Data processing system, laser radar chip, laser radar

Abstract

The present application discloses a data processing system, a laser radar chip, and a laser radar. The data processing system processes data transmitted between a first device and a second device, the first device outputs the first data, and the second device outputs the second data. The data processing system includes a data processing module, an error injection module, and a control module. The data processing module sets verification data, and outputs the processing results of the first data and the second data based on the first data, the second data, and the verification data. The error injection module generates and injects an error signal into the data processing module so that the data processing module outputs the error injection result. The control module determines whether the first data and the second data are abnormal based on the processing result, and determines whether the data processing module is abnormal based on the error injection result. Through the above method, it is possible to determine in real time whether there are abnormalities in data transmission and functional modules to ensure the reliable operation of the laser radar chip, which is conducive to reducing safety hazards, thereby effectively protecting personal safety.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of data processing technology, and in particular to a data processing system, a laser radar chip, and a laser radar. Background Art

[0002] In the fields of smart transportation / autonomous driving, the key point is to quickly and accurately perceive the surrounding environment of the road / autonomous driving vehicle. According to the road, vehicle position and obstacle information obtained by the sensor equipment, the road signal control is coordinated to improve the quality and efficiency of road management; the decision-making of the autonomous driving vehicle is controlled, and the safe distance between the autonomous driving vehicles is adjusted to ensure that the vehicle can drive safely and reliably on the road. As one of the most important autonomous driving sensors, LiDAR can provide the decision-making system with the most important information about the location / size / motion of traffic participants in the fields of smart transportation / autonomous driving. It is precisely because LiDAR is the eyes of the autonomous driving vehicle that how to protect the security of LiDAR data collection and transmission is particularly important, and it is directly related to the life safety of the driver and passengers of the vehicle. Summary of the invention

[0003] The embodiments of the present application provide a data processing system, a laser radar chip, and a laser radar, which can determine in real time whether there are abnormalities in data transmission and functional modules to ensure the reliable operation of the laser radar chip, which is conducive to reducing safety hazards and can effectively protect personal safety.

[0004] In a first aspect, an embodiment of the present application provides a data processing system for processing data transmitted between a first device and a second device, wherein the first device and the second device are connected via a bus, the first device outputs first data and transmits it to the second device via the bus, and the second device outputs second data and transmits it to the first device via the bus, the data processing system comprising: a data processing module, disposed between the first device and the second device, configured to set verification data, and output processing results of the first data and the second data based on the first data, the second data and the verification data; an error injection module and a control module, the error injection module being connected to the data processing module and the control module respectively, the error injection module being configured to be controlled by the control module, generating and injecting an error signal into the data processing module, so that the data processing module outputs an error injection result; the control module being connected to the data processing module, configured to receive the processing result and the error injection result, and determining whether the first data and the second data are abnormal based on the processing result, and determining whether the data processing module is abnormal based on the error injection result.

[0005] In some embodiments, the control module is specifically configured to: control the operation of the error injection module; if the data processing module is determined to be normal based on the error injection result, control the data processing module to operate; if the data processing module is determined to be abnormal based on the error injection result, control the data processing module to stop operating.

[0006] In some embodiments, the data processing module includes: a first encoding unit, connected to the bus, configured to receive the first data on the output side of the first device, and output a first encoding result after encoding the first data based on a first encoding type; a second encoding unit, connected to the bus, configured to receive the first data on the receiving side of the second device, and output a second encoding result after encoding the first data based on the first encoding type, wherein the verification data includes the first encoding result and the second encoding result; a first comparator, respectively connected to the first encoding unit, the second encoding unit and the control module, configured to receive the first encoding result and the second encoding result, and output a first comparison result to the control module based on the first encoding result and the second encoding result, wherein the processing result includes the first comparison result.

[0007] In some embodiments, the data processing module also includes: a first decoding and error correction unit, which is respectively connected to the first encoding unit, the first comparator and the bus, configured to receive the first encoding result and the first comparison result, and correct the first data input to the second encoding unit based on the first encoding result when it is determined that the first comparison result is abnormal.

[0008] In some embodiments, the error injection module includes: a first error injection unit, connected to the control module, configured to be controlled by the control module, and output a first error sub-signal and a first error injection control signal; a first selector, respectively connected to the first error injection unit, the first encoding unit and the bus, configured to input the first error sub-signal and the first data on the output side of the first device, and output the first error sub-signal to the first encoding unit when receiving the first error injection control signal, and output the first data to the first encoding unit when not receiving the first error injection control signal, wherein the error signal includes the first error sub-signal.

[0009] In some embodiments, the first encoding unit is further configured to: receive the first error sub-signal, and output a first error encoding result after encoding the first error sub-signal based on the first encoding type; the first comparator is also configured to: receive the first error encoding result, and output a second comparison result to the control module based on the first error encoding result and the second encoding result, wherein the error injection result includes the second comparison result.

[0010] In some embodiments, the data processing module includes: a third encoding unit, connected to the bus, configured to receive the second data on the output side of the second device, and output a third encoding result after encoding the second data based on the first encoding type; a fourth encoding unit, connected to the bus, configured to receive the second data on the receiving side of the first device, and output a fourth encoding result after encoding the second data based on the first encoding type, wherein the verification data includes the third encoding result and the fourth encoding result; a second comparator, respectively connected to the third encoding unit, the fourth encoding unit and the control module, configured to receive the third encoding result and the fourth encoding result, and output a third comparison result to the control module based on the third encoding result and the fourth encoding result, wherein the processing result includes the third comparison result.

[0011] In some embodiments, the data processing module also includes: a second decoding and error correction unit, which is respectively connected to the third encoding unit, the second comparator and the bus, configured to receive the third encoding result and the third comparison result, and correct the second data input to the fourth encoding unit based on the third encoding result when it is determined that the third comparison result is abnormal.

[0012] In some embodiments, the error injection module includes: a second error injection unit, connected to the control module, configured to be controlled by the control module, and output a second error injection sub-signal and a second error injection control signal; a second selector, connected to the second error injection unit, the third encoding unit and the bus, respectively, configured to input the second error sub-signal and the second data on the output side of the second device, and output the second error sub-signal to the third encoding unit when receiving the second error injection control signal, and output the second data to the third encoding unit when not receiving the second error injection control signal, wherein the error signal includes the second error sub-signal.

[0013] In some embodiments, the third encoding unit is further configured to: receive the second error sub-signal, and output a second error encoding result after encoding the second error sub-signal based on the first encoding type; the second comparator is also configured to: receive the second error encoding result, and output a fourth comparison result to the control module based on the second error encoding result and the fourth encoding result, wherein the error injection result includes the fourth comparison result.

[0014] In some embodiments, the first encoding type is ECC encoding.

[0015] In some embodiments, the data processing module includes: a third device, configured to be the same as the first device and outputting third data; a third comparator, connected to the bus, the third device and the control module respectively, configured to receive the third data and the first data on the output side of the first device, and output a fifth comparison result to the control module based on the first data and the third data; the control module is also configured to receive the fifth comparison result and determine whether the first data and the third data are abnormal based on the fifth comparison result.

[0016] In some embodiments, the error injection module includes: a third error injection unit, connected to the control module, configured to be controlled by the control module, and output a third error sub-signal and a third error injection control signal; a third selector, respectively connected to the third error injection unit, the bus and the third comparator, configured to input the third error sub-signal and the first data on the output side of the first device, and output the third error sub-signal to the third comparator when receiving the third error injection control signal, and output the first data to the third comparator when not receiving the third error injection control signal, wherein the error signal includes the third error sub-signal.

[0017] In some embodiments, the third comparator is further configured to: upon receiving the third error sub-signal, output a sixth comparison result to the control module based on the third error sub-signal and the third data, wherein the error injection result includes the sixth comparison result.

