchronization related data.

[0017] Furthermore, to improve data transmission rate, the interface of the switch module used to connect the lidar and routing device is a gigabit Ethernet interface, and the interface used to connect the main computing unit and the redundant computing unit is a 10-gigabit Ethernet interface.

[0018] Furthermore, to improve power supply reliability, the power management module includes a main power supply input interface and a redundant power supply input interface, enabling two redundant power supplies to the power management module.

[0019] Furthermore, in order to improve the overall power supply reliability, the power management module is also configured as a power supply interface for external devices; the external devices include at least one of the following: lidar, router, millimeter-wave radar, and inertial navigation equipment.

[0020] Furthermore, to enhance security, the switch module, integrated control module, and power management module are integrated into the design of the device.

[0021] To address the aforementioned problems, the present invention provides an autonomous driving system, comprising a vehicle controller, sensing devices, a main computing unit, and redundant computing units, characterized in that it further comprises a multi-terminal forwarding device suitable for autonomous driving systems as described in the present invention.

[0022] To address the aforementioned problems, the present invention provides an autonomous driving vehicle, comprising an autonomous driving vehicle body and an autonomous driving system. The autonomous driving system includes a vehicle controller, sensing devices, a main computing unit, and redundant computing units, and also includes a multi-terminal forwarding device suitable for autonomous driving systems as described in the present invention. Attached Figure Description

[0023] Figure 1 This is a structural block diagram of a multi-terminal forwarding device applicable to an autonomous driving system according to the present invention;

[0024] Figure 2 This is a block diagram of an autonomous driving system supporting redundancy control in one embodiment of the present invention.

[0025] Figure 3 This is a block diagram of an autonomous driving system supporting redundant power supply in one embodiment of the present invention. Detailed Implementation

[0026] This invention proposes a multi-terminal forwarding device suitable for autonomous driving systems. This device can transmit all perception and positioning data to a redundant computing unit in the event of a main computing unit failure. The redundant computing unit then takes over vehicle control and continues autonomous driving operations. Furthermore, the redundant computing unit can upload issues existing in the main computing unit to a monitoring platform for subsequent troubleshooting and resolution. This device can directly transmit all perception, positioning, and vehicle data to both the main and redundant computing units, eliminating the need for additional perception and positioning equipment, effectively reducing the cost of autonomous driving systems and facilitating rapid commercialization. The device also supports redundant power supply, ensuring redundant power supply not only to the internal chips but also to external devices, effectively guaranteeing the power supply safety of the autonomous driving system. Additionally, this device integrates switches, FPGAs, microcontrollers, power management modules, and other components into a single unit, reducing the number of components in the autonomous driving system and effectively mitigating the risk of system failure.

[0027] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0028] An embodiment of an autonomous driving system:

[0029] An embodiment of an autonomous driving system according to the present invention includes a vehicle controller, perception devices (including navigation devices and environmental perception devices), a main computing unit and a redundant computing unit, and also includes a multi-terminal forwarding device suitable for autonomous driving systems (also referred to as an integrated multi-terminal forwarding device for autonomous driving systems). The environmental perception devices include camera devices, LiDAR, and millimeter-wave radar. The integrated multi-terminal forwarding device for autonomous driving systems according to the present invention is described below: The present invention proposes an integrated multi-terminal forwarding device for autonomous driving systems, belonging to the field of autonomous driving. The system block diagram is as follows. Figure 1 As shown, the device mainly consists of a power management module, a switch, an FPGA (Field Programmable Gate Array), and an MCU (Microcontroller Unit).

[0030] The switch chip includes six Gigabit Ethernet interfaces and two 10 Gigabit Ethernet interfaces, primarily responsible for Ethernet data exchange. Externally, the switch supports six Gigabit Ethernet ports and two 10 Gigabit Ethernet ports. Four of the Gigabit Ethernet ports are used to connect to LiDAR devices, and two are used to connect to 5G routers. The two 10 Gigabit Ethernet ports are used to connect to the main computing unit and the redundant computing unit, respectively. Internally, the switch connects to the FPGA and MCU via LAN interfaces, primarily handling data exchange and forwarding. The FPGA has multiple data interfaces, which connect to camera devices to acquire video data. The FPGA connects to the switch via the LAN interface and forwards the video data to the main computing unit and the redundant computing unit. The MCU has multiple data interfaces for acquiring perception data and vehicle data. The MCU connects to the switch via the LAN interface and forwards the perception data and vehicle data to the external computing unit. Simultaneously, the external computing unit can also forward control data to the MCU module via the switch, thereby enabling vehicle control.

