Configurable vehicle-mounted sensor data reinjection system and use method thereof

Abstract

The invention relates to the field of vehicle-mounted sensor data processing, in particular to a configurable vehicle-mounted sensor data reinjection system and a using method thereof.The system comprises an upper computer, a mother board and a plurality of daughter cards, the upper computer and the mother board are in two-way communication through a serial port, the upper computer sends serial port transmission configuration information and protocol commands to the mother board through the serial port, and the daughter cards are connected with the mother board. The mother board feeds back the collected working state of each daughter card to the upper computer; the daughter cards comprise different types of daughter cards and at least comprise a video daughter card, a CAN daughter card, a CANFD daughter card and an Ethernet daughter card, each daughter card obtains configuration information and simulation data from the upper computer through an Ethernet interface, the daughter card obtains a protocol command from the mother board through an SPI interface, and the working state of the daughter card is transmitted to the mother board. According to the method, data reinjection of various sensors such as videos, laser radars and ultrasonic radars can be provided at the same time.

Description

Technical Field

[0001] The present invention relates to the field of vehicle-mounted sensor data processing, and in particular to a configurable vehicle-mounted sensor data re-injection system and a use method thereof. Background Art

[0002] With the rapid development of new energy vehicles and artificial intelligence, cars with intelligent driving have received widespread attention from the industry and car consumers. While intelligent driving brings new opportunities to the automotive industry, it also brings higher requirements and challenges to car safe driving. Corresponding safety regulations for automatic driving have also been issued at home and abroad. Therefore, it is very important to conduct safety tests and intelligent driving simulations before the vehicle leaves the factory. In order to achieve this goal, one of the most important links is to use on-board sensor data injection equipment to test and simulate the vehicle.

[0003] In view of the problems of expensive, single-function, and slow data injection time of vehicle-mounted sensor data injection equipment at home and abroad, the present invention completes a vehicle-mounted sensor data injection system for automobile safety driving test and intelligent driving simulation scenarios based on FPGA. The system can simultaneously provide data injection of various sensor streams such as video, laser radar, and ultrasonic radar. By utilizing the parallel high-speed processing characteristics of FPGA itself, the transmission speed between various sensor data streams is greatly improved while realizing mixed injection of various sensor data. Its functions and indicators greatly exceed similar products at home and abroad. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention proposes a configurable vehicle-mounted sensor data re-injection system, which includes a host computer, a motherboard and a plurality of daughter cards, wherein:

[0005] The host computer and the motherboard communicate bidirectionally through the serial port. The host computer sends the serial port transmission configuration information and protocol commands to the motherboard through the serial port, and the motherboard feeds back the collected working status of each sub-card to the host computer;

[0006] The multiple daughter cards include daughter cards of different types, including at least CAN daughter cards, CANFD daughter cards, Ethernet daughter cards and video daughter cards. Each daughter card obtains configuration information and simulation data from the host computer through the Ethernet interface, obtains protocol commands from the motherboard through the SPI interface, and transmits the daughter card's own working status to the motherboard.

[0007] Furthermore, the daughter card is configured with a ZYNQ chip, and the PS end of the ZYNQ chip receives configuration information and simulation data provided by the host computer, and unpacks and reassembles the data packets according to the daughter card type, and uses the unpacked and reassembled data to complete data injection.

[0008] Furthermore, the serial port transmission configuration information includes the IP address, port number, channel number of the Ethernet daughter card, the baud rate, relay enable resistor, and channel number of the CAN daughter card and the CANFD daughter card.

[0009] Furthermore, the PS side uses a dual-core CPU to process data, where the first CPU is used to unpack the Ethernet data and store the unpacked data in the DDR3 cache; the second CPU is used to reassemble the unpacked data and write the configuration information and reassembled data into the BRAM of the corresponding channel, and complete the control signal interaction with the PL side through the INDEX signal.

[0010] Furthermore, the process of the CAN daughter card transmitting the CAN frame includes:

[0011] The PL end of the CAN daughter card reads the configuration information in the BRAM to configure the baud rate and enable the relay resistor, and completes the baud rate configuration by modifying the internal registers of the CAN IP core;

[0012] After the configuration is completed, the CAN daughter card reads the simulation data and unpacks the ID number, channel number, transceiver indication signal, and DLC length;

[0013] According to the AXI_Lite bus timing, CAN frames are formed to send data.

[0014] Furthermore, the process of the CANFD daughter card transmitting the CANFD frame includes:

[0015] The PL end of the CANFD daughter card reads the configuration information in the BRAM to configure the baud rate and enable the relay resistor, and completes the baud rate configuration by modifying the internal registers of the CANFD IP core;

[0016] After configuration is completed, read the simulation data to distinguish the ID number, channel number, send and receive indication signal, and DLC length;

[0017] According to the AXI_Lite bus timing, CANFD frames are formed to send data.