[0018] In some embodiments, the data processing module includes: a fourth device, configured to be the same as the second device and outputting fourth data; a fourth comparator, connected to the bus, the fourth device and the control module, respectively, configured to receive the fourth data and the second data on the output side of the second device, and output a seventh comparison result to the control module based on the second data and the fourth data; the control module is also configured to receive the seventh comparison result and determine whether the second data and the fourth data are abnormal based on the seventh comparison result.

[0019] In some embodiments, the error injection module includes: a fourth error injection unit, connected to the control module, configured to be controlled by the control module, and output a fourth error sub-signal and a fourth error injection control signal; a fourth selector, respectively connected to the fourth error injection unit, the bus and the fourth comparator, configured to input the fourth error sub-signal and the second data on the output side of the second device, and output the fourth error sub-signal to the fourth comparator when receiving the fourth error injection control signal, and output the second data to the fourth comparator when not receiving the fourth error injection control signal, wherein the error signal includes the fourth error sub-signal.

[0020] In some embodiments, the fourth comparator is further configured to: upon receiving the fourth error sub-signal, output an eighth comparison result to the control module based on the fourth error sub-signal and the fourth data, wherein the error injection result includes the eighth comparison result.

[0021] In a second aspect, an embodiment of the present application provides a laser radar chip, comprising a first device, a second device, a bus, and the data processing system as described above. The first device and the second device are connected via the bus, and the data processing system is arranged between the first device and the second device.

[0022] In a third aspect, an embodiment of the present application provides a laser radar, including the laser radar chip as described above.

[0023] Compared with the prior art, the data processing system of the embodiment of the present application is used to process data transmitted between a first device and a second device, the first device and the second device are connected via a bus, the first device outputs the first data and transmits it to the second device via the bus, and the second device outputs the second data and transmits it to the first device via the bus. The data processing system includes a data processing module, an error injection module and a control module. The data processing module is arranged between the first device and the second device, configured to set verification data, and output the processing results of the first data and the second data based on the first data, the second data and the verification data. The error injection module is connected to the data processing module and the control module respectively, and the error injection module is configured to be controlled by the control module, generate and inject an error signal into the data processing module, so that the data processing module outputs the error injection result. The control module is connected to the data processing module, configured to receive the processing result and the error injection result, and determine whether the first data and the second data are abnormal based on the processing result, and determine whether the data processing module is abnormal based on the error injection result. Through the above method, it is possible to determine in real time whether the first data and the second data are abnormal, that is, whether the data transmission is abnormal, and whether the data processing module is abnormal, that is, whether the functional module is abnormal. Thus, the reliable operation of the lidar chip can be ensured, which is conducive to reducing safety hazards and effectively protecting personal safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] One or more embodiments are exemplarily described by the figures in the corresponding drawings, and these exemplary descriptions are not intended to limit the embodiments. Elements with the same reference numerals in the drawings represent similar elements.

[0025] Figure 1 This is a schematic diagram of the structure of the data processing system provided in the embodiment of the present application. Figure 1 ;

[0026] Figure 2 This is a schematic diagram of the structure of the data processing system provided in the embodiment of the present application. Figure 2 ;

[0027] Figure 3 This is a schematic diagram of the structure of the data processing system provided in the embodiment of the present application. Figure 3 ;

[0028] Figure 4 This is a schematic diagram of the structure of the data processing system provided in the embodiment of the present application. Figure 4 ;

[0029] Figure 5 This is a schematic diagram of the structure of the data processing system provided in the embodiment of the present application. Figure 5 ;

[0030] Figure 6 This is a schematic diagram of the structure of the data processing system provided in the embodiment of the present application. Figure 6;

[0031] Figure 7 This is a schematic diagram of the structure of the data processing system provided in the embodiment of the present application. Figure 7 ;

[0032] Figure 8 This is a schematic diagram of the structure of the data processing system provided in the embodiment of the present application. Figure 8 ;

[0033] Fig. 9 This is a schematic diagram of the structure of the data processing system provided in the embodiment of the present application. Figure 9 ;

[0034] Fig.10 This is a schematic diagram of the structure of the data processing system provided in the embodiment of the present application. Figure 10 ;

[0035] Fig.11 This is a schematic diagram of the structure of the data processing system provided in the embodiment of the present application. Figure 10 one. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and in detail in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0037] It should be noted that, when an element is described as being “connected to” another element, it may be directly connected to the other element, or one or more intervening elements may exist therebetween.

[0038] In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as there is no structural conflict between them.

[0039] In LiDAR, LiDAR chip is the core component, responsible for the collection, processing and transmission of all LiDAR information. Especially in vehicle-mounted systems, LiDAR chip undertakes important object sensing functions. Once this function fails, the consequences will directly affect the life safety of the vehicle's drivers and passengers.

[0040] Based on this, the embodiment of the present application provides a laser radar chip that can determine in real time whether there is an abnormality in data transmission to ensure the reliable operation of the laser radar chip. The laser radar chip includes a first device, a second device, a bus, and a data processing system 1000 in any embodiment of the present application.

[0041] The first device and the second device are connected via a bus, and the data processing system 1000 is disposed between the first device and the second device. The data processing system 1000 is used to determine in real time whether there is any abnormality in the data transmitted between the first device and the second device.

[0042] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of the data processing system provided in the embodiment of the present application. Figure 1 As shown, the data processing system 1000 is used to process data transmitted between the first device 2000 and the second device 3000. The first device 2000 and the second device 3000 are connected via a bus. The first device 2000 outputs the first data D1 and transmits it to the second device 3000 via the bus. The second device 3000 outputs the second data D2 and transmits it to the first device 2000 via the bus. In some specific embodiments, the first device 2000 is a master device and the second device 3000 is a slave device. The bus is a channel for connecting the first device 2000 and the second device 3000 and transmitting data. The bus can be an AXI (Advanced eXtensible Interface) bus, an AHB (Advanced High-performance Bus) bus, an SPI (Serial Peripheral Interface) bus, etc. In addition, the present application does not specifically limit the distance for transmitting data between the first device 2000 and the second device 3000, that is, the embodiments of the present application can be applied to various application scenarios of different distances for transmitting data.

[0043] The data processing system 1000 includes a data processing module 100, an error injection module 200 and a control module 300. The data processing module 100 is disposed between the first device 2000 and the second device 3000. The error injection module 200 is connected to the data processing module 100 and the control module 300 respectively. The control module 300 is also connected to the data processing module 100.

[0044] In some embodiments, the control module 300 may be a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic device, a discrete gate or transistor logic, a discrete hardware component, or any combination of these components. In addition, the control module 300 may also be any conventional processor, controller, microcontroller, or state machine. The control module 300 may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors combined with a DSP, and / or any other such configuration.

[0045] The data processing module 100 is configured to set the check data, and output the processing results of the first data D1 and the second data D2 based on the first data D1, the second data D2 and the check data. The setting method of the check data can be set according to the actual application scenario, and the embodiment of the present application does not impose specific restrictions on this. For example, the setting method of the check data can be set by ECC (Error Correction Code, error correction code) encoding, or by parity check encoding, or by CRC (Cyclic Redundancy Check, cyclic redundancy check) encoding.

[0046] The first data D1 received by the data processing module 100 includes both the first data D1 located on the output side of the first device 2000. At this time, the first data D1 can be considered as accurate data that has not been transmitted, and can be used as reference data for verifying whether there are any abnormalities in data transmission. It also includes the first data D1 located on the receiving side of the second device 3000. At this time, the first data D1 can be considered as data that has been transmitted and may contain abnormalities, which need to be verified to ensure that the second device 3000 receives the accurate first data D1.