[0031] The FPGA chip includes 10 GMSL (Gigabit Multimedia Serial Link) interfaces, primarily responsible for camera data input. All 10 GMSL interfaces are used to connect to camera devices. That is, the FPGA externally supports 10 video inputs, and internally connects to a switch via a LAN port. After compression and splitting by the camera, the data is transmitted to the switch, and then connected to the MCU via RGMII and GPIO to receive clock synchronization data, enabling time-division triggering of the camera.

[0032] The MCU chip includes 4 CAN ports, 2 serial ports, 1 PPS (pulse per second) input, 1 GPRMC (recommended positioning information) input, and 1 two-wire Ethernet port. Its main functions include receiving data from sensing sensors, receiving and outputting vehicle data, inputting positioning data, inputting clock synchronization data, and connecting to the scheduling platform. Externally, the MCU supports four CAN interfaces: two for connecting to millimeter-wave radar to acquire sensing data, one for connecting to inertial navigation equipment, and one for connecting to the vehicle controller. The MCU also includes two serial ports for connecting to inertial navigation equipment, one two-wire Ethernet port for connecting to the vehicle controller, and one GPRMC input and one PPS interface, all for connecting to inertial navigation equipment. Internally, the MCU connects to the FPGA via RGMII and GPIO to trigger camera data, and connects to a switch via a LAN port to upload and download sensing and vehicle control data.

[0033] The power management module has two power inputs and two redundant power outputs. Power to all internal chips is provided by the power distribution management module, supporting redundant power supply. Power to external radars and the integrated inertial navigation system can also be provided by the power distribution management module, similarly supporting redundant power supply. In other words, the power management module supports two redundant power supplies. Under normal conditions, the main power supply interface provides input. In the event of a main power failure, it immediately switches to the redundant power supply, with all outputs being redundant power supply outputs. This ensures redundant power supply for the internal chips and also provides redundant power to external sensors and other devices, thereby guaranteeing the stability of the power supply for the entire autonomous driving system.

[0034] In summary, the device can support 8 Ethernet interfaces (6 Gigabit and 2 10 Gigabit), 10 GMSL interfaces, 4 CAN interfaces, 1 two-wire Ethernet interface, 2 serial interfaces, 1 GPRMC input interface, and 1 PPS input interface.

[0035] like Figure 2As shown, this device can externally connect to 4 LiDARs, 10 cameras, 2 millimeter-wave radars, 1 set of integrated inertial navigation equipment, 2 5G routers, 1 main computing unit, and 1 redundant computing unit. It can also connect to the vehicle via two-wire Ethernet and CAN to directly control the vehicle's steering, braking, and human-machine interface system. Connecting the main computing unit, redundant computing unit, perception sensors, integrated navigation equipment, the vehicle, and this system's integrated multi-terminal forwarding device constitutes the entire redundant autonomous driving system. Under normal conditions, both the main computing unit and the redundant computing unit continuously receive data from the sensors and send control data to the vehicle. The MCU monitors the status of the main computing unit and the redundant computing unit via a heartbeat mechanism. If the main computing unit fails, the MCU directly switches to the control data from the redundant computing unit, ensuring the normal transmission of data from the autonomous driving system and guaranteeing the normal operation of the autonomous vehicle.

