Method for collecting radar data and auxiliary data thereof based on domain controller

Abstract

The invention discloses a method for acquiring radar data and auxiliary data thereof based on a domain controller, and belongs to the technical field of radar data acquisition. Data acquired by a radar and a camera are accessed to the domain controller through a GMSL technology, and time synchronization is realized on each core controller through a time synchronization technology; when each frame of radar data or camera data is collected, timestamps are marked on the data, time consistency of different types of data is achieved, the domain controller forwards the collected data to the outside of the domain controller in real time through a high-speed and high-bandwidth communication interface, and original sensor data can be directly forwarded to data collection equipment. By means of the mode, real-time collection, flexible configuration and network load balancing of a large amount of data can be achieved only through software upgrading or updating, the problem that software and hardware are difficult to deploy is avoided, and the purposes of efficient forwarding, high real-time performance, low cost and data time synchronization are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of radar data collection, and in particular to a method for collecting radar data and auxiliary data thereof based on a domain controller. Background Art

[0002] As an important component in modern automobile architecture, the vehicle domain controller is designed to centrally manage and control the systems and functions of various electronic control units (ECUs) inside the car to improve the intelligence and networking level of the vehicle. Through centralized control, the vehicle domain controller can manage and allocate resources more effectively to improve the system's response speed and processing capabilities. The vehicle domain controller can be connected to cameras, millimeter-wave radars, lidars, etc., and output internal data through its high-speed, high-bandwidth communication interface.

[0003] For example, Chinese patent CN115048779A discloses a controllable standardized vehicle-mounted laser radar point cloud data acquisition system and method, which includes a movable three-degree-of-freedom laser radar carrying unit, a movable two-degree-of-freedom target plate carrying unit, a test control and data acquisition unit, and a database. The center lines of the movable three-degree-of-freedom laser radar carrying unit and the movable two-degree-of-freedom target plate carrying unit are aligned with each other, the movable three-degree-of-freedom laser radar carrying unit and the movable two-degree-of-freedom target plate carrying unit are connected to the test control and data acquisition unit through optical fibers, and the database is connected to the test control and data acquisition unit to store the collected laser radar point cloud data in a standard controllable environment.

[0004] However, the technology has the following problems: a large amount of radar test data is collected by designing dedicated software and hardware modules such as a movable three-degree-of-freedom laser radar carrying unit, a movable two-degree-of-freedom target board carrying unit, and a test control and data acquisition unit. These methods require professional software and hardware design, architecture design, including production and testing, etc., so there will be problems such as difficulty in deploying software and hardware, high cost, and data time synchronization.

[0005] Based on this, the present invention designs a method for collecting radar data and its auxiliary data based on a domain controller to solve the above problems. Summary of the invention

[0006] In view of the above-mentioned shortcomings of the prior art, the present invention provides a method for collecting radar data and its auxiliary data based on a domain controller.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] A method for collecting radar data and auxiliary data thereof based on a domain controller comprises the following steps:

[0009] Step 1: Initialize the operating environment of the configuration command to receive and respond to the configuration command;

[0010] Step 2: Initialize the operating environment of the data acquisition sensor and perform self-test, link check and parameter configuration on the sensor;

[0011] Step 3: The domain controller waits to receive Ethernet configuration commands;

[0012] Step 4: The domain controller receives and responds to basic configuration commands, which include sensor configuration instructions, data forwarding configuration instructions, and other configuration instructions;

[0013] If a sensor configuration command is received, necessary parameter configuration and inspection will be performed on the sensor that is about to collect data. After the configuration is completed, the result of this configuration will be returned to the device that initiated the configuration command. The configuration result includes configuration success or configuration failure.

