Radar conversion method, device, equipment and communication system

Abstract

The invention provides a radar conversion method, device and equipment and a communication system, and relates to the field of automatic driving, and the method comprises the steps: after the access of a radar is detected, the interface type of the radar is recognized, and the interface type comprises an industrial Ethernet interface and a vehicle-mounted Ethernet interface; according to the interface type, a gating pin of a data gating chip is controlled to be connected to a data channel corresponding to the interface type, and the data channel is used for achieving data communication between the vehicle domain controller and the radar. According to the invention, the interface type of the radar is identified, and the switching of the data channel is controlled according to the corresponding interface type, so that the communication between the radar and the domain control for different interfaces is realized, and the wiring harness deployment control does not need to be changed.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of autonomous driving technology, and in particular to a radar conversion method, device, equipment and communication system. Background Art

[0002] In the field of autonomous driving, radar plays an important role. For example, LiDAR (Light Detection and Ranging) is a sensor technology that measures the distance of objects and generates three-dimensional environmental images by emitting laser pulses and receiving reflected signals. It provides autonomous driving vehicles with parameter information such as target distance, direction, height, speed, posture, and even shape.

[0003] At present, the radar is usually installed in the vehicle with a specific interface type or model when it leaves the factory. However, in actual applications, with the advancement of technology or changes in demand, it may be necessary to replace or upgrade the radar. When the radar needs to be replaced, if the interface of the new radar is inconsistent with the interface of the original radar, the vehicle wiring harness will have to be changed again, which not only increases the labor cost, but also significantly increases the workload and time cost. Summary of the invention

[0004] The embodiments of the present application provide a radar conversion method, device, equipment and communication system to solve the technical problem that when a new radar is replaced and the interface is different, it is necessary to re-route the wiring harness.

[0005] According to a first aspect of an embodiment of the present application, a radar conversion method is provided, the method comprising: after detecting access to the radar, identifying an interface type of the radar, the interface type comprising an industrial Ethernet interface and an on-board Ethernet interface; according to the interface type, controlling a strobe pin of a data strobe chip to be connected to a data channel corresponding to the interface type, the data channel being used to realize data communication between a vehicle domain control and the radar.

[0006] Through the above technical solution, it is possible to automatically identify whether the radar interface type is an on-board Ethernet interface or an industrial Ethernet interface, and realize automatic switching of T1 and 1000base-t data channels to support both types of radar interfaces at the same time. Even if the vehicle has been wired, when there is a need for modification, only the new radar needs to be replaced, and other pre-wired peripheral wiring harnesses do not need to be re-wired, which facilitates operation and maintenance and saves a lot of manpower and time costs.

[0007] In one embodiment, the method further includes: in response to an on-site signal triggered when the radar is accessed, when the on-site signal is valid, obtaining an access message sent by the radar, the access message carrying interface parameter information of the radar, the interface parameter information being pre-written into the memory of the radar; identifying the type of interface to which the radar is accessed, including: identifying the type of interface to which the radar is accessed based on the interface parameter information.

[0008] Through the above technical solution, by pre-writing the interface parameter information in the radar and using the in-place signal to obtain the access message of the radar, it helps the MCU to quickly and accurately identify the interface type of the radar.

[0009] In one embodiment, the access message is a universal asynchronous receiver / transmitter (UART) serial port message, which is continuously sent through the UART serial port of the radar until data communication between the vehicle domain control and the radar is successful.

[0010] Through the above technical solution, the MCU can communicate reliably with the radar by using the radar to continuously send access messages sent by the UART serial port, thereby effectively avoiding the problem that the MCU fails to receive radar messages in time and affects the interface recognition efficiency.

[0011] In one embodiment, the method further includes: obtaining the high and low level states of the presence signal, and determining that the presence signal is valid when the presence signal is in a low level state and lasts for a preset time period; wherein the high and low level states are determined according to the hardware state of whether the radar is inserted into the interface.

[0012] Through the above technical solution, misjudgment caused by instantaneous interference can be effectively avoided, and the reliability of device connection can be ensured, thereby reducing unnecessary work processes and improving radar conversion efficiency.