[0036] Specifically, such as Figure 2 As shown, the main computing unit and redundant computing unit are connected to the integrated multi-terminal forwarding device via a 10 Gigabit switch. Data from four LiDAR sensors is accessed via a Gigabit Ethernet connection to the switch, which can push the LiDAR data to both the main computing unit and redundant computing unit. 5G routers 1 and 5G router 2 are redundant; these two networked devices are connected to the switch via a Gigabit Ethernet connection, and the switch simultaneously pushes 5G data to both the main computing unit and redundant computing unit. Ten cameras are connected to the FPGA chip via ten GMSL interfaces. Video data is compressed and streamed by the FPGA chip and forwarded to the main computing unit and redundant computing unit via the switch. Camera trigger signals are connected to the MCU via the PPS interface, and then the MCU... The U-series data is transmitted to the FPGA for processing via GPIO; data from two millimeter-wave radars is input to the MCU chip via two CAN interfaces, and the MCU connects to a switch for transmission to the main computing unit and redundant computing unit; inertial navigation data receives RTK data via serial port 1 and sends positioning data to the MCU via serial port 2, and then the MCU connects to a switch for transmission to the main computing unit and redundant computing unit; vehicle data (including steering, braking, and human-machine interaction) is transmitted to the MCU via CAN and two-wire Ethernet, and the MCU connects to a switch for transmission to the main computing unit and redundant computing unit. The MCU also receives control command data from the main computing unit and redundant computing unit via the switch and transmits it to the vehicle controller. Therefore, all perception and positioning data, 5G network data, and vehicle data in the autonomous driving system can be transmitted to the main computing unit and redundant computing unit through this device, enabling the reuse of perception and positioning equipment throughout the autonomous driving system without the need for additional perception and positioning equipment, thus reducing the overall cost of the autonomous driving system.

[0037] like Figure 3As shown, the device supports redundant power supply, ensuring the stability of the power supply for the entire autonomous driving system. The device has two redundant power supply input interfaces, seamlessly switching to the redundant power supply in the event of a main power supply failure, thus guaranteeing the stability of the device's power supply. Furthermore, the device not only provides redundant power input for internal chips (providing redundant power for the FPGA chip and ensuring redundant power for the camera), but also provides redundant power for external sensors, such as… Figure 3 As shown, the device has two redundant power supply interfaces. One of them can be connected to devices such as LiDAR and 5G routers, while the other can be connected to devices such as millimeter-wave radar and inertial navigation. This enables redundant power supply for devices such as LiDAR, cameras, millimeter-wave radar, combined inertial navigation equipment, and 5G routers in the autonomous driving system, ensuring the power supply stability of the entire autonomous driving system.

[0038] Furthermore, this device integrates conventional switches, FPGAs, MCUs, power management modules, etc., reducing the number of components in the autonomous driving system and effectively lowering the risk of problems in the entire autonomous driving system. Similarly, even if the main computing unit and redundant computing units of the autonomous driving system fail simultaneously (multi-point failure), the device's MCU chip can effectively control the vehicle to stop based on the historical planned trajectory output and stored before the computing unit failure and the vehicle's current operating speed, ensuring the vehicle's operational safety.

[0039] This invention proposes an integrated multi-terminal forwarding device for autonomous driving systems. This device can simultaneously receive perception and positioning data and vehicle data from the autonomous driving system from both the main computing unit and the redundant computing unit. In the event of a failure of the main computing unit, the redundant computing unit takes over control of the vehicle and continues autonomous driving operations. All perception and positioning data, 5G network data, and vehicle data in the system can be transmitted to both the main computing unit and the redundant computing unit through this device. This enables the reuse of perception and positioning equipment throughout the autonomous driving system, eliminating the need for additional perception and positioning devices, thus reducing the overall cost of the autonomous driving system and facilitating rapid commercialization. Furthermore, this device can integrate switches, FPGAs, microcontrollers, power management modules, etc., into a single unit, reducing the number of components in the autonomous driving system and effectively mitigating the risk of component failures. Similarly, the device supports redundant power supply, ensuring redundant power supply not only for the chips within the device but also for external devices, effectively guaranteeing the power supply safety of the entire autonomous driving system. Finally, even if the main computing unit and redundant computing unit of the autonomous driving system fail simultaneously (multiple failures), the device's MCU chip can effectively control the vehicle to stop based on the historical planned trajectory output before the computing unit failure and the vehicle's current operating speed, ensuring the vehicle's operational safety.