[0014] If a data forwarding configuration command is received, the data forwarding control information will be configured in the domain controller, and the subsequently collected data will be directly forwarded to the corresponding data collection device according to these pre-configured forwarding control information;

[0015] If other configuration instructions are received (for example, configuration instructions such as obtaining the software version number, obtaining the system time, or setting the system time), relevant configuration or configuration data reading is performed, and finally the configuration result or the read configuration information is returned to the device that initiated the configuration command.

[0016] Step 5: After the basic configuration command is completed, if the user initiates a data collection command, the data collection thread corresponding to the millimeter wave radar and camera is started to collect data, and the data is sent to the pre-configured data collection device after being stamped with a timestamp. The data collection device configures the data collection program on the domain controller through the configuration command channel to realize the periodic execution of radar data and image data collection;

[0017] If the user issues an instruction to collect radar ADC data, the corresponding thread is started to collect radar ADC data, and the ADC data is timestamped using the gPTP time synchronization protocol, and then forwarded to the data collection device corresponding to the radar ADC data;

[0018] If the user issues a command to collect radar point cloud data, the corresponding thread is started to collect radar point cloud data, and the point cloud data is timestamped using the gPTP time synchronization protocol, and then forwarded to the data collection device corresponding to the radar point cloud data;

[0019] If the user issues an instruction to collect image data, the corresponding thread is started to collect the image data of the camera, and the image data is timestamped using the gPTP time synchronization protocol, and then forwarded to the data collection device corresponding to the camera;

[0020] Step 6: If a command to stop data acquisition is received from the user, the started data acquisition thread is stopped, the data acquisition running environment is cleaned up, preparations are made for the next data acquisition start, and the next configuration command is waited for.

[0021] Furthermore, the domain controller includes a first core controller, a second core controller and a first Ethernet interface, the first core controller is electrically connected to the second core controller and the first Ethernet interface, the second core controller is electrically connected to the first Ethernet interface, and the first Ethernet interface of the domain controller is electrically connected to the Ethernet switch;

[0022] The first core controller, the second core controller and the first Ethernet interface all achieve time synchronization through the gPTP time synchronization protocol, the first Ethernet interface and the Ethernet switch achieve time synchronization through the gPTP time synchronization protocol, and the Ethernet switch achieves time synchronization with an external standard clock source through the gPTP time synchronization protocol.

[0023] Furthermore, in step 2:

[0024] The sensors include millimeter wave radar and camera;

[0025] The standard MIPI-CSI2 interface on the first core controller is electrically connected to the standard MIPI-CSI2 interface on the millimeter wave radar, the standard MIPI-CSI2 interface on the second core controller is electrically connected to the standard MIPI-CSI2 interface on the camera, and the first Ethernet interface on the domain controller is electrically connected to the second Ethernet interface on the millimeter wave radar through an Ethernet switch;

[0026] The millimeter-wave radar divides the collected data into ADC data and radar post-processing data stream. The millimeter-wave radar outputs the ADC data through the standard MIPI-CSI2 interface, transmits it through the GMSL technology, and finally connects to the MIPI-CSI2 interface of the first core controller;

[0027] The millimeter-wave radar connects the radar post-processing data stream to the first Ethernet interface in the domain controller through an Ethernet switch. The image information collected by the camera is output through the standard MIPI-CSI2 interface, transmitted through GMSL technology and finally connected to the MIPI-CSI2 interface of the second core controller.

[0028] Furthermore, the first Ethernet interface in the domain controller is electrically connected to the second Ethernet interface of the millimeter wave radar;

[0029] The millimeter-wave radar directly connects the radar post-processing data stream to the Ethernet interface 1 of the domain controller through the UDP protocol, TCP protocol or other protocols.

[0030] Furthermore, there is at least one millimeter wave radar and camera.

[0031] Furthermore, the radar post-processing data stream includes point clouds, objects and features.

[0032] Furthermore, in step 5:

[0033] The data acquisition device includes a first data acquisition device for acquiring radar ADC data and point cloud data and a second data acquisition device for acquiring camera data.