[0013] In one embodiment, controlling the enable pin of the data enable chip according to the interface type includes: when the interface type is an on-board Ethernet interface, controlling the enable pin of the data enable chip to be connected to a T1 data channel; when the interface type is an industrial Ethernet interface, controlling the enable pin of the data enable chip to be connected to a 1000base-t data channel, and the 1000base-t data channel is obtained by converting the T1 data channel through an Ethernet conversion chip.

[0014] Through the above technical solution, it is possible to ensure that the strobe pin of the data strobe chip is correctly connected to the T1 data channel or the 1000base-t data channel according to the corresponding interface type, thereby realizing effective transmission and processing of radar data.

[0015] In one embodiment, the method is applied to a microcontroller MCU, and the input and output I / O pins of the MCU are connected to an industrial Ethernet interface and an in-vehicle Ethernet interface; controlling the enable pin of a data enable chip according to the interface type includes: controlling the enable pin of the data enable chip according to the signal state of the I / O pin corresponding to the interface type.

[0016] Through the above technical solution, the I / O pin status of the MCU can be used to effectively improve the gating efficiency of the data gating chip.

[0017] In one embodiment, the method further includes: receiving a UART serial port message sent by the radar; when the UART serial port message carries predefined format data, the format data is used to indicate that data communication is successfully established, and determine that data communication between the vehicle domain control and the radar is successful.

[0018] Through the above technical solution, it is possible to avoid the problem of MCU continuing to perform radar conversion operations after data communication is established between the radar and the domain controller, resulting in a waste of resources.

[0019] According to a second aspect of an embodiment of the present application, a radar conversion device is provided, comprising: an identification module, which is configured to identify the interface type of the radar after detecting the access of the radar, and the interface type includes an industrial Ethernet interface and an on-board Ethernet interface; a conversion module, which is configured to control the connection of the enable pin of a data enable chip to a data channel corresponding to the interface type according to the interface type, and the data channel is used to realize data communication between the vehicle domain control and the radar.

[0020] In one implementation, the radar conversion device may be used to execute any possible implementation of the first aspect described above.

[0021] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising: a memory and a processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory, so that the computer device executes the radar conversion method provided in any one of the first aspects above.

[0022] According to a fourth aspect of an embodiment of the present application, a radar communication system is provided, comprising: a vehicle domain control, a radar and an interface conversion device; the interface conversion device comprises an MCU for executing any one of the methods provided in the first aspect above, and a data strobe chip, a vehicle Ethernet interface and an industrial Ethernet interface electrically connected to the MCU respectively; the radar is connected to the vehicle domain control by accessing the vehicle Ethernet interface or the industrial Ethernet interface of the interface conversion device, and when the MCU controls the strobe pin of the data strobe chip to be connected to a data channel of the corresponding interface type, the radar communicates data with the vehicle domain control through the data channel.

[0023] In one implementation, the MCU may be used to execute any possible implementation of the first aspect described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A possible system architecture diagram provided for an embodiment of the present application;

[0025] Figure 2 A schematic diagram of a radar conversion method provided in an embodiment of the present application;

[0026] Figure 3 This is an example diagram of interface parameter information in an embodiment of the present application;

[0027] Figure 4 This is a schematic diagram of the structure of the data strobe IC in the embodiment of the present application;

[0028] Figure 5 A schematic diagram of a flow chart of another radar conversion method provided in an embodiment of the present application;

[0029] Figure 6 This is an example diagram of format data in an embodiment of the present application;

[0030] Figure 7 A schematic diagram of the structure of a radar conversion device provided in an embodiment of the present application;

[0031] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0032] Fig. 9 A schematic diagram of the structure of a radar communication system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] Considering that LiDAR currently exchanges data with domain controllers through Ethernet interfaces, LiDAR interfaces are not unified. Currently, two common forms are vehicle-mounted Ethernet and industrial Ethernet. In actual use, the sensor harness for autonomous driving has been installed. If the radar needs to be replaced later, if the interface of the Ethernet conversion box is single, the vehicle harness needs to be changed again, which increases the cost of manpower and time investment.