[0047] Similarly, the second data D2 received by the data processing module 100 includes both the second data D2 located on the output side of the second device 3000. At this time, the second data D2 can be considered as accurate data that has not been transmitted, and can be used as reference data for verifying whether there are any abnormalities in data transmission; and the second data D2 located on the receiving side of the first device 2000. At this time, the second data D2 can be considered as data that has been transmitted and may contain abnormalities, which need to be verified to ensure that the first device 2000 receives accurate second data D2.

[0048] The error injection module 200 is configured to be controlled by the control module 300, generate and inject an error signal into the data processing module 100, so that the data processing module 100 outputs an error injection result. That is, when it is necessary to determine whether the data processing module 100 is abnormal, the control module 300 controls the error injection module 200 to output an error signal and injects the error signal into the data processing module 100. The error signal is a signal that simulates an abnormality in the first data D1 or the second data D2. The abnormality of the first data D1 or the second data D2 includes abnormalities such as data loss or data error in the first data D1 or the second data D2. In general, as long as the first data D1 located at the output side of the first device 2000 is different from the first data D1 located at the receiving side of the second device 3000, the first data D1 is abnormal; as long as the second data D2 located at the output side of the second device 3000 is different from the second data D2 located at the receiving side of the first device 2000, the second data D2 is abnormal.

[0049] The control module 300 is configured to receive the processing result, and determine whether the first data D1 and the second data D2 are abnormal based on the processing result. In a specific embodiment, the first data D1 located at the output side of the first device 2000 and the first data D1 located at the receiving side of the second device 3000 are set by a preset setting method of the verification data (including ECC coding, parity coding or CRC coding, etc.), and two setting results can be obtained. Based on the results of the two settings, it can be determined whether the first data D1 is abnormal. Similarly, the second data D2 located at the output side of the second device 3000 and the second data D2 located at the receiving side of the first device 2000 are set by a preset setting method of the verification data (including ECC coding, parity coding or CRC coding, etc.), and two setting results can be obtained. Based on the results of the two settings, it can be determined whether the second data D2 is abnormal.

[0050] The control module 300 is also configured to receive the error injection result, and determine whether the data processing 100 module is abnormal based on the error injection result. In a specific embodiment, after the error signal is input to the data processing module 100, the data processing module 100 may output the error injection result based on the reference data (such as the first data D1 located at the output side of the first device 2000 or the second data D2 located at the output side of the second device 3000) and the error signal. If the control module 300 determines that the reference data is different from the error signal based on the error injection result, it can be determined that the data processing 100 module is normal; conversely, if it is determined that the reference data is the same as the error signal, it can be determined that the data processing 100 module is abnormal.

[0051] In summary, the control module 300 can determine in real time whether there are abnormalities in the first data D1 and the second data D2, that is, determine in real time whether there are abnormalities in data transmission, and the control module 300 can determine in real time whether there are abnormalities in the data processing module 100, that is, determine in real time whether there are abnormalities in the functional module, thereby ensuring the reliable operation of the laser radar chip including the data processing system 1000, which is conducive to reducing safety hazards and effectively protecting personal safety.

[0052] In one embodiment, the control module 300 is specifically configured as follows: controlling the operation of the error injection module 200; if the data processing module 100 is determined to be normal based on the error injection result, controlling the data processing module 100 to operate; if the data processing module 100 is determined to be abnormal based on the error injection result, controlling the data processing module 100 to stop operating.

[0053] Specifically, after the laser radar chip including the data processing system 1000 is powered on, the error injection module 200 is used to verify whether the data processing module 100 is normal. The data processing module 100 is put into use only when the data processing module 100 is normal, which can ensure that the subsequent process of using the data processing module 100 to verify the data in the transmission process is more accurate and reliable.

[0054] In one embodiment, if Figure 2 As shown, the data processing module 100 includes a first encoding unit 101 , a second encoding unit 102 and a first comparator 103 .

[0055] Among them, the first encoding unit 101 is connected to the bus, and the first encoding unit 101 is arranged on a side close to the first device 2000. The first encoding unit 101 is configured to receive the first data D1 on the output side of the first device 2000, and output the first encoding result D1_1 after encoding the first data D1 based on the first encoding type, and the verification data includes the first encoding result D1_1. The first encoding type corresponds to the setting method of the verification data preset in the above embodiment, and the first encoding type includes ECC encoding, parity encoding or CRC encoding, etc. The first encoding unit 101 receives the first data D1 on the output side of the first device 2000. At this time, the first data D1 can be considered as accurate data that has not been transmitted, and can be used as a reference data for verifying whether there is an abnormality in data transmission. In addition, by performing encoding based on the first encoding type and then transmitting over a long distance, the probability of error in the process of long-distance transmission of data can be effectively reduced, that is, it can be considered that even if the first encoding result D1_1 is transmitted over a long distance, it can be considered that the normal transmission is maintained, and the first encoding result D1_1 can be used as the reference data.

[0056] The second encoding unit 102 is connected to the bus, and the second encoding unit 102 is arranged on a side close to the second device 3000. The second encoding unit 102 is configured to receive the first data D1 on the receiving side of the second device 3000, and output a second encoding result D1_2 after encoding the first data D1 based on the first encoding type, wherein the verification data includes the second encoding result D1_2. The second encoding unit 102 receives the first data D1 on the receiving side of the second device 3000. At this time, the first data D1 can be considered as data that has been transmitted and may have anomalies. It is necessary to verify it through the first encoding result D1_1 to determine whether it has anomalies.

[0057] The first comparator 103 is connected to the first encoding unit 101, the second encoding unit 102 and the control module 300 respectively, and the first comparator 103 is disposed on a side close to the second device 3000. The first comparator 103 is configured to receive the first encoding result D1_1 and the second encoding result D1_2, and output a first comparison result D1_3 to the control module 300 based on the first encoding result D1_1 and the second encoding result D1_2, wherein the processing result includes the first comparison result D1_3. Specifically, the inputs of the first encoding unit 101 and the second encoding unit 102 are both the first data D1 (the only difference is the position of receiving the first data D1 is different), and the same encoding method is used. If the first data D1 does not have an abnormality during the data transmission process (such as data loss, abnormal data flipping, etc.), the control module 300 should determine that the first encoding result D1_1 is the same as the second encoding result D1_2 based on the first comparison result D1_3; conversely, if the first data D1 is abnormal during the data transmission process, the control module 300 should determine that the first encoding result D1_1 is different from the second encoding result D1_2 based on the first comparison result D1_3. Thus, the control module 300 can determine in real time whether the first data D1 is abnormal.

[0058] In one embodiment, if Figure 3 As shown, the data processing module 100 further includes a first decoding and error correction unit 104 .

[0059] The first decoding and error correction unit 104 is connected to the first encoding unit 101, the first comparator 103 and the bus, respectively, and the first decoding and error correction unit 104 is disposed on a side close to the second device 3000. The first decoding and error correction unit 104 is configured to receive the first encoding result D1_1 and the first comparison result D1_3, and to perform error correction on the first data D1 input to the second encoding unit 102 based on the first encoding result D1_1 when determining that the first comparison result D1_3 is abnormal. The abnormality of the first comparison result D1_3 corresponds to the difference between the first encoding result D1_1 and the second encoding result D1_2, and it can be determined that the first data D1 received by the second encoding unit 102 is abnormal (that is, the first data D1 received by the receiving side of the second device 3000 is abnormal). At this time, the first decoding and error correction unit 104 can obtain the first encoding result D1_1 and the second encoding result D1_2 from the memory, and then decode the first encoding result D1_1 and the second encoding result D1_2. Then, the decoded data of the first coding result D1_1 is compared with each bit of the decoded data of the second coding result D1_2 one by one to determine the bit of data error in the decoded data of the second coding result D1_2. Then the bit of data error is corrected, that is, the bit of data error is discarded and replaced with correct data. After the error correction of the data decoded by the second coding result D1_2, the same data as the first data D1 received by the first coding unit 101 can be obtained, and the data is then input into the bus, and then the second device 3000 can receive the accurate first data D1. In this embodiment, the data can be corrected in real time when the first data D1 is abnormal, which is conducive to reducing the risk and loss caused by data errors and improving the reliability and credibility of the data.