[0034] Furthermore, the first data acquisition device and the second data acquisition device are both electrically connected to the first Ethernet interface via an Ethernet switch;

[0035] The first core controller and the second core controller upload the collected data information to the first Ethernet interface through the configuration command channel. The first Ethernet interface uploads the data information to the Ethernet switch. The Ethernet switch forwards the data information to the first data collection device and the second data collection device in real time through the two configuration command channels.

[0036] Furthermore, the first Ethernet interface is electrically connected to both the first data acquisition device and the second data acquisition device;

[0037] The first core controller and the second core controller upload the collected data information to the first Ethernet interface through the configuration command channel. The first Ethernet interface directly forwards the data information to the first data collection device 1 and the second data collection device in real time through the two configuration command channels.

[0038] Furthermore, the configuration command channel adopts Ethernet, UART, I2C, SPI or RS232.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] 1. The standardized interface connection method provided by the present invention makes it possible to collect radar data and its auxiliary data without the need for separate hardware modules, thereby reducing data collection costs and facilitating deployment.

[0041] 2. The present invention can effectively solve the time consistency problem of different data types and achieve data time synchronization.

[0042] 3. The present invention can realize real-time collection, flexible configuration and network load balancing of large amounts of data only through software upgrade or update.

[0043] 4. The present invention can support dynamic configuration, real-time data collection, and continuous data collection in a variety of scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 A flowchart of a method for collecting radar data and its auxiliary data based on a domain controller according to the present invention;

[0046] Figure 2 A schematic diagram of the sensor of the present invention being connected to a domain controller via a standardized interface;

[0047] Figure 3 A schematic diagram of time synchronization between different cores within a domain controller of the present invention;

[0048] Figure 4 It is a schematic diagram of the connection between the domain controller of the present invention and the external data acquisition device. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] Embodiment 1

[0051] In some embodiments, please refer to the attached instructions. Figure 1-4 , a method for collecting radar data and auxiliary data based on a domain controller, comprising the following steps:

[0052] Step 1: Initialize the operating environment of the configuration command to receive and respond to the configuration command.

[0053] Step 2: Initialize the operating environment of the data acquisition sensor, and perform self-check, link check (connection line between sensor and domain controller) and parameter configuration on the sensor;

[0054] The domain controller includes a core controller 1, a core controller 2 and an Ethernet interface 1. The core controller 1 and the core controller 2 refer to processor chips such as SoC or MCU in the domain controller, or other specific chips with data receiving and processing functions, such as DSP, etc.;

[0055] Ethernet interface refers to the interface module that implements Ethernet communication technology. The bandwidth can be 10Mbps / 100Mbps / 1000Mbps / 2.5Gbps / 10Gbps, etc. Its interface specifications include RJ45 interface, H-MTD interface and other forms.

[0056] The core controller 1 is electrically connected to the core controller 2 and the Ethernet interface 1, the core controller 2 is electrically connected to the Ethernet interface 1, and the Ethernet interface 1 is electrically connected to the Ethernet switch. The core controller 1, the core controller 2 and the Ethernet interface 1 all achieve time synchronization through the gPTP time synchronization protocol, the Ethernet interface 1 and the Ethernet switch achieve time synchronization through the gPTP time synchronization protocol, and the Ethernet switch achieves time synchronization with an external standard clock source through the gPTP time synchronization protocol.

[0057] The external standard clock source is a general term, which can be a standard clock source or a time synchronization signal from other devices.

[0058] gPTP is a general term for a time synchronization protocol, which can be a standard protocol with time synchronization function such as PTP, gPTP or NTP, or a custom private time synchronization protocol.

[0059] The sensor includes at least one millimeter wave radar and a camera.

