A configurable vehicle-mounted sensor data feedback system and method of use thereof

Abstract

The present application relates to the field of vehicle sensor data processing, in particular to a configurable vehicle sensor data feedback system and a method thereof, the system comprising a host computer, a motherboard and a plurality of daughter cards, the host computer and the motherboard communicate with each other through a serial port, the host computer sends configuration information and protocol commands to the motherboard through the serial port, and the motherboard feeds back the working status of each daughter card to the host computer; the plurality of daughter cards comprise different types of daughter cards, at least including 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 host computer through an Ethernet interface, the daughter card obtains protocol commands from the motherboard through an SPI interface, and the working status of the daughter card is transmitted to the motherboard. The present application can provide video, laser radar, ultrasonic radar and other types of sensor data feedback simultaneously.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle-mounted sensor data processing, in particular to a configurable vehicle-mounted sensor data back-annotation system and a method thereof. BACKGROUND

[0002] With the rapid development of new energy vehicles and artificial intelligence, intelligent driving vehicles have attracted widespread attention from the industry and vehicle consumers. Intelligent driving brings new opportunities to the automotive industry, but also brings higher requirements and challenges to safe driving. Corresponding automotive autonomous driving safety standards have been introduced at home and abroad. Therefore, it is crucial to conduct safety testing and intelligent driving simulation before vehicles are put into the market. To achieve this purpose, the most important step is to use vehicle-mounted sensor data back-annotation equipment to test and simulate vehicles.

[0003] In view of the problems of expensive, single function, slow data back-annotation time of vehicle-mounted sensor data back-annotation equipment at home and abroad at present, the present application completes a set of vehicle-mounted sensor data back-annotation system for automotive safety driving test and intelligent driving simulation scene based on FPGA. The system can provide video, laser radar, ultrasonic radar and other types of sensor data stream back-annotation at the same time. By using the parallel high-speed processing characteristics of FPGA, the transmission speed between various sensor data streams is greatly improved while realizing mixed back-annotation of various sensor data, and the function and index greatly exceed those of similar products at home and abroad. SUMMARY

[0004] In view of the above-mentioned deficiencies of the prior art, the present application proposes a configurable vehicle-mounted sensor data back-annotation system. The system comprises a host computer, a mother board and a plurality of sub-cards, wherein:

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

[0006] The plurality of sub-cards comprises different types of sub-cards, at least including CAN sub-cards, CANFD sub-cards, Ethernet sub-cards and video sub-cards. Each sub-card obtains configuration information and simulation data from the host computer through an Ethernet interface, and obtains protocol commands from the mother board through an SPI interface, and transmits the working status of the sub-card to the mother board.

[0007] Further, the sub-card is configured with a ZYNQ chip. The PS end of the ZYNQ chip receives configuration information and simulation data provided by the host computer, and unpacks and recombines data packets according to the type of the sub-card. The data back-annotation is completed by using the unpacked and recombined data.

[0008] Further, the serial transmission configuration information includes IP address, port number, channel number of the Ethernet subcard, baud rate, relay enable resistance