[0034] In response to the above technical problems, the embodiments of the present application provide a radar conversion method, device, equipment and communication system. After detecting the access of the radar, the interface type of the radar is identified. The interface types include industrial Ethernet interface and vehicle Ethernet interface. According to the interface type, the selection pin of the data selection chip is controlled to be connected to the data channel corresponding to the interface type. The data channel is used to realize data communication between the vehicle domain control and the radar. In this process, it is possible to automatically identify whether the radar interface type is a vehicle Ethernet interface or an industrial Ethernet interface, and realize automatic switching of T1 and 1000base-t data channels to support both types of radar interfaces at the same time. Even if the vehicle has been wired, when there is a need for modification, only the new radar needs to be replaced, and other peripheral wiring harnesses that have been laid do not need to be re-laid, which is convenient for operation and maintenance and saves manpower and time costs.

[0035] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below in conjunction with the drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals throughout represent the same or similar parts or parts with the same or similar functions. The described embodiments are part of the embodiments of the present application, not all of the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limitations on the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0036] Figure 1 A possible system architecture diagram provided for an embodiment of the present application is as follows: Figure 1As shown, it includes a vehicle domain control 110, an Ethernet conversion box (i.e., a conversion device) 120, and a laser radar 130, and each device can be connected to each other through a wired or wireless network. Exemplarily, the conversion device 120 includes a microcontroller MCU121, a data selection chip IC122, a vehicle Ethernet interface 123, and an industrial Ethernet interface 124, and each unit is electrically connected. Among them, the laser radar 130 can be connected to the domain control through the vehicle Ethernet interface 123 or the industrial Ethernet interface 124, but because the data channels of the vehicle Ethernet interface 123 and the industrial Ethernet interface 124 are different, this embodiment uses MCU121 to identify the interface type of the laser radar 130 and control the data selection IC122 to select the corresponding data channel for data communication, so that the configuration of radars with different interfaces can be realized. Even if the laser radar needs to be replaced later, there is no need to re-wire the harness. Optionally, one end of the data selection IC is connected to the T1 interface (i.e., the vehicle-mounted Ethernet interface) of the domain control 110 and the MCU121, and the other end is connected to the vehicle-mounted Ethernet interface through a T1 cable, and to the industrial Ethernet interface through an Ethernet conversion chip. The T1 cable or the Ethernet conversion chip is selected by the chip pin to realize the selection of the T1 and 1000base-t data channels, thereby realizing fast communication when the interface radar is not accessed, without the need to re-route the wiring harness.

[0037] In this application scenario, the laser radar in the related technology can communicate with the domain controller through the T1 interface of the domain controller through the vehicle Ethernet. When the user has the need to replace the laser radar (change the vehicle Ethernet interface type to the industrial Ethernet type), it is necessary to add an Ethernet conversion box. The current Ethernet conversion box is a conversion box that converts the vehicle Ethernet to the industrial Ethernet. It has only one industrial Ethernet interface. The laser radar realizes the industrial Ethernet data communication with the domain controller by inserting the industrial Ethernet interface in the Ethernet conversion box. It can be seen that when the radar is replaced, due to the change of the interface type, the original wiring harness may no longer be applicable, and the wiring harness needs to be re-routed for different interface types. The embodiment of the present application improves the industrial Ethernet conversion box, utilizes the interface type identification of the MCU and the data channel selection of the data selection IC, and can realize the free switching of the two interface types. When replacing the radar, the user only needs to plug the radar into the corresponding interface of the conversion device without re-route the wiring harness.

[0038] The above is a brief description of the scenario diagram of this application. Figure 1 Taking the MCU121 in the embodiment as an example, the radar conversion method provided in the embodiment of the present application is described in detail.

[0039] Please refer to Figure 2 , Figure 2A schematic diagram of a radar conversion method is provided for an embodiment of the present application, such as Figure 2 As shown, the method includes step S201 and step S202:

[0040] Step S201: After detecting access to a radar, identifying an interface type of the radar, the interface type including an industrial Ethernet interface and an in-vehicle Ethernet interface.