[0040] An embodiment of a multi-terminal forwarding device suitable for autonomous driving systems:

[0041] An embodiment of the multi-terminal forwarding device applicable to an autonomous driving system according to the present invention, such as... Figure 1 As shown, the device includes chips such as a power management module, a switch, an FPGA (Field Programmable Gate Array), and an MCU (Microcontroller Unit).

[0042] The switch chip includes six Gigabit Ethernet interfaces and two 10 Gigabit Ethernet interfaces, primarily responsible for Ethernet data exchange. Externally, the switch supports six Gigabit Ethernet ports and two 10 Gigabit Ethernet ports. Four of the Gigabit Ethernet ports are used to connect to LiDAR devices, and two are used to connect to 5G router devices. The two 10 Gigabit Ethernet ports are used to connect to the main computing unit and redundant computing units, respectively. Internally, the switch connects to the FPGA and MCU via LAN interfaces, primarily handling data exchange and forwarding. The FPGA has multiple data interfaces for connecting to camera devices to acquire video data. The FPGA can connect to the switch via the LAN interface and forward video data to the external computing unit. The MCU has multiple data interfaces for acquiring perception data and vehicle data. The MCU can also connect to the switch via the LAN interface to forward perception data and vehicle data to the external computing unit. Simultaneously, the external computing unit can forward control data to the MCU module via the switch, thereby enabling autonomous driving control of the vehicle. This multi-terminal forwarding device for an autonomous driving system is consistent with a multi-terminal forwarding device for an autonomous driving system embodiment, which has been described in detail in an autonomous driving system embodiment and will not be repeated here.

[0043] An example of an autonomous vehicle:

[0044] An embodiment of an autonomous vehicle according to the present invention includes an autonomous vehicle body and an autonomous driving system. The autonomous driving system includes a vehicle controller, perception devices (including navigation devices and environmental perception devices), a main computing unit and a redundant computing unit. The autonomous driving system also includes a multi-terminal forwarding device suitable for the autonomous driving system, which includes chips such as a power management module, a switch, an FPGA (Field Programmable Gate Array) and an MCU (Microcontroller Unit).

[0045] The switch chip includes six Gigabit Ethernet interfaces and two 10 Gigabit Ethernet interfaces, primarily responsible for Ethernet data exchange. Externally, the switch supports six Gigabit Ethernet ports and two 10 Gigabit Ethernet ports. Four of the Gigabit Ethernet ports are used to connect to LiDAR devices, and two are used to connect to 5G routers. The two 10 Gigabit Ethernet ports are used to connect to the main computing unit and redundant computing units, respectively. Internally, the switch connects to the FPGA and MCU via LAN interfaces, primarily handling data exchange and forwarding. The FPGA has multiple data interfaces for connecting to camera devices to acquire video data. The FPGA can connect to the switch via the LAN interface and forward video data to the external computing unit. The MCU has multiple data interfaces for connecting to sensing devices and the vehicle controller to receive sensing and vehicle data. The MCU can also connect to the switch via the LAN interface to forward sensing and vehicle data to the external computing unit. Simultaneously, the external computing unit can forward control data to the MCU module via the switch, thereby enabling autonomous driving control of the vehicle. The multi-terminal forwarding device for autonomous driving systems of the present invention is consistent with the multi-terminal forwarding device for autonomous driving systems in an embodiment of an autonomous driving system, and has been described in detail in an embodiment of an autonomous driving system, so it will not be described again here.

Claims

1. A multi-terminal forwarding device suitable for autonomous driving systems, characterized in that: The device integrates a switch and a comprehensive control module; the comprehensive control module includes a microcontroller unit and an FPGA, and the switch is internally connected to the microcontroller unit and the FPGA via LAN ports; the switch is equipped with multiple switching interfaces, including interfaces for connecting to the main computing unit and redundant computing units in the autonomous driving system respectively; Both the microcontroller unit and the FPGA are equipped with multiple data interfaces. Each data interface is used to connect to the sensing devices and the vehicle controller to obtain the sensing data and vehicle data required by the autonomous driving system. The acquired sensing data and vehicle data are processed or directly forwarded to the main computing unit and / or redundant computing unit through the switch. The interface is also used to forward control commands received from the main computing unit and / or redundant computing unit through the switch to the corresponding data interface. This ensures that both the main computing unit and the redundant computing unit can receive sensing data and vehicle data and issue control commands. The integrated control module monitors the status of the main computing unit and the redundant computing unit. If the main computing unit fails, the control data of the redundant computing unit is directly switched to be used.