[0018] Furthermore, the process of transmitting the Ethernet frame by the Ethernet daughter card includes:

[0019] The PL end of the Ethernet daughter card reads the configuration information in the BRAM to configure the IP address and port number;

[0020] After configuration is complete, read the simulation data;

[0021] Use Lwip protocol stack to complete Ethernet frame data transmission.

[0022] The present invention also provides a method for using a configurable vehicle-mounted sensor data re-injection system. The vehicle is tested and simulated according to the configurable vehicle-mounted sensor data re-injection system provided by the present invention.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The present invention completes a sensor data injection system for automobile safety driving test and intelligent driving simulation scenarios based on FPGA. The system can simultaneously provide data injection for various sensors such as video, laser radar, ultrasonic radar, etc., and can configure the IP address, port number, and channel number of the Ethernet subcard; the baud rate, relay enable resistor, and channel number of the CAN subcard and CANFD subcard. It is more suitable for safety testing and intelligent driving simulation of new energy vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the structure of a configurable vehicle-mounted sensor data re-injection system of the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of the vehicle-mounted sensor data sent by the host computer of the present invention;

[0027] Figure 3 It is a schematic diagram of the CAN frame structure and CAN data packet structure of the present invention;

[0028] Figure 4 It is a schematic diagram of the CANFD frame structure and the CANFD data packet structure of the present invention;

[0029] Figure 5 It is a schematic diagram of the ETH frame structure and ETH data packet structure of the present invention. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0031] The present invention proposes a configurable vehicle-mounted sensor data injection system, which includes a host computer, a motherboard and multiple daughter cards, wherein:

[0032] The host computer and the motherboard communicate bidirectionally through the serial port. The host computer sends the serial port transmission configuration information and protocol commands to the motherboard through the serial port, and the motherboard feeds back the collected working status of each sub-card to the host computer;

[0033] The multiple daughter cards include daughter cards of different types, including at least CAN daughter cards, CANFD daughter cards, Ethernet daughter cards and video daughter cards. Each daughter card obtains configuration information and simulation data from the host computer through the Ethernet interface, obtains protocol commands from the motherboard through the SPI interface, and transmits the daughter card's own working status to the motherboard.

[0034] The technical solution provided by the present invention is implemented as follows. First, the back-injection system of the present invention includes a hardware structure and a software module, wherein the hardware structure includes a host computer, a motherboard, and various daughter cards. The host computer transmits simulation data to each daughter card via Ethernet, and the host computer transmits the configuration information and protocol of each daughter card to the motherboard via the serial port. Then the motherboard configures the daughter card information and transmits the protocol command via the SPI interface. Each daughter card performs data back-injection based on the configuration and protocol command combined with the simulation data, and transmits its working status to the motherboard via the SPI interface. The motherboard transmits the received working status back to the host computer via the serial port. The software module includes a parameter configuration module, a data unpacking module, a data storage module and a data transmission module. The parameter configuration module is used for the motherboard to receive the configuration information sent by the host computer and send each configuration information to the corresponding daughter card; the data unpacking module is used for each daughter card to unpack the received message, that is, to separate the corresponding data from the received message; the data storage module is used for the daughter card to store the received information and the data separated from the information; the data transmission module is used for the daughter card to reorganize the data separated from the received data stored in the data storage module according to the corresponding type, and transmit it according to the protocol of the corresponding daughter card type. In the embodiment of the present invention, at least a video daughter card, a CAN daughter card, a CANFD daughter card and an Ethernet daughter card are included.

[0035] As an optional embodiment, this embodiment provides a method for using the reinjection system of the present invention, which specifically includes the following steps:

[0036] S1, parameter configuration module uses the host computer to read the card slot position, sub-card quantity, sub-card type, sub-card operating temperature and voltage from the motherboard, and can flexibly configure various sub-card related parameters;

[0037] S2, through the data unpacking module, the PS end of the ZYNQ chip receives the road sampling data provided by the host computer or the simulation data of the HIL system, and follows the custom frame format, such as Figure 3 , Figure 4 , Figure 5 As shown, the data packets are unpacked and reassembled. The original data packets send different types of packets in time sequence. The unpacking and reassembly can merge a certain number of packets of the same type at one time. The packets of the same type are then sent separately according to the channel number, thereby achieving the separation of different types of data packets and improving the transmission efficiency.

[0038] S3, storing various sub-card related parameters and unpacked and reorganized data through the data storage module;

[0039] S4. After reading the stored data through the data transmission module, data re-injection is completed according to different sub-card types.