[0060] The standard MIPI-CSI2 interface on the core controller 1 is electrically connected to the standard MIPI-CSI2 interface on the millimeter-wave radar, the standard MIPI-CSI2 interface on the core controller 2 is electrically connected to the standard MIPI-CSI2 interface on the camera, and the Ethernet interface 1 on the domain controller can be electrically connected to the Ethernet interface 2 on the millimeter-wave radar through an Ethernet switch, and the Ethernet interface 1 on the domain controller can also be directly electrically connected to the Ethernet interface 2 on the millimeter-wave radar;

[0061] After collecting each frame of radar data and camera image data, the core controller 1, Ethernet interface 1, and core controller 2 use the gPTP time synchronization protocol to timestamp it to achieve time consistency for different types of data.

[0062] Regardless of whether the radar and camera are connected to the same core controller, the entire network can apply the gP TP time synchronization protocol.

[0063] Step 3: The domain controller waits to receive Ethernet configuration commands;

[0064] Step 4: The domain controller receives and responds to basic configuration commands, which include sensor configuration instructions, data forwarding configuration instructions, and other configuration instructions;

[0065] If a sensor configuration instruction is received, necessary parameter configuration and inspection will be performed on the sensor that is about to collect data (for example, in an environment with multiple radars and multiple cameras, specify the radar number and camera number to collect data, and specify the size, protocol, format, cycle and other parameters of the radar data or camera data). After the configuration is completed, the result of this configuration will be returned to the device that initiated the configuration command (for example, the data collection device running the host computer program). The configuration result includes configuration success or configuration failure (including the reason for configuration failure).

[0066] If a data forwarding configuration command is received, the data forwarding control information will be configured in the domain controller, and the subsequently collected data will be directly forwarded to the corresponding data collection device according to these pre-configured forwarding control information;

[0067] Data forwarding control information includes: the size, type, cycle, format, forwarding protocol, forwarding source port number, forwarding destination port number, and destination address of sensor data; for example: the network card IP address and UDP port number of the data acquisition device receiving data.

[0068] If other configuration instructions are received (for example, configuration instructions such as obtaining the software version number, obtaining the system time, or setting the system time), relevant configuration or configuration data reading is performed, and finally the configuration result or the read configuration information is returned to the device that initiated the configuration command.

[0069] The millimeter-wave radar divides the collected data into ADC data and radar post-processing data stream. The ADC data is the data stream after the analog signal generated by the millimeter-wave radar is converted into a digital signal. The radar post-processing data stream is the data stream generated after the millimeter-wave radar data is processed by an algorithm.

[0070] The radar post-processing data stream includes point cloud, target and function, etc.;

[0071] The millimeter-wave radar outputs the ADC data through the standard MIPI-CSI2 interface, transmits it through the GMSL technology and finally connects it to the MIPI-CSI2 interface of the core controller 1. The millimeter-wave radar connects the radar post-processing data stream to the Ethernet interface 1 in the domain controller through the Ethernet switch or directly connects it to the Ethernet interface 1 of the domain controller through UDP (User Datagram Protocol), TCP (Transmission Control Protocol) or other protocols. The image information collected by the camera is output through the standard MIPI-CSI2 interface, transmitted through the GMSL technology and finally connected to the MIPI-CSI2 interface of the second core controller.

[0072] The standard MIPI-CSI2 interface is an interface specification between a camera and a host processor defined by the MIPI (Mobile Industry Processor Interface) Alliance. CSI2 (camera serial interface 2) is an abbreviation, which includes CSI-1, CSI-2, CSI-3, etc.

[0073] The GMSL (Gigabit Multimedia Serial Links) is a high-speed serial interface technology widely used in the field of automotive electronics, including data transmission of radars, cameras and displays, and it supports long-distance, high-bandwidth and low-latency data transmission.

[0074] In GMSL technology, CSI2 to GMSL interface or CSI2 to FPD-Link (Flat panel display link) interface module generally refers to the technology of serializing data in MIPI-CSI2 format so that data can be transmitted over long distances and at high speed. Usually, this module is called a serializer. The serializer should be placed on the radar IC (Integrated Circuit) end, such as MAX9295 (MIPI-CSI2 to GMSL) produced by Maxim, TI9701 (MIPI-CSI2 to FPD-Link) produced by Texas Instruments (TI), etc.