[0041] For the detection process of radar access, the MCU can obtain the detection results of other devices to determine the access of the radar, or the MCU can detect it by itself. Exemplarily, the MCU can detect whether the radar is connected through the hardware status of the conversion device interface, for example, by detecting the in-place signal of the physical connection port, using the high and low level status of the in-place signal to determine whether the radar is connected, and obtaining other electrical signal changes (voltage or current changes) to determine whether there is a device connected. In some examples, it is also possible to detect whether the radar is connected in other ways, such as in the scenario where the conversion device is equipped with a link status indicator light, when the device is connected, the link status indicator light will light up, and the MCU determines whether the device is connected by reading the status of these status indicators.

[0042] In the identification of radar interface types, hardware features can be used for identification, such as physical interface shape and pin configuration. Different types of Ethernet interfaces (such as industrial Ethernet interfaces and automotive Ethernet interfaces) usually differ in physical shape and pin configuration. By detecting these physical features, the interface type can be preliminarily determined. For example, some interface types use dedicated connectors, and the shape and size of these connectors can help identify the interface type. Alternatively, considering that different interface types may have different voltage and current characteristics, the interface type can be confirmed by measuring these electrical characteristics. In addition, it can also be identified through the protocol layer. For example, different interface types use different communication protocols or protocol stacks. The interface type can be identified by analyzing the communication protocol characteristics.

[0043] In this embodiment, in order to improve the recognition accuracy and efficiency of the radar interface type, the method provided in this embodiment may further include the following steps: in response to an on-site signal triggered when the radar is accessed, when the on-site signal is valid, obtaining an access message sent by the radar, the access message carries the interface parameter information of the radar, and the interface parameter information is pre-written into the memory of the radar;

[0044] The above step S201 identifies the type of interface to which the radar is connected, and may be performed in the following manner: identifying the type of interface to which the radar is connected according to the interface parameter information.

[0045] It can be understood that in response to the conditions or states on which the executed operations depend, when the dependent conditions or states are met, one or more operations executed can be in real time or have a set delay; unless otherwise specified, there is no restriction on the order of execution of the multiple operations executed.

[0046] When the radar is connected to the interface of the conversion device, it will trigger a change in the in-place signal (a change in the high and low level states). When the in-place signal is valid, it means that the radar is successfully connected. When the radar is successfully connected, that is, when it is confirmed that the radar is successfully inserted into the interface, the laser radar can send an access message through the Universal Asynchronous Receiver Transmitter (UART) serial port (for example, the laser radar also has a built-in MCU, using the MCU's UART serial port). The interface message can be sent continuously until the data channel is normal. The interface information is defined in advance and can be saved in the internal memory of the laser radar, such as FLASH. When the conversion device recognizes the in-place signal, it receives the access message and identifies and compares the interface parameter information in the access message to confirm which interface form is used. Exemplarily, in combination with Figure 3 As shown, when the MCU of the interface conversion device receives a serial port message, it will compare and execute the received message status. When the read data is 00001, it will be considered as a vehicle-mounted interface. If the read data is 00002, it will be considered as an industrial interface. Then, the MCU will select the pin through the I / O pin control selection switch to output different data.

[0047] In this example, the access message is a universal asynchronous receiver / transmitter UART serial port message, which is continuously sent through the UART serial port of the radar until the data communication between the vehicle domain control and the radar is successful. By using the radar to continuously send access messages sent by the UART serial port, the MCU can communicate reliably with the radar, thereby effectively avoiding the problem that the MCU does not receive the radar message in time and affects the interface recognition efficiency.

[0048] Through the above technical solution, by pre-writing the interface parameter information in the radar, it helps the MCU to quickly and accurately identify the interface type of the radar when it is connected.

[0049] Furthermore, considering the possibility of incorrect interface insertion in actual applications, the high and low level states and duration of the in-place signal can be used to identify the state of the radar when it is stably connected.

[0050] Specifically, the method provided in this embodiment may also include the following steps:

[0051] The high and low level states of the presence signal are obtained, and when the presence signal is in a low level state and lasts for a preset time period, it is determined that the presence signal is valid; wherein the high and low level states are determined according to the hardware state of whether the radar is inserted into the interface.