[0040] like Figure 2 In this embodiment, the frame structure sent by the host computer includes at least four types, namely, Ethernet frame structure (ETH_DATA_FRAM), CANFD frame structure (CANFD_DATA_FRAM), CAN frame structure (CAN_DATA_FRAM), and video frame structure (Video_DATA_FRAM), wherein the Ethernet frame structure includes a frame header and an ETH data packet, the CANFD frame structure includes a frame header and a CANFD data packet, the CAN frame structure includes a frame header and a CAN data packet, and the video frame structure includes a frame header and a Video data packet.

[0041] like Figure 3 After the CAN daughter card receives and parses the key information from the data packet, it reassembles the data packet according to the information obtained from the unpacking. In this embodiment, the configuration of the CAN controller is as follows: Figure 3 , including SSR (main system controller), MSR (main system status register), BRPR (basic input / output program register), BTR (basic input / output transmission register), ECR (timer / counter control register), ESR (timer / counter extension register), SR (current status register), ISR (interrupt service request register), IER (interrupt enable register), ICR (interrupt clear register), each address is 4 bytes, and two 4-byte reserved address spaces are reserved, relay resistor switch RE, PS end writes PL end pointer index ps_wr_index, PL end reads PS end pointer index pl_rd_index, CPSR compensation time, each CAN data packet includes 20 bytes, of which 4 bytes are used to set the timing time, 4 bytes are used to record ID, one byte is used to record the channel number, one byte is used to record the sending or receiving configuration (RX / TX), one byte is used to record a 4-bit binary data length code, one byte is used to record a 6-bit binary file transfer protocol, and two DW fields used to indicate data payload, each DW field is 4 bytes, in this embodiment, the number of data packets is set to 150, and those skilled in the art can set it according to actual conditions.

[0042] The configuration of the CANFD controller in the CANFD daughter card is as follows: Figure 4Compared with the configuration of the CAN controller, the ECR (timer / counter control register) and ESR (timer / counter extension register) of the CAN controller are replaced by the DATA_BRPR data base pointer register and the DATA_BTR data base type register respectively. Each CANFD data packet includes 76 bytes, including 16 DW fields, and the other structures are consistent with the CAN data packet.

[0043] The configuration of the Ethernet controller in the Ethernet daughter card is as follows: Figure 5 , 4 bytes are used to record IP, mask, gateway and port number in turn, and one byte is used to record synchronization EN. The Ethernet data packet includes 1216 bytes, of which the timing time occupies 8 bytes. The Ethernet data packet includes 301 DW fields. In this embodiment, the number of data packets is set to 150, and those skilled in the art can set it according to actual conditions. In this embodiment, the injection system adopts a motherboard and a daughter card separation design. According to the needs, different numbers and different functions of data injection function daughter cards can be flexibly connected, including video daughter cards, laser radar ETH daughter cards, ultrasonic radar CAN / CANFD daughter cards, so as to provide simultaneous injection of multiple channels of different types of data, including video data, laser radar data, ultrasonic radar data, etc. Both the motherboard and the daughter card use ZYNQ chips as the main control unit.

[0044] The motherboard communicates with the host computer through the serial port, receives the protocol commands from the host computer, and then sends them to the corresponding daughter card through the SPI interface to complete the corresponding operation of the protocol. The daughter card receives configuration information and data through the Ethernet interface, receives protocol commands through the SPI interface, transmits its own working status, temperature, clock, etc., and each daughter card has multiple data channels.

[0045] The parameter configuration module can configure the IP address, port number, and channel number of the Ethernet daughter card; the baud rate, relay enable resistor, and channel number of the CAN daughter card and CANFD daughter card.

[0046] In the data unpacking module, the PS side uses a dual-core CPU to process data. CPU1 is responsible for unpacking Ethernet data and storing it in the DDR3 cache. CPU2 is responsible for data reorganization and writes the configuration information and reorganized data into the BRAM of the corresponding channel. The control signal interaction with the PL side is completed through the INDEX signal.

[0047] In the data storage module, 7 storage areas are opened up to store the configuration information of the subcard and the data packets corresponding to the 6 channels. The 6 channels can work simultaneously.

[0048] The data transmission module can transmit video frames, CAN frames, CANFD frames, and Ethernet frames.

[0049] Transmitting video frames includes the following steps:

[0050] S1: The video daughter card PL end reads the video data and performs preprocessing;

[0051] S2: After data format conversion and clock synchronization, it uses GSML2 interface output, supporting up to 2k@60FPS video injection.

[0052] S3: GSML2 interface is backward compatible with GSML interface.