[0075] The GMSL to CSI2 interface or FPD-Link to CSI2 interface module generally refers to the technology of deserializing the data stream in GMSL or FPD-Link format. Usually, this module is called a deserializer. Most deserializers are placed on the domain controller side, such as the MAX96716 (GMSL to MIPI-CSI2) produced by Maxim and the TI9702 (FPD-Link to MIPI-CSI2) produced by Texas Instruments (TI).

[0076] The present invention standardizes interfaces, such as the standard MIPI-CSI2 interface, GMSL technology, and Ethernet interface, and eliminates the need to design a separate data acquisition hardware module. The domain controller can be fully utilized for data acquisition, thereby achieving standardization, low cost, and easy deployment.

[0077] The present invention realizes the synchronous collection of radar ADC data and camera data by configuring the MIPI-CSI2 format of radar ADC data output and upgrading or updating the MIPI-CSI2 software driver of the domain controller.

[0078] Step 5: After the basic configuration command is completed, if a user-initiated data acquisition instruction is received (the user initiates a data acquisition instruction, and the corresponding data acquisition thread is started. This is a one-time action. Once the data acquisition thread is started, it will be executed periodically until the user initiates a stop data acquisition instruction. This logic ensures the high real-time performance of data acquisition and the high efficiency of data forwarding), the data acquisition threads corresponding to the millimeter-wave radar and camera are started for data acquisition. After the collected data is timestamped, it is sent to the pre-configured data acquisition device (for example: PC, algorithm simulation equipment). The data acquisition thread is executed periodically until the user initiates a stop data acquisition instruction.

[0079] If the user issues an instruction to collect radar ADC data, the corresponding thread is started to collect radar ADC data, and the ADC data is timestamped using the gPTP time synchronization protocol, and then forwarded to the data collection device corresponding to the radar ADC data;

[0080] If the user issues a command to collect radar point cloud data, the corresponding thread is started to collect radar point cloud data, and the point cloud data is timestamped using the gPTP time synchronization protocol, and then forwarded to the data collection device corresponding to the radar point cloud data;

[0081] If the user issues an instruction to collect image data, the corresponding thread will be started to collect the image data of the camera, and the image data will be timestamped using the gPTP time synchronization protocol and then forwarded to the data collection device corresponding to the camera.

[0082] Step 6: If a stop data acquisition command is received from the user, the started data acquisition thread is stopped, the data acquisition running environment is cleaned up, preparations are made for the next data acquisition start, and the next configuration command is waited for.

[0083] The data acquisition device includes a data acquisition device 1 for acquiring radar data and a data acquisition device 2 for acquiring camera data.

[0084] The data acquisition device 1 and the data acquisition device 2 can be electrically connected to the Ethernet interface 1 through an Ethernet switch, or the data acquisition device 1 and the data acquisition device 2 can be directly electrically connected to the Ethernet interface 1;

[0085] The core controller 1 and the core controller 2 upload the collected data information to the Ethernet interface 1 through the configuration command channel, and the Ethernet interface 1 uploads the data information to the Ethernet switch, and the Ethernet switch forwards the data information to the data acquisition device 1 and the data acquisition device 2 in real time through the two configuration command channels, or the Ethernet interface 1 directly forwards the data information to the data acquisition device 1 and the data acquisition device 2 in real time through the two configuration command channels;

[0086] The configuration command channel between the core controller 1, the core controller 2 and the Ethernet interface, and between the Ethernet interface and the data acquisition device can adopt Ethernet (Ethernet transceiver), UART (Universal Asynchronous Receiver Transmitter), I2C (Inter-Integrated Circuit synchronous serial communication bus), SPI (Serial Peripheral Interface) or RS232 (physical interface of EIA-RS-232 serial communication), etc.