2. The multi-terminal forwarding device for autonomous driving systems according to claim 1, characterized in that: The plurality of switching interfaces also include a plurality of switching interfaces for connecting the second sensing device and a plurality of switching interfaces for connecting the routing device; the switch is also used for communication to forward the sensing data collected by the second sensing device to the main computing unit and / or redundant computing unit; the second sensing device includes a lidar.

3. The multi-terminal forwarding device for autonomous driving systems according to claim 1, characterized in that: The device also includes a power management module, which provides power to both the switch and the integrated control module.

4. The multi-terminal forwarding device for autonomous driving systems according to claim 1, characterized in that: The sensing data includes data collected by millimeter-wave radar, positioning data collected by inertial navigation equipment, and video data collected by camera equipment. The microcontroller unit is provided with several data interfaces for connecting to the millimeter-wave radar, multiple data interfaces for connecting to the inertial navigation equipment, and multiple data interfaces for connecting to the vehicle controller to obtain vehicle data and output control commands. The FPGA is provided with multiple data interfaces for connecting to the camera equipment to obtain video data. The FPGA is used to compress and split the acquired video data before sending it to the switch.

5. The multi-terminal forwarding device for autonomous driving systems according to claim 4, characterized in that: The microcontroller unit is also used to store historical planned trajectories and current vehicle speed, and can effectively control the vehicle to stop based on historical planned trajectories and current vehicle speed when both the main computing unit and the redundant computing unit fail.

6. The multi-terminal forwarding device for autonomous driving systems according to claim 4, characterized in that: The microcontroller unit is also provided with an interface for connecting to a clock to obtain clock synchronization data, and an interface for connecting to a scheduling platform to obtain scheduling information.

7. The multi-terminal forwarding device for autonomous driving systems according to claim 4, characterized in that: The FPGA uses a GMSL interface to connect to the camera device; the microcontroller uses a CAN interface to connect to the millimeter-wave radar; multiple interfaces for connecting to the inertial navigation device include a CAN interface, a serial port, a GPRMC interface, and a PPS interface; and multiple interfaces for connecting to the vehicle controller include a CAN interface and a two-wire Ethernet interface.

8. The multi-terminal forwarding device for an autonomous driving system according to claim 6, characterized in that: The microcontroller unit and the FPGA are connected via RGMII and GPIO to exchange information; the information exchanged includes clock synchronization related data.

9. The multi-terminal forwarding device for an autonomous driving system according to claim 2, characterized in that: The switch uses a gigabit Ethernet interface for connecting the lidar and routing devices, and a 10-gigabit Ethernet interface for connecting the main computing unit and the redundant computing unit.

10. The multi-terminal forwarding device for an autonomous driving system according to claim 3, characterized in that: The power management module includes a main power input interface and a redundant power input interface, enabling two redundant power supplies to the power management module.

11. The multi-terminal forwarding device for an autonomous driving system according to claim 3, characterized in that: The power management module is also configured as a power supply interface for external devices; the external devices include at least one of the following: lidar, router, millimeter-wave radar, and inertial navigation equipment.

12. The multi-terminal forwarding device for an autonomous driving system according to claim 3, characterized in that: The switch, integrated control module, and power management module are integrated into the design of the device.

13. An autonomous driving system, comprising a vehicle controller, sensing devices, a main computing unit, and a redundant computing unit, characterized in that: It also includes a multi-terminal forwarding device suitable for autonomous driving systems as described in any one of claims 1-12.

14. An autonomous vehicle, comprising an autonomous vehicle body and an autonomous driving system, wherein the autonomous driving system includes a vehicle controller, sensing devices, a main computing unit, and redundant computing units, characterized in that: The autonomous driving system also includes a multi-terminal forwarding device suitable for autonomous driving systems as described in any one of claims 1-12.

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