[0060] In one embodiment, if Figure 4 As shown, the injection error module 200 includes a first injection error unit 201 and a first selector 202 .

[0061] The first injection error unit 201 is connected to the control module 300, and the first injection error unit 201 is arranged on a side close to the first device 2000. The first injection error unit 201 is configured to be controlled by the control module 300, and output a first error sub-signal D11 and a first injection error control signal. The control module 300 controls the first injection error unit 201 to run or stop running. When the control module 300 controls the first injection error unit 201 to run, the first injection error unit 201 outputs the first error sub-signal D11 and the first injection error control signal. The first error sub-signal D11 is input to the first selector 202, and the first injection error control signal is used to control the signal selected by the first selector 202 to output.

[0062] The first selector 202 is connected to the first error injection unit 201, the first encoding unit 101 and the bus respectively, and the first selector 202 is arranged on a side close to the first device 2000. The first selector 202 is configured to input the first error sub-signal D11 and the first data D1 on the output side of the first device 2000, and output the first error sub-signal D11 to the first encoding unit 101 when receiving the first error injection control signal, and output the first data D1 to the first encoding unit 101 when not receiving the first error injection control signal, wherein the error signal includes the first error sub-signal D11. In practical applications, after the laser radar chip including the data processing system 1000 is powered on, the control module 300 first controls the first error injection unit 201 to operate. The first error injection unit 201 outputs the first error sub-signal D11 and the first error injection control signal. The first error sub-signal D11 is input to the first selector 202, and the first error injection control signal controls the first selector 202 to output the first error sub-signal D11 to the first encoding unit 101. Based on the second comparison result D11_2 output by the first comparator 103, it can be determined whether the first coding unit 101, the second coding unit 102 and the first comparator 103 are abnormal. Afterwards, if it is determined that the first coding unit 101, the second coding unit 102 and the first comparator 103 are not abnormal, the control module 300 controls the first error injection unit 201 to stop running. The first error injection unit 201 stops outputting the first error sub-signal D11 and the first error injection control signal. Since the first selector 202 does not receive the first error injection control signal, the first selector 202 outputs the first data D1 to the first coding unit 101, and then determines whether the first data D1 is abnormal based on the first comparison result D1_3 output by the first comparator 103. The first encoding unit 101, the second encoding unit 102 and the first comparator 103 are put into use only when it is determined that the first encoding unit 101, the second encoding unit 102 and the first comparator 103 are normal, which can ensure that the subsequent process of using the first encoding unit 101, the second encoding unit 102 and the first comparator 103 to verify the data during the transmission process is more accurate and reliable.

[0063] In some embodiments, the first encoding unit 101 is further configured to receive a first error sub-signal D11, and output a first error encoding result D11_1 after encoding the first error sub-signal D11 based on the first encoding type. The first error sub-signal D11 is a signal when the simulation first data D1 is abnormal. For example, in one embodiment, the first error sub-signal D11 is a signal when the first data D1 loses part of its data.

[0064] The first comparator 103 is further configured to receive the first error coding result D11_1, and output the second comparison result D11_2 to the control module 300 based on the first error coding result D11_1 and the second coding result D1_2, wherein the error result includes the second comparison result D11_2. If the control module 300 determines that the first error coding result D11_1 is different from the second coding result D1_2 based on the second comparison result D11_2, it is determined that the first coding unit 101, the second coding unit 102 and the first comparator 103 are all normal; if the control module 300 determines that the first error coding result D11_1 is the same as the second coding result D1_2 based on the second comparison result D11_2, it is determined that at least one of the first coding unit 101, the second coding unit 102 and the first comparator 103 is abnormal.

[0065] In some specific embodiments, the error position and error content of the first error sub-signal D11 are known. The control module 300 can also determine the error position and error content of the first error sub-signal D11 based on the second comparison result D11_2, and compare them with the known error position and error content to determine whether the error position and content of the current first error sub-signal D11 correspond to the known error position and error content. Then, only when the error position and error content of the current first error sub-signal D11 correspond to the known error position and error content (it can be determined that the first error sub-signal D11 has no error during the transmission process), the control module 300 further determines whether the first encoding unit 101, the second encoding unit 102 and the first comparator 103 are abnormal based on the second comparison result D11_2, which is conducive to improving reliability and accuracy.

[0066] In some specific embodiments, the first error injection unit 201 may sequentially output a plurality of first error sub-signals D11, and the error positions and / or error contents between any two of the plurality of first error sub-signals D11 are different. For example, in one embodiment, the first error sub-signal D11 includes N bits in total, and the first error injection unit 201 may sequentially output N first error sub-signals D11, and the error position of each of the N first error sub-signals D11 is one of the N bits, and the error contents of each first error sub-signal D11 are the same, wherein N is an integer greater than or equal to 2. At the same time, each time the first error sub-signal D11 is output, the first encoding unit 101 encodes the first error sub-signal D11 based on the first encoding type and outputs a first error encoding result D11_1, and the first comparator 103 outputs a second comparison result D11_2 to the control module 300 based on the first error encoding result D11_1 and the second encoding result D1_2. Then, the control module 300 can repeatedly determine whether the first encoding unit 101, the second encoding unit 102 and the first comparator 103 are abnormal, thereby improving the detection coverage and having higher reliability.

[0067] It can be understood that when the first selector 202 outputs the first data D1, the first encoding unit 101 outputs the first encoding result D1_1 to the first comparator 103, and the first comparator 103 outputs the first comparison result D1_3 based on the first encoding result D1_1 and the second encoding result D1_2. When the first selector 202 outputs the first error sub-signal D11, the first encoding unit 101 outputs the first error encoding result D11_1 to the first comparator 103, and the first comparator 103 outputs the second comparison result D11_2 based on the first error encoding result D11_1 and the second encoding result D1_2. At the same time, no matter whether the first encoding unit 101 outputs the first encoding result D1_1 or the first error encoding result D11_1, the first decoding and error correction unit 104 can decode it into the first data D1.

[0068] In one embodiment, if Figure 5 As shown, the data processing module 100 includes a third encoding unit 105 , a fourth encoding unit 106 and a second comparator 107 .

[0069] Among them, the third encoding unit 105 is connected to the bus, and the third encoding unit 105 is arranged on a side close to the second device 3000. The third encoding unit 105 is configured to receive the second data D2 on the output side of the second device 3000, and output the third encoding result D2_1 after encoding the second data D2 based on the first encoding type, and the verification data includes the third encoding result D2_1. The third encoding unit 105 receives the second data D2 on the output side of the second device 3000. At this time, the second data D2 can be considered as accurate data that has not been transmitted, and can be used as a reference data for verifying whether there is an abnormality in data transmission. In addition, by encoding the second data D2 based on the first encoding type, both the number of data bits and the complexity of the data are significantly reduced, and then long-distance transmission is performed, which can effectively reduce the probability of errors in the process of long-distance transmission of data. In this case, it can be considered that even if the third encoding result D2_1 is transmitted over a long distance, it is still normally transmitted, and the third encoding result D2_1 can be used as the reference data.