[0087] Data acquisition device 1 and data acquisition device 2 run the data acquisition host computer program, which can flexibly configure the type of collected data, start data acquisition, stop data acquisition, data verification and storage, and other subsequent finishing work through UDP protocol, TCP protocol and other protocols.

[0088] Due to the use of standardized interfaces (such as Ethernet) and standardized protocols (UDP protocol, TCP protocol), this technical solution can be implemented only through software design.

[0089] Through this technical solution, the original sensor data (such as radar ADC, point cloud, camera data) can be forwarded directly to the data acquisition device via the domain controller, achieving the goals of efficient forwarding, high real-time performance, high bandwidth and flexible configuration.

[0090] In addition, if the collected data occupies a large bandwidth, the connection between the domain controller and the data collection device can use multi-channel Ethernet to balance the network bandwidth. In addition, this method can also distribute different types of data to different purpose data collection devices in real time to achieve the purpose of network load balancing, thereby reducing the possibility of network congestion or packet loss.

[0091] Embodiment 2

[0092] In some embodiments, Figure 1-4 As shown, as a preferred embodiment of the present invention, if the domain controller can reversely control the radar and camera through MIPI-CSI2 / GMSL or Ethernet (such as using the reverse control channel of GMSL and the bidirectional transmission of Ethernet), the forwarding program of the device control command can be implemented on the domain controller to forward the device control command from the host computer program to the corresponding device (such as radar, camera). In this way, the data acquisition equipment can dynamically configure sensors, collect data in real time, and achieve a dynamic and flexible data acquisition solution to adapt to real-time data acquisition and continuous data acquisition in multiple scenarios.

[0093] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for collecting radar data and auxiliary data based on a domain controller, characterized in that: The following steps are involved: Step 1: Initialize the operating environment of the configuration command to receive and respond to the configuration command; Step 2: Initialize the operating environment of the data acquisition sensor and perform self-test, link check and parameter configuration on the sensor; Step 3: The domain controller waits to receive Ethernet configuration commands; Step 4: The domain controller receives and responds to basic configuration commands, which include sensor configuration instructions, data forwarding configuration instructions, and other configuration instructions; If a sensor configuration command is received, necessary parameter configuration and inspection will be performed on the sensor that is about to collect data. After the configuration is completed, the result of this configuration will be returned to the device that initiated the configuration command. The configuration result includes configuration success or configuration failure. If a data forwarding configuration command is received, the data forwarding control information will be configured in the domain controller, and the subsequently collected data will be directly forwarded to the corresponding data collection device according to these pre-configured forwarding control information; If other configuration instructions are received, relevant configuration or configuration data reading is performed, and finally the configuration result or the read configuration information is returned to the device that initiated the configuration command; Step 5: After the basic configuration command is completed, if a data acquisition instruction is received from the user, the data acquisition threads corresponding to the millimeter-wave radar and the camera are started to collect data, and the collected data is timestamped and sent to the pre-configured data acquisition device. The data acquisition thread is executed periodically until the user initiates a stop data acquisition instruction; If the user issues an instruction to collect radar ADC data, the corresponding thread is started to collect radar ADC data, and the ADC data is timestamped using the gPTP time synchronization protocol, and then forwarded to the data collection device corresponding to the radar ADC data; If the user issues a command to collect radar point cloud data, the corresponding thread is started to collect radar point cloud data, and the point cloud data is timestamped using the gPTP time synchronization protocol, and then forwarded to the data collection device corresponding to the radar point cloud data; If the user issues an instruction to collect image data, the corresponding thread is started to collect the image data of the camera, and the image data is timestamped using the gPTP time synchronization protocol, and then forwarded to the data collection device corresponding to the camera; Step 6: If a command to stop data acquisition is received from the user, the started data acquisition thread is stopped, the data acquisition running environment is cleaned up, preparations are made for the next data acquisition start, and the next configuration command is waited for.