[0052] In an implementation, the interface circuit can be used to detect whether the radar device is plugged in during the hardware design of the interface circuit. This can be achieved through a simple switch or a level detection circuit. For example, when the radar device is plugged in, the switch is closed or the circuit generates a specific level signal (such as a low level); conversely, when the radar device is not plugged in, the switch is opened or the circuit generates another level signal (such as a high level).

[0053] It should be noted that those skilled in the art can adaptively set the preset time period in combination with practical applications and existing technologies. For example, it can be set to 30 seconds.

[0054] Through the above technical solution, misjudgment caused by instantaneous interference can be effectively avoided, and the reliability of device connection can be ensured, thereby reducing unnecessary work processes and improving radar conversion efficiency.

[0055] In some embodiments, it is also possible to determine whether it is an on-board Ethernet interface or an industrial Ethernet interface through Ethernet messages. For example, by refreshing the laser radar flash memory FLASH, the known interface is refreshed into the FLASH. When the laser radar is inserted into the conversion device through a network cable, the MCU of the laser radar can send interface messages through Ethernet. The interface messages will continue to be sent until the data channel is normal. The interface information is defined in advance and saved in the internal FLASH of the laser radar. When the conversion device receives the interface message, the data format needs to be stored in the FLASH of the conversion device in advance for identification and comparison.

[0056] It can be seen that the embodiment of the present application can automatically identify whether the radar interface type is an on-board Ethernet interface or an industrial Ethernet interface, and realize automatic switching of T1 and 1000base-t data channels to support two types of radar interfaces at the same time. Even if the vehicle has been wired, when there is a need for modification, only the new radar needs to be replaced, and other peripheral wiring harnesses that have been wired do not need to be re-wired, which facilitates operation and maintenance and saves manpower and time costs.

[0057] Continue to refer to Figure 2 , step S202, according to the interface type, controlling the strobe pin of the data strobe chip to be connected to the data channel corresponding to the interface type, the data channel being used to realize data communication between the vehicle domain control and the radar.

[0058] Exemplarily, the data gating chip may be a multiplexer or a switch matrix for switching between different data channels. The gating chip has a plurality of gating pins, and a specific data channel may be selected by controlling these pins. In this embodiment, the data channel may be a T1 data channel corresponding to an in-vehicle Ethernet interface, or a 1000base-t data channel corresponding to an industrial Ethernet interface. In some embodiments, if the interface type is other types, other data channels corresponding to the other interface types may also be included, and this embodiment does not specifically limit this.

[0059] In this embodiment, the input and output I / O pins of the MCU are connected to the industrial Ethernet interface and the vehicle Ethernet interface. The above step S202 controls the enable pin of the data enable chip according to the interface type. The following method can be adopted: according to the signal state of the I / O pin corresponding to the interface type, the enable pin of the data enable chip is controlled.

[0060] For example, after the MCU identifies the interface type, it controls the pin of the data strobe IC through the I / O pin (such as GPIO1 and GPIO2). The data strobe IC pin is high by default, and the output interface is the vehicle interface. If the MCU controls the strobe IC pin to be low, the output interface is the industrial interface, as shown in Table 1 below, where the data strobe IC is Figure 4 shown.

[0061] Table 1:

[0062] Select pin status Pin Description High level Vehicle interface Low level Industrial Ethernet interface

[0063] Optionally, the above step S202 controls the strobe pin of the data strobe chip according to the interface type, which may include the following example methods:

[0064] Example 1: When the interface type is an in-vehicle Ethernet interface, the strobe pin of the data strobe chip is controlled to be connected to the T1 data channel.

[0065] When designing the circuit, the strobe pin (e.g., G1, G2, etc.) of the data strobe chip can be connected to the control signal source (e.g., the GPIO pin of the microcontroller). At the same time, the T1 data channel is connected to the input of the data strobe chip, and the connection configuration is performed to ensure that the output of the data strobe chip is connected to the radar device that needs to transmit data. When the conversion device is started or running, it is detected whether the current interface type is an in-vehicle Ethernet interface. If so, a corresponding control signal is generated. The generation of the control signal can be achieved by software controlling the GPIO pin of the microcontroller, and the generated control signal is passed to the strobe pin of the data strobe chip. For example, if a microcontroller is used, it can be achieved by setting the high and low levels of the GPIO pin. The data strobe chip configures its internal switch according to the received control signal so that the strobe pin is connected to the T1 data channel.