[0070] The fourth encoding unit 106 is connected to the bus, and the fourth encoding unit 106 is arranged on a side close to the first device 2000. The fourth encoding unit 106 is configured to receive the second data D2 on the receiving side of the first device 2000, and output a fourth encoding result D2_2 after encoding the second data D2 based on the first encoding type, wherein the verification data includes the fourth encoding result D2_2. The fourth encoding unit 106 receives the second data D2 on the receiving side of the first device 2000. At this time, the second data D2 can be considered as data that has been transmitted, and may have anomalies, and needs to be checked by the third encoding result D2_1 to determine whether it has anomalies.

[0071] The second comparator 107 is connected to the third encoding unit 105, the fourth encoding unit 106 and the control module 300 respectively, and the second comparator 107 is disposed on a side close to the first device 2000. The second comparator 107 is configured to receive the third encoding result D2_1 and the fourth encoding result D2_2, and output a third comparison result D2_3 to the control module 300 based on the third encoding result D2_1 and the fourth encoding result D2_2, wherein the processing result includes the third comparison result D2_3. Specifically, the inputs of the third encoding unit 105 and the fourth encoding unit 106 are both the second data D2 (the only difference is the position of receiving the second data D2 is different), and the same encoding method is used. If the second data D2 does not have an abnormality (such as data loss, etc.) during the data transmission process, the control module 300 should determine that the third encoding result D2_1 is the same as the fourth encoding result D2_2 based on the third comparison result D2_3; conversely, if the second data D2 is abnormal during the data transmission process, the control module 300 should determine that the third encoding result D2_1 is different from the fourth encoding result D2_2 based on the third comparison result D2_3. Thus, the control module 300 can determine in real time whether the second data D2 has an abnormality.

[0072] In one embodiment, if Figure 6 As shown, the data processing module 100 further includes a second decoding and error correction unit 108 .

[0073] The second decoding and error correction unit 108 is connected to the third encoding unit 105, the second comparator 107 and the bus, respectively, and the second decoding and error correction unit 108 is arranged on a side close to the first device 2000. The second decoding and error correction unit 108 is configured to receive the third encoding result D2_1 and the third comparison result D2_3, and to correct the second data input to the fourth encoding unit based on the third encoding result D2_1 when determining that the third comparison result D2_3 is abnormal. The abnormality of the third comparison result D2_3 corresponds to the difference between the third encoding result D2_1 and the fourth encoding result D2_2, and it can be determined that the second data D2 received by the fourth encoding unit 106 is abnormal (that is, the second data D2 received by the receiving side of the first device 2000 is abnormal). At this time, the second decoding and error correction unit 108 can obtain the third encoding result D2_1 and the fourth encoding result D2_2 from the memory, and then decode the third encoding result D2_1 and the fourth encoding result D2_2. Then, the data decoded from the third coding result D2_1 is compared with each bit of the data decoded from the fourth coding result D2_2 one by one to determine the bit of data error in the data decoded from the fourth coding result D2_2. Then, the bit of data error is corrected, that is, the bit of data error is discarded and replaced with the correct data. After the error correction of the data decoded from the fourth coding result D2_2, the same data as the second data D2 received by the third coding unit 105 can be obtained, and the data is then input into the bus, and then the first device 2000 can receive the accurate second data D2. In this embodiment, the data can be corrected in real time when the second data D2 is abnormal, which is conducive to reducing the risk and loss caused by data errors and improving the reliability and credibility of the data.

[0074] In one embodiment, if Figure 7 As shown, the mis-injection module 200 includes a second mis-injection unit 203 and a second selector 204 .

[0075] The second injection error unit 203 is connected to the control module 300, and the second injection error unit 203 is arranged on a side close to the second device 3000. The second injection error unit 203 is configured to be controlled by the control module 300, and output the second error sub-signal D21 and the second injection error control signal. When the control module 300 controls the second injection error unit 203 to operate, the second injection error unit 203 outputs the second error sub-signal D21 and the second injection error control signal. The second error sub-signal D21 is input to the second selector 204, and the second injection error control signal is used to control the signal selected by the second selector 204 to output.

[0076] The second selector 204 is connected to the second error injection unit 203, the third encoding unit 105 and the bus, respectively, and the second selector 204 is arranged on a side close to the second device 3000. The second selector 204 is configured to input the second error sub-signal D21 and the second data D2 on the output side of the second device 3000, and output the second error sub-signal D21 to the third encoding unit 105 when receiving the second error injection control signal, and output the second data D2 to the third encoding unit 105 when not receiving the second error injection control signal, wherein the error signal includes the second error sub-signal D21. In practical applications, after the laser radar chip including the data processing system 1000 is powered on, the control module 300 first controls each error injection unit (including the first error injection unit 201, the second error injection unit 203, etc.) to operate. When the second error injection unit 203 is operating, the second error injection unit 203 outputs the second error sub-signal D21 and the second error injection control signal. The second error sub-signal D21 is input to the second selector 204, and the second error injection control signal controls the second selector 204 to output the second error sub-signal D21 to the third encoding unit 105. Based on the fourth comparison result D21_2 output by the second comparator 107, it can be determined whether the third encoding unit 105, the fourth encoding unit 106 and the second comparator 107 are abnormal. Afterwards, if it is determined that the third encoding unit 105, the fourth encoding unit 106 and the second comparator 107 are not abnormal, the control module 300 controls the second error injection unit 203 to stop running. The second error injection unit 203 stops outputting the second error sub-signal D21 and the second error injection control signal. Since the second selector 204 does not receive the second error injection control signal, the second selector 204 outputs the second data D2 to the third encoding unit 105, and then determines whether the second data D2 is abnormal based on the third comparison result D2_3 output by the second comparator 107. The third encoding unit 105, the fourth encoding unit 106 and the second comparator 107 are put into use only when it is determined that the third encoding unit 105, the fourth encoding unit 106 and the second comparator 107 are normal, which can ensure that the subsequent process of using the third encoding unit 105, the fourth encoding unit 106 and the second comparator 107 to verify the data during the transmission process is more accurate and reliable.

[0077] In some embodiments, the third encoding unit 105 is further configured to receive the second error sub-signal D21, and output a second error encoding result D21_1 after encoding the second error sub-signal D21 based on the first encoding type. The second error sub-signal D21 is a signal when the second data D2 is abnormal. For example, in one embodiment, the second error sub-signal D21 is a signal when the second data D2 has error data.

[0078] The second comparator 107 is further configured to receive the second error coding result D21_1, and output the fourth comparison result D21_2 to the control module 300 based on the second error coding result D21_1 and the fourth coding result D2_2, wherein the error result includes the fourth comparison result D21_2. If the control module 300 determines that the second error coding result D21_1 is different from the fourth coding result D2_2 based on the fourth comparison result D21_2, then it is determined that the third coding unit 105, the fourth coding unit 106 and the second comparator 107 are all normal; if the control module 300 determines that the second error coding result D21_1 is the same as the fourth coding result D2_2 based on the fourth comparison result D21_2, then it is determined that at least one of the third coding unit 105, the fourth coding unit 106 and the second comparator 107 is abnormal.

[0079] In some specific embodiments, the error position and error content of the second error sub-signal D21 are known. The control module 300 can also determine the error position and error content of the second error sub-signal D21 based on the fourth comparison result D21_2, and compare them with the known error position and error content to determine whether the error position and content of the current second error sub-signal D21 correspond to the known error position and error content. Then, only when the error position and error content of the current second error sub-signal D21 correspond to the known error position and error content (it can be determined that the second error sub-signal D21 has no error during the transmission process), the control module 300 further determines whether the third encoding unit 105, the fourth encoding unit 106 and the second comparator 107 are abnormal based on the fourth comparison result D21_2, which is conducive to improving reliability and accuracy.