2. The method for collecting radar data and auxiliary data thereof based on a domain controller according to claim 1, characterized in that: The domain controller includes a first core controller, a second core controller and a first Ethernet interface, the first core controller is electrically connected to the second core controller and the first Ethernet interface, the second core controller is electrically connected to the first Ethernet interface, and the first Ethernet interface of the domain controller is electrically connected to the Ethernet switch; The first core controller, the second core controller and the first Ethernet interface all achieve time synchronization through the gPTP time synchronization protocol, the first Ethernet interface and the Ethernet switch achieve time synchronization through the gPTP time synchronization protocol, and the Ethernet switch achieves time synchronization with an external standard clock source through the gPTP time synchronization protocol.

3. The method for collecting radar data and auxiliary data thereof based on a domain controller according to claim 2, characterized in that: In step 2: The sensors include millimeter wave radar and camera; The standard MIPI-CSI2 interface on the first core controller is electrically connected to the standard MIPI-CSI2 interface on the millimeter wave radar, the standard MIPI-CSI2 interface on the second core controller is electrically connected to the standard MIPI-CSI2 interface on the camera, and the first Ethernet interface on the domain controller is electrically connected to the second Ethernet interface on the millimeter wave radar through an Ethernet switch; The millimeter-wave radar divides the collected data into ADC data and radar post-processing data stream. The millimeter-wave radar outputs the ADC data through the standard MIPI-CSI2 interface, transmits it through the GMSL technology, and finally connects to the MIPI-CSI2 interface of the first core controller; The millimeter-wave radar connects the radar post-processing data stream to the first Ethernet interface in the domain controller through an Ethernet switch. The image information collected by the camera is output through the standard MIPI-CSI2 interface, transmitted through GMSL technology and finally connected to the MIPI-CSI2 interface of the second core controller.

4. The method for collecting radar data and auxiliary data thereof based on a domain controller according to claim 2, characterized in that: The first Ethernet interface in the domain controller is electrically connected to the second Ethernet interface of the millimeter wave radar; The millimeter-wave radar directly connects the radar post-processing data stream to the Ethernet interface 1 of the domain controller through the UDP protocol, TCP protocol or other protocols.

5. The method for collecting radar data and auxiliary data thereof based on a domain controller according to claim 4, characterized in that: The millimeter wave radar and camera are provided with at least one.

6. The method for collecting radar data and auxiliary data thereof based on a domain controller according to claim 5, characterized in that: The radar post-processing data stream includes point clouds, objects and features.

7. The method for collecting radar data and auxiliary data thereof based on a domain controller according to claim 6, characterized in that: In step five: The data acquisition device includes a first data acquisition device for acquiring radar ADC data and point cloud data and a second data acquisition device for acquiring camera data.

8. The method for collecting radar data and auxiliary data thereof based on a domain controller according to claim 7, characterized in that: The first data acquisition device and the second data acquisition device are both electrically connected to the first Ethernet interface via an Ethernet switch; The first core controller and the second core controller upload the collected data information to the first Ethernet interface through the configuration command channel. The first Ethernet interface uploads the data information to the Ethernet switch. The Ethernet switch forwards the data information to the first data collection device and the second data collection device in real time through the two configuration command channels.

9. The method for collecting radar data and auxiliary data thereof based on a domain controller according to claim 7, characterized in that: The first Ethernet interface is electrically connected to the first data acquisition device and the second data acquisition device; The first core controller and the second core controller upload the collected data information to the first Ethernet interface through the configuration command channel. The first Ethernet interface directly forwards the data information to the first data collection device 1 and the second data collection device in real time through the two configuration command channels.

10. The method for collecting radar data and auxiliary data thereof based on a domain controller according to claim 9, characterized in that: The configuration command channel adopts Ethernet, UART, I2C, SPI or RS232.

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