[0066] Example 2: When the interface type is an industrial Ethernet interface, the enable pin of the data enable chip is controlled to be connected to a 1000base-t data channel, and the 1000base-t data channel is obtained by converting the T1 data channel through an Ethernet conversion chip.

[0067] It should be noted that the data gating chip in Example 2 has a gating process similar to that in Example 1. The relevant description can refer to Example 1 and will not be elaborated here. What is different from Example 1 is that an Ethernet conversion chip is also provided in this example. The Ethernet conversion chip refers to a chip that can convert different types of Ethernet standards. In this embodiment, the Ethernet conversion chip can convert a T1 data channel into a 1000base-T data channel. Exemplarily, the Ethernet conversion chip can be a physical layer (Physical Layer Transceiver, PHY) chip. The PHY chip is responsible for the signal transmission and reception of the physical layer and can process Ethernet signals of different rates and standards. It supports Ethernet standards from 10Mbps to 1000Mbps.

[0068] Through the above method, it is possible to ensure that the strobe pin of the data strobe chip is correctly connected to the T1 data channel or the 1000base-t data channel according to the corresponding interface type, thereby realizing effective transmission and processing of radar data.

[0069] Figure 5 It is a flow chart of another radar conversion method provided in an embodiment of the present application. On the basis of the above embodiment, in order to avoid the MCU continuing to perform radar conversion operations after data communication is established between the radar and the domain control, this embodiment may further include steps S501 and S502 in addition to the above steps S201 and S202.

[0070] Step S501: receiving a UART serial port message sent by the radar.

[0071] For example, after the data channel selection is completed and the radar and the domain control establish data communication, if the data communication between the laser radar and the domain control is successful and the data link selection is correct, the radar (MCU) can send a UART serial port message through the UART serial port, and the serial port message carries format data for indicating that the data communication is successfully established. Among them, the format data is as follows Figure 6 As shown, if the data 01010 indicates successful communication, the MCU of the conversion device can recognize the message. If the received message data is 01010, it means that the laser radar and domain control data communication is successful.

[0072] Step S502: When the UART serial port message carries predefined format data, the format data is used to indicate that data communication is successfully established, and it is determined that data communication between the vehicle domain control and the radar is successful.

[0073] It has been mentioned in the above embodiment that the radar can use UART serial port messages to continuously send access messages to the MCU so that the MCU can identify the interface type of the radar access conversion device. After the radar and the domain control establish data communication, the radar carries the format data of the successfully established data communication in the UART, so that the MCU determines that the data communication between the domain control and the radar is successful and can stop the interface conversion process (for example, continue to monitor the radar's access messages and data channel selection, etc.). It can be understood that the conversion device can be a device integrated in the domain control.

[0074] In summary, the embodiments of the present application can automatically identify whether the radar is an industrial Ethernet or an on-board gigabit interface through in-place signals and management interactive UART protocols, and after the interface is determined, the data selection IC is selected through the I / O pin status of the MCU. After the radar and domain control data successfully communicate, a UART message of successful negotiation will be sent, which can support communication between radars and domain control with different interfaces without the need to re-wire the harness, thereby facilitating operation and maintenance and saving costs.

[0075] Figure 7 is a schematic diagram of the structure of a radar conversion device provided in an embodiment of the present application, such as Figure 7 As shown, the device 700 includes an identification module 701 and a conversion module 702, wherein:

[0076] An identification module 701 is configured to identify an interface type of the radar after detecting access to the radar, wherein the interface type includes an industrial Ethernet interface and a vehicle Ethernet interface;

[0077] The conversion module 702 is configured to control the enable pin of the data enable chip to be connected to the data channel corresponding to the interface type according to the interface type, and the data channel is used to realize data communication between the vehicle domain control and the radar.

[0078] In one embodiment, the device further comprises:

[0079] a response module, which is configured to respond to a presence signal triggered when the radar is accessed, and when the presence signal is valid, obtain an access message sent by the radar, the access message carries interface parameter information of the radar, and the interface parameter information is pre-written in a memory of the radar;

[0080] The identification module 701 is specifically configured to identify the interface type to which the radar is connected according to the interface parameter information.