[0080] In some specific embodiments, the second error injection unit 203 may sequentially output a plurality of second error sub-signals D21, and the error positions and / or error contents between any two second error sub-signals D21 in the plurality of second error sub-signals D21 are different. For example, in one embodiment, the second error sub-signal D21 includes a total of N bits, and the first error injection unit 201 may sequentially output N first error sub-signals D11, and the error position of each second error sub-signal D21 in the N second error sub-signals D21 is one of the N bits, and the error contents of each second error sub-signal D21 are different. At the same time, each time the second error sub-signal D21 is output, the third encoding unit 105 encodes the second error sub-signal D21 based on the first encoding type and outputs the second error encoding result D21_1, and the second comparator 107 outputs the fourth comparison result D21_2 to the control module 300 based on the second error encoding result D21_1 and the fourth encoding result D2_2. Then, the control module 300 can repeatedly determine whether the third encoding unit 105, the fourth encoding unit 106 and the second comparator 107 are abnormal, thereby improving the detection coverage and having higher reliability.

[0081] It can be understood that when the second selector 204 outputs the second data D2, the third encoding unit 105 outputs the third encoding result D2_1 to the second comparator 107, and the second comparator 107 outputs the third comparison result D2_3 based on the third encoding result D2_1 and the fourth encoding result D2_2. When the second selector 204 outputs the second error sub-signal D21, the third encoding unit 105 outputs the second error encoding result D21_1 to the second comparator 107, and the second comparator 107 outputs the fourth comparison result D21_2 based on the second error encoding result D21_1 and the fourth encoding result D2_2. At the same time, no matter whether the third encoding unit 105 outputs the third encoding result D2_1 or the second error encoding result D21_1, the second decoding and error correction unit 108 can decode it into the second data D2.

[0082] In one embodiment, if Figure 8 As shown, the data processing module 100 includes a third device 109 and a third comparator 110 .

[0083] The third device 109 is disposed on a side close to the first device 2000. The third device 109 is configured the same as the first device 2000 and outputs the third data D3. The third device 109 can be understood as a copy of the first device 2000, and the inputs of the two are completely the same.

[0084] The third comparator 110 is connected to the bus, the third device 109 and the control module 300 respectively, and the third comparator 110 is arranged on a side close to the first device 2000. The third comparator 110 is configured to receive the first data D1 and the third data D3, and output a fifth comparison result D31 to the control module 300 based on the first data D1 and the third data D3. Specifically, the first device 2000 and the third device 109 are the same device and have the same input. If the first device 2000 and the third device 109 are not abnormal (or the first data D1 and the third data D3 are not abnormal), the outputs of the first device 2000 and the third device 109 should also be consistent; on the contrary, if at least one of the first device 2000 and the third device 109 is abnormal (or at least one of the first data D1 and the third data D3 is abnormal), the outputs of the first device 2000 and the third device 109 are inconsistent.

[0085] Then, after receiving the fifth comparison result D31, the control module 300 can determine whether the outputs of the first device 2000 and the third device 109 are consistent based on the fifth comparison result D31. If they are consistent, it is determined that both the first data D1 and the third data D3 are not abnormal; if they are inconsistent, it is determined that at least one of the first data D1 and the third data D3 is abnormal.

[0086] In one embodiment, if Fig. 9 As shown, the wrong injection module further includes a third wrong injection unit 205 and a third selector 206 .

[0087] The third error injection unit 205 is connected to the control module 300, and the third error injection unit 205 is arranged on a side close to the first device 2000. The third error injection unit 205 is configured to be controlled by the control module 300, and outputs a third error sub-signal D12 and a third error injection control signal. The control module 300 controls the third error injection unit 205 to run or stop running. The third error sub-signal D12 is a signal when the simulation first data D1 is abnormal. For example, in one embodiment, the third error sub-signal D12 is a signal when the first data D1 loses part of the data. When the control module 300 controls the third error injection unit 205 to run, the third error injection unit 205 outputs the third error sub-signal D12 and the first error injection control signal. The third error sub-signal D12 is input to the third selector 206, and the first error injection control signal is used to control the signal selected by the third selector 206 to output.

[0088] The third selector 206 is connected to the third error injection unit 205, the bus and the third comparator 110 respectively, and the third selector 206 is arranged on a side close to the first device 2000. The third selector 206 is configured to input the third error sub-signal D12 and the first data D1 on the output side of the first device 2000, and output the third error sub-signal D12 to the third comparator 110 when receiving the third error injection control signal, and output the first data D1 to the third comparator 110 when not receiving the third error injection control signal, wherein the error signal includes the third error sub-signal D12. In practical applications, after the laser radar chip including the data processing system 1000 is powered on, the control module 300 first controls each error injection unit to operate. When the third error injection unit 205 is operating, the third error injection unit 205 outputs the third error sub-signal D12 and the third error injection control signal. The third error sub-signal D12 is input to the third selector 206, and the third error injection control signal controls the third selector 206 to output the third error sub-signal D12 to the third comparator 110. Based on the sixth comparison result D312 output by the third comparator 110, it can be determined whether the third comparator 110 is abnormal. Afterwards, if it is determined that the third comparator 110 is not abnormal, the control module 300 controls the third error injection unit 205 to stop running. The third error injection unit 205 stops outputting the third error sub-signal D12 and the third error injection control signal. Since the third selector 206 does not receive the third error injection control signal, the third selector 206 outputs the first data D1 to the third comparator 110, and then determines whether the first data D1 is abnormal based on the fifth comparison result D31 output by the third comparator 110. The third comparator 110 is put into use only when it is determined that the third comparator 110 is normal, which can ensure that the subsequent process of using the third comparator 110 to verify the data in the transmission process is more accurate and reliable.

[0089] In a specific embodiment, the third comparator 110 is further configured to output a sixth comparison result D312 to the control module 300 based on the third error sub-signal D12 and the third data D3 when receiving the third error sub-signal D12, wherein the error result includes the sixth comparison result D312. If the control module 300 determines that the third error sub-signal D12 is different from the third data D3 based on the sixth comparison result D312, the third comparator 110 is determined to be normal; if the control module 300 determines that the third error sub-signal D12 is the same as the third data D3 based on the sixth comparison result D312, the third comparator 110 is determined to be abnormal.

[0090] In some specific embodiments, the error position and error content of the third error sub-signal D12 are known. The control module 300 can also determine the error position and error content of the third error sub-signal D12 based on the sixth comparison result D312, and compare them with the known error position and error content to determine whether the error position and content of the current third error sub-signal D12 correspond to the known error position and error content. Then, only when the error position and error content of the current third error sub-signal D12 correspond to the known error position and error content (it can be determined that the third error sub-signal D12 has no error during the transmission process), the control module 300 further determines whether the third comparator 110 is abnormal based on the sixth comparison result D312, which is conducive to improving reliability and accuracy.

[0091] In some specific embodiments, the third error injection unit 205 may output a plurality of third error sub-signals D12 in sequence, and the error positions and / or error contents between any two third error sub-signals D12 in the plurality of third error sub-signals D12 are different. For example, the third error sub-signal D12 includes N bits in total, and the third error injection unit 205 may output N third error sub-signals D12 in sequence, and the error position of each third error sub-signal D12 in the N third error sub-signals D12 is one bit in the N bits, and the error contents of each third error sub-signal D12 are the same. At the same time, each time the third error sub-signal D12 is output, the third comparator 110 outputs the sixth comparison result D312 to the control module 300 based on the third error sub-signal D12 and the third data D3. Subsequently, the control module 300 can repeatedly determine whether the third comparator 110 is abnormal, thereby improving the detection coverage and having a high reliability.