[0053] Transmitting a CAN frame includes the following steps:

[0054] S1: The PL end of the CAN daughter card reads the configuration information in the BRAM to configure the baud rate (maximum 1M bit / s) and the relay resistor enable configuration, and completes the baud rate configuration by modifying the internal register of the CAN IP core;

[0055] S2: After configuration is completed, read the simulation data and distinguish the ID number, channel number, send and receive indication signal, and DLC length (maximum 8 bytes);

[0056] S3: According to the AXI_Lite bus timing, CAN frames are formed to send data.

[0057] Transmitting a CANFD frame includes the following steps:

[0058] S1: The PL end of the CANFD daughter card reads the configuration information in the BRAM to configure the baud rate (up to 5M bit / s) and the relay resistor enable configuration, and completes the baud rate configuration by modifying the internal registers of the CANFD IP core;

[0059] S2: After configuration is completed, read the simulation data and distinguish the ID number, channel number, send and receive indication signal, and DLC length (maximum 64 bytes);

[0060] S3: According to the AXI_Lite bus timing, CANFD frames are formed to send data.

[0061] Transmitting an Ethernet frame involves the following steps:

[0062] S1: The PL end of the Ethernet daughter card reads the configuration information in the BRAM to configure the IP address and port number;

[0063] S2: Read simulation data after configuration is completed;

[0064] S3: Use the Lwip protocol stack to complete Ethernet frame data transmission.

[0065] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A configurable vehicle-mounted sensor data injection system, characterized in that: The system includes a host computer, a motherboard, and multiple daughter cards, including: The host computer and the motherboard communicate bidirectionally through the serial port. The host computer sends the serial port transmission configuration information and protocol commands to the motherboard through the serial port, and the motherboard feeds back the collected working status of each sub-card to the host computer; The multiple daughter cards include daughter cards of different types, including at least CAN daughter cards, CANFD daughter cards, Ethernet daughter cards and video daughter cards. Each daughter card obtains configuration information and simulation data from the host computer through the Ethernet interface, obtains protocol commands from the motherboard through the SPI interface, and transmits the daughter card's own working status to the motherboard.

2. A configurable vehicle-mounted sensor data re-injection system according to claim 1, characterized in that: The daughter card is equipped with a ZYNQ chip. The PS end of the ZYNQ chip receives the configuration information and simulation data provided by the host computer, unpacks and reassembles the data packets according to the daughter card type, and uses the unpacked and reassembled data to complete data injection.

3. A configurable vehicle-mounted sensor data re-injection system according to claim 1 or 2, characterized in that: The serial port transmission configuration information includes the IP address, port number, channel number of the Ethernet daughter card, the baud rate, relay enable resistor, and channel number of the CAN daughter card and CANFD daughter card.

4. A configurable vehicle-mounted sensor data re-injection system according to claim 2, characterized in that: The PS side uses a dual-core CPU to process data, where the first CPU is used to unpack the Ethernet data and store the unpacked data in the DDR3 cache; the second CPU is used to reassemble the unpacked data and write the configuration information and reassembled data into the BRAM of the corresponding channel, and complete the control signal interaction with the PL side through the INDEX signal.

5. A configurable vehicle-mounted sensor data back injection system according to claim 4, characterized in that: The process of CAN daughter card transmitting CAN frame includes: The PL end of the CAN daughter card reads the configuration information in the BRAM to configure the baud rate and enable the relay resistor, and completes the baud rate configuration by modifying the internal registers of the CAN IP core; After the configuration is completed, the CAN daughter card reads the simulation data and unpacks the ID number, channel number, transceiver indication signal, and DLC length; According to the AXI_Lite bus timing, CAN frames are formed to send data.

6. A configurable vehicle-mounted sensor data back injection system according to claim 4, characterized in that: The process of CANFD daughter card transmitting CANFD frame includes: The PL end of the CANFD daughter card reads the configuration information in the BRAM to configure the baud rate and enable the relay resistor, and completes the baud rate configuration by modifying the internal registers of the CANFD IP core; After configuration is completed, read the simulation data to distinguish the ID number, channel number, send and receive indication signal, and DLC length; According to the AXI_Lite bus timing, CANFD frames are formed to send data.

7. The configurable vehicle-mounted sensor data re-injection system according to claim 4, characterized in that: The process of Ethernet daughter card transmitting Ethernet frame includes: The PL end of the Ethernet daughter card reads the configuration information in the BRAM to configure the IP address and port number; After configuration is complete, read the simulation data; Use Lwip protocol stack to complete Ethernet frame data transmission.

8. A method for using a configurable vehicle-mounted sensor data injection system, characterized in that: The configurable vehicle-mounted sensor data reinjection system according to claim 1 is used to test and simulate a vehicle.

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