[0081] In one embodiment, the access message is a universal asynchronous receiver / transmitter (UART) serial port message, which is continuously sent through the UART serial port of the radar until data communication between the vehicle domain control and the radar is successful.

[0082] In one embodiment, the device further comprises:

[0083] a state acquisition module, configured to acquire the high and low level states of the presence signal, and determine that the presence signal is valid when the presence signal is in a low level state and lasts for a preset time period;

[0084] The high and low level states are determined according to the hardware state of whether the radar is inserted into the interface.

[0085] In one implementation, the conversion module 702 includes:

[0086] A first control unit, configured to control the strobe pin of the data strobe chip to be connected to a T1 data channel when the interface type is an in-vehicle Ethernet interface;

[0087] The second control unit is configured to control the selection pin of the data selection chip to be connected to the 1000base-t data channel when the interface type is an industrial Ethernet interface. The 1000base-t data channel is obtained by converting the T1 data channel through an Ethernet conversion chip.

[0088] In one embodiment, the device is applied to a microcontroller MCU, and the input and output I / O pins of the MCU are connected to an industrial Ethernet interface and an in-vehicle Ethernet interface;

[0089] The conversion module 702 is specifically configured to control the strobe pin of the data strobe chip according to the signal state of the I / O pin corresponding to the interface type.

[0090] In one embodiment, the device further comprises:

[0091] A receiving module, configured to receive a UART serial port message sent by the radar;

[0092] A determination module is configured to determine that when predefined format data is carried in the UART serial port message, the format data is used to indicate that data communication is successfully established, and that data communication between the vehicle domain control and the radar is successful.

[0093] It should be noted that the above-mentioned device provided in the embodiments of the present application corresponds to the contents of the above-mentioned method embodiments, and its implementation principles and technical effects are similar. For technical details not disclosed in the above-mentioned equipment embodiments of the present application, please refer to the description of the method embodiments or device embodiments of the present application for understanding.

[0094] Figure 8 is an electronic device provided by an embodiment of the present application, such as Figure 8 As shown, it includes: a processor 801, and a memory 802 that is communicatively connected to the processor 801; the memory 802 stores computer-executable instructions; the processor 801 executes the computer-executable instructions stored in the memory 802 to implement the radar conversion method, wherein the memory 802 and the processor 801 are connected via a bus 803.

[0095] It should be noted that the above-mentioned electronic device provided in the embodiments of the present application corresponds to the contents of the above-mentioned method embodiments or device embodiments, and its implementation principles and technical effects are similar. For technical details not disclosed in the above-mentioned device embodiments of the present application, please refer to the description of the method embodiments or device embodiments of the present application for understanding.

[0096] Fig. 9 is a schematic diagram of the structure of a radar communication system provided by this application, such as Fig. 9As shown, the system includes: a vehicle domain control 100, a radar 200 and an interface conversion device 300; the interface conversion device 300 includes an MCU310 for executing the method provided by the above method embodiment, and a data strobe chip 320, a vehicle Ethernet interface 330 and an industrial Ethernet interface 340 electrically connected to the MCU310 respectively; the radar 200 is connected to the vehicle domain control 100 by accessing the vehicle Ethernet interface 330 or the industrial Ethernet interface 340 of the interface conversion device 300, and when the MCU310 controls the strobe pin of the data strobe chip 320 to be connected to the data channel of the corresponding interface type, data communication is performed with the vehicle domain control through the data channel.

[0097] Compared with the autonomous driving system in the related technology, the radar conversion box only supports one interface, and the interface is single. If the vehicle wiring harness has been completed, changing the laser radar with a different interface requires the wiring harness of the entire vehicle to be re-laid, which consumes manpower and time. The embodiment of the present application makes judgments through the in-place signal and the management interaction UART protocol. The management exchange UART protocol can be customized, and the interaction is simple and reliable. Before judging the interface, the in-place signal can ensure effective access to the radar, and the laser radar sends a message by using the pre-defined good message format. The MCU recognizes the message, and after recognition, it controls the data selection chip to select the data channel, thereby realizing the automatic recognition and conversion of the radar interface, and the establishment of data communication between the radar and the domain control without changing the wiring harness, which greatly facilitates subsequent operation and maintenance and saves a lot of manpower and material costs.