[0092] It is understood that when the third selector 206 outputs the first data D1, the third comparator 110 outputs the fifth comparison result D31 based on the first data D1 and the third data D3. When the third selector 206 outputs the third error sub-signal D12, the third comparator 110 outputs the sixth comparison result D312 based on the third error sub-signal D12 and the third data D3.

[0093] In one embodiment, if Fig.10 As shown, the data processing module includes a fourth device 111 and a fourth comparator 112 .

[0094] The fourth device 111 is disposed on a side close to the second device 3000. The fourth device 111 is configured the same as the second device 3000 and outputs the fourth data D3. The fourth device 111 can be understood as a copy of the second device 3000, and the inputs of the two are completely the same.

[0095] The fourth comparator 112 is connected to the bus, the fourth device 111 and the control module 300 respectively, and the fourth comparator 112 is arranged on a side close to the second device 3000. The fourth comparator 112 is configured to receive the second data D2 and the fourth data D4, and output the seventh comparison result D42 to the control module 300 based on the second data D2 and the fourth data D4. Specifically, the second device 3000 and the fourth device 111 are the same device and have the same input. If the second device 3000 and the fourth device 111 are not abnormal (or the second data D2 and the fourth data D4 are not abnormal), the outputs of the second device 3000 and the fourth device 111 should also be consistent; on the contrary, if at least one of the second device 3000 and the fourth device 111 is abnormal (or at least one of the second data D2 and the fourth data D4 is abnormal), the outputs of the second device 3000 and the fourth device 111 are inconsistent.

[0096] Then, after receiving the seventh comparison result D42, the control module 300 can determine whether the outputs of the second device 3000 and the fourth device 111 are consistent based on the seventh comparison result D42. If they are consistent, it is determined that neither the second data D2 nor the fourth data D4 is abnormal; if they are inconsistent, it is determined that at least one of the second data D2 and the fourth data D4 is abnormal.

[0097] In one embodiment, if Fig.11 As shown, the wrong injection module 200 further includes a fourth wrong injection unit 207 and a fourth selector 208 .

[0098] Among them, the fourth error injection unit 207 is connected to the control module 300, and the fourth error injection unit 207 is arranged on a side close to the second device 3000. The fourth error injection unit 207 is configured to be controlled by the control module 300, and outputs a fourth error sub-signal D22 and a fourth error injection control signal. The control module 300 controls the fourth error injection unit 207 to run or stop running. The fourth error sub-signal D22 is a signal when the second data D2 is abnormal. For example, in one embodiment, the fourth error sub-signal D22 is a signal when part of the second data D2 has data errors. When the control module 300 controls the fourth error injection unit 207 to run, the fourth error injection unit 207 outputs the fourth error sub-signal D22 and the fourth error injection control signal. The fourth error sub-signal D22 is input to the fourth selector 208, and the fourth error injection control signal is used to control the signal selected by the fourth selector 208 to output.

[0099] The fourth selector 208 is connected to the fourth error injection unit 207, the bus and the fourth comparator 112 respectively, and the fourth selector 208 is arranged on the side close to the second device 3000. The fourth selector 208 is configured to input the fourth error sub-signal D22 and the second data D2 on the output side of the second device 3000, and output the fourth error sub-signal D22 to the fourth comparator 112 when receiving the fourth error injection control signal, and output the second data D2 to the fourth comparator 112 when not receiving the fourth error injection control signal, wherein the error signal includes the fourth error sub-signal D22. In practical applications, after the laser radar chip including the data processing system 1000 is powered on, the control module 300 first controls each error injection unit (including the first error injection unit 201, the second error injection unit 203, the third error injection unit 205 and the fourth error injection unit 207) to operate. When the fourth error injection unit 207 is operating, the fourth error injection unit 207 outputs the fourth error sub-signal D22 and the fourth error injection control signal. The fourth error sub-signal D22 is input to the fourth selector 208, and the fourth error injection control signal controls the fourth selector 208 to output the fourth error sub-signal D22 to the fourth comparator 112. Based on the eighth comparison result D422 output by the fourth comparator 112, it can be determined whether the fourth comparator 112 is abnormal. Afterwards, if it is determined that the fourth comparator 112 is not abnormal, the control module 300 controls the fourth error injection unit 207 to stop running. The fourth error injection unit 207 stops outputting the fourth error sub-signal D22 and the fourth error injection control signal. Since the fourth selector 208 does not receive the fourth error injection control signal, the fourth selector 208 outputs the second data D2 to the fourth comparator 112, and then determines whether the second data D2 is abnormal based on the seventh comparison result D42 output by the fourth comparator 112. The fourth comparator 112 is put into use only when it is determined that the fourth comparator 112 is normal, which can ensure that the subsequent process of using the fourth comparator 112 to verify the data in the transmission process is more accurate and reliable.

[0100] In a specific embodiment, the fourth comparator 112 is further configured to output an eighth comparison result D422 to the control module 300 based on the fourth error sub-signal D22 and the fourth data D4 when receiving the fourth error sub-signal D22, wherein the error result includes the eighth comparison result D422. If the control module 300 determines that the fourth error sub-signal D22 is different from the fourth data D4 based on the eighth comparison result D422, the fourth comparator 112 is determined to be normal; if the control module 300 determines that the fourth error sub-signal D22 is the same as the fourth data D4 based on the eighth comparison result D422, the fourth comparator 112 is determined to be abnormal.

[0101] In some specific embodiments, the error position and error content of the fourth error sub-signal D22 are known. The control module 300 can also determine the error position and error content of the fourth error sub-signal D22 based on the eighth comparison result D422, and compare them with the known error position and error content to determine whether the error position and content of the current fourth error sub-signal D22 correspond to the known error position and error content. Then, only when the error position and error content of the current fourth error sub-signal D22 correspond to the known error position and error content (it can be determined that the fourth error sub-signal D22 has no error during the transmission process), the control module 300 further determines whether the fourth comparator 112 is abnormal based on the eighth comparison result D422, which is conducive to improving reliability and accuracy.

[0102] In some specific embodiments, the fourth error injection unit 207 may sequentially output a plurality of fourth error sub-signals D22, and the error positions and / or error contents between any two fourth error sub-signals D22 in the plurality of fourth error sub-signals D22 are different. For example, the fourth error sub-signal D22 includes N bits in total, and the fourth error injection unit 207 may sequentially output N fourth error sub-signals D22, and the error position of each fourth error sub-signal D22 in the N fourth error sub-signals D22 is one bit in the N bits, and the error contents of each fourth error sub-signal D22 are the same. At the same time, each time the fourth error sub-signal D22 is output, the fourth comparator 112 outputs the eighth comparison result D422 to the control module 300 based on the fourth error sub-signal D22 and the fourth data D4. Subsequently, the control module 300 can repeatedly determine whether the fourth comparator 112 is abnormal, thereby improving the detection coverage and having a high reliability.

[0103] It is understood that when the fourth selector 208 outputs the second data D2, the fourth comparator 112 outputs the seventh comparison result D42 based on the second data D2 and the fourth data D4. When the fourth selector 208 outputs the fourth error sub-signal D22, the fourth comparator 112 outputs the eighth comparison result D422 based on the fourth error sub-signal D22 and the fourth data D4.

[0104] An embodiment of the present application also provides a laser radar, which includes the laser radar chip in any embodiment of the present application.