[0098] It should be noted that the above-mentioned system provided in the embodiment of the present application corresponds to the content of the above-mentioned method embodiment or device embodiment, and its implementation principles and technical effects are similar. For technical details not disclosed in the above-mentioned equipment embodiment of the present application, please refer to the description of the method embodiment or device embodiment of the present application for understanding.

[0099] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present application are not directed to any particular programming language.

[0100] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In a hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium).

[0101] As is well known to those skilled in the art, the term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information, such as computer-readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer.

[0102] Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0103] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be constructed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A radar conversion method, characterized in that: The method comprises: After detecting access to the radar, identifying an interface type of the radar, the interface type including an industrial Ethernet interface and an in-vehicle Ethernet interface; According to the interface type, the enable pin of the control data enable chip is connected to the data channel corresponding to the interface type, and the data channel is used to realize data communication between the vehicle domain control and the radar.

2. The method according to claim 1, characterized in that Also includes: In response to a presence signal triggered when the radar is accessed, when the presence signal is valid, obtaining an access message sent by the radar, the access message carrying interface parameter information of the radar, the interface parameter information being pre-written into a memory of the radar; The identifying the type of interface to which the radar is accessed includes: The type of interface to which the radar is connected is identified according to the interface parameter information.

3. The method according to claim 2, characterized in that The access message is a universal asynchronous receiver / transmitter (UART) serial port message, which is continuously sent through the UART serial port of the radar until data communication between the vehicle domain control and the radar is successful.

4. The method according to claim 2, characterized in that: Also includes: Acquire the high and low level states of the presence signal, and determine that the presence signal is valid when the presence signal is in a low level state and lasts for a preset time period; The high and low level states are determined according to the hardware state of whether the radar is inserted into the interface.

5. The method according to claim 1, characterized in that The step of controlling the strobe pin of the data strobe chip according to the interface type comprises: When the interface type is an in-vehicle Ethernet interface, controlling the strobe pin of the data strobe chip to be connected to the T1 data channel; When the interface type is an industrial Ethernet interface, the strobe pin of the data strobe chip is controlled to be connected to a 1000base-t data channel, and the 1000base-t data channel is obtained by converting the T1 data channel through an Ethernet conversion chip.

6. The method according to claim 1 or 5, characterized in that: The method is applied to a microcontroller MCU, wherein the input and output I / O pins of the MCU are connected to an industrial Ethernet interface and an in-vehicle Ethernet interface; The step of controlling the strobe pin of the data strobe chip according to the interface type comprises: According to the signal state of the I / O pin corresponding to the interface type, the strobe pin of the data strobe chip is controlled.

7. The method according to any one of claims 1 to 6, characterized in that: Also includes: Receive the UART serial port message sent by the radar; When the UART serial port message carries predefined format data, the format data is used to indicate that data communication is successfully established, and to determine that data communication between the vehicle domain control and the radar is successful.

8. A radar conversion device, characterized in that: include: An identification module, configured to identify an interface type of the radar after detecting access to the radar, wherein the interface type includes an industrial Ethernet interface and an in-vehicle Ethernet interface; A conversion module is configured to control the selection pin of the data selection chip to be connected to a data channel corresponding to the interface type according to the interface type, and the data channel is used to realize data communication between the vehicle domain control and the radar.

9. An electronic device, characterized in that: include: Memory and processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the computer device performs the radar conversion method according to any one of claims 1 to 7.

10. A radar communication system, characterized in that: include: Vehicle domain control, radar and interface conversion device; the interface conversion device includes an MCU for executing the method according to any one of claims 1 to 7, and a data strobe chip, a vehicle Ethernet interface and an industrial Ethernet interface electrically connected to the MCU respectively; The radar is connected to the vehicle domain controller by accessing the vehicle Ethernet interface or the industrial Ethernet interface of the interface conversion device, and when the MCU controls the enable pin of the data enable chip to be connected to the data channel of the corresponding interface type, data communication is performed with the vehicle domain controller through the data channel.

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