[0105] The above descriptions are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

[0106] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them. Under the idea of ​​the present application, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order. It should be understood by ordinary technicians in this field that they can still modify the technical solutions recorded in the above embodiments, or replace some of the technical features by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A data processing system, characterized in that: The data processing system is used for processing data transmitted between a first device and a second device, wherein the first device and the second device are connected via a bus, the first device outputs first data and transmits it to the second device via the bus, and the second device outputs second data and transmits it to the first device via the bus, and the data processing system comprises: a data processing module, disposed between the first device and the second device, configured to set verification data, and output a processing result of the first data and the second data based on the first data, the second data and the verification data; An injection error module and a control module, wherein the injection error module is connected to the data processing module and the control module respectively, and the injection error module is configured to be controlled by the control module, generate and inject an error signal into the data processing module, so that the data processing module outputs an injection error result; The control module is connected to the data processing module and is configured to receive the processing result and the injection error result, and determine whether the first data and the second data are abnormal based on the processing result, and determine whether the data processing module is abnormal based on the injection error result; The data processing module comprises: a first encoding unit, connected to the bus, configured to receive the first data at the output side of the first device, encode the first data based on a first encoding type, and output a first encoding result; a second encoding unit connected to the bus, configured to receive the first data from the receiving side of the second device, and to encode the first data based on the first encoding type and output a second encoding result, wherein the verification data includes the first encoding result and the second encoding result; a first comparator, connected to the first encoding unit, the second encoding unit and the control module respectively, configured to receive the first encoding result and the second encoding result, and output a first comparison result to the control module based on the first encoding result and the second encoding result, wherein the processing result includes the first comparison result; and A first decoding and error correction unit, connected to the first encoding unit, the first comparator and the bus respectively, and configured to receive the first encoding result and the first comparison result; The first decoding and error correction unit is also configured to: when it is determined that the first comparison result is abnormal, decode the first encoding result and the second encoding result, and compare each bit of the data decoded from the first encoding result with the data decoded from the second encoding result one by one to determine the bit of data error in the data decoded from the second encoding result, correct the bit of data error, and input the data decoded from the second encoding result after error correction into the bus.

2. The data processing system according to claim 1, characterized in that The control module is specifically configured as follows: Controlling the error injection module to operate; If it is determined based on the injection error result that the data processing module is normal, controlling the data processing module to run; If the data processing module is determined to be abnormal based on the injection error result, the data processing module is controlled to stop running.

3. The data processing system according to claim 1, characterized in that: The error injection module comprises: A first mis-injection unit, connected to the control module, configured to be controlled by the control module, and output a first error sub-signal and a first mis-injection control signal; A first selector is respectively connected to the first error injection unit, the first encoding unit and the bus, and is configured to input the first error sub-signal and the first data on the output side of the first device, and output the first error sub-signal to the first encoding unit when a first error injection control signal is received, and output the first data to the first encoding unit when the first error injection control signal is not received, wherein the error signal includes the first error sub-signal.

4. The data processing system according to claim 3, characterized in that: The first encoding unit is further configured to: receive the first error sub-signal, and output a first error encoding result after encoding the first error sub-signal based on the first encoding type; The first comparator is further configured to: receive the first error coding result, and output a second comparison result to the control module based on the first error coding result and the second coding result, wherein the error injection result includes the second comparison result.

5. The data processing system according to claim 1, characterized in that: The data processing module comprises: a third encoding unit, connected to the bus, configured to receive the second data at the output side of the second device, and to encode the second data based on the first encoding type and output a third encoding result; a fourth encoding unit, connected to the bus, configured to receive the second data from the receiving side of the first device, and output a fourth encoding result after encoding the second data based on the first encoding type, wherein the verification data includes the third encoding result and the fourth encoding result; A second comparator is respectively connected to the third encoding unit, the fourth encoding unit and the control module, and is configured to receive the third encoding result and the fourth encoding result, and output a third comparison result to the control module based on the third encoding result and the fourth encoding result, wherein the processing result includes the third comparison result.

6. The data processing system according to claim 5, characterized in that: The data processing module also includes: The second decoding and error correction unit is respectively connected to the third encoding unit, the second comparator and the bus, and is configured to receive the third encoding result and the third comparison result, and to correct the second data input to the fourth encoding unit based on the third encoding result when it is determined that the third comparison result is abnormal.

7. The data processing system according to claim 5, characterized in that: The error injection module comprises: A second mis-injection unit, connected to the control module, configured to be controlled by the control module, and output a second error sub-signal and a second mis-injection control signal; a second selector, connected to the second error injection unit, the third encoding unit and the bus, respectively, and configured to input the second error sub-signal and the second data on the output side of the second device, and output the second error sub-signal to the third encoding unit when receiving a second error injection control signal, and output the second data to the third encoding unit when not receiving the second error injection control signal, wherein the error signal includes the second error sub-signal.

8. The data processing system according to claim 7, characterized in that: The third encoding unit is further configured to: receive the second error sub-signal, and output a second error encoding result after encoding the second error sub-signal based on the first encoding type; The second comparator is further configured to: receive the second error coding result, and output a fourth comparison result to the control module based on the second error coding result and the fourth coding result, wherein the injection error result includes the fourth comparison result.

9. The data processing system according to any one of claims 3 to 8, characterized in that: The first encoding type is ECC encoding.

10. The data processing system according to claim 1, characterized in that: The data processing module includes: a third device configured the same as the first device and outputting third data; a third comparator, connected to the bus, the third device and the control module respectively, configured to receive the third data and the first data at the output side of the first device, and output a fifth comparison result to the control module based on the first data and the third data; The control module is further configured to receive the fifth comparison result, and determine whether the first data and the third data are abnormal based on the fifth comparison result.

11. The data processing system according to claim 10, characterized in that: The error injection module comprises: A third injection error unit, connected to the control module, configured to be controlled by the control module, and output a third error sub-signal and a third injection error control signal; a third selector, connected to the third error injection unit, the bus and the third comparator, respectively, and configured to input the third error sub-signal and the first data on the output side of the first device, and output the third error sub-signal to the third comparator when receiving a third error injection control signal, and output the first data to the third comparator when not receiving the third error injection control signal, wherein the error signal includes the third error sub-signal.

12. The data processing system according to claim 11, characterized in that: The third comparator is further configured as: When the third error sub-signal is received, a sixth comparison result is output to the control module based on the third error sub-signal and the third data, wherein the error injection result includes the sixth comparison result.

13. The data processing system according to claim 1, characterized in that: The data processing module includes: a fourth device configured the same as the second device and outputting fourth data; a fourth comparator, connected to the bus, the fourth device and the control module respectively, configured to receive the fourth data and the second data at the output side of the second device, and output a seventh comparison result to the control module based on the second data and the fourth data; The control module is further configured to receive the seventh comparison result, and determine whether the second data and the fourth data are abnormal based on the seventh comparison result.

14. The data processing system according to claim 13, characterized in that: The error injection module comprises: a fourth mis-injection unit connected to the control module, configured to be controlled by the control module, and output a fourth error sub-signal and a fourth mis-injection control signal; a fourth selector, connected to the fourth error injection unit, the bus and the fourth comparator, respectively, and configured to input the fourth error sub-signal and the second data on the output side of the second device, and output the fourth error sub-signal to the fourth comparator when a fourth error injection control signal is received, and output the second data to the fourth comparator when the fourth error injection control signal is not received, wherein the error signal includes the fourth error sub-signal.

15. The data processing system according to claim 14, characterized in that: The fourth comparator is further configured as: When the fourth error sub-signal is received, an eighth comparison result is output to the control module based on the fourth error sub-signal and the fourth data, wherein the error injection result includes the eighth comparison result.

16. A laser radar chip, characterized in that: comprising a first device, a second device, a bus, and a data processing system as claimed in any one of claims 1 to 15; The first device and the second device are connected via the bus, and the data processing system is arranged between the first device and the second device.

17. A laser radar, characterized in that: Comprising a laser radar chip as described in claim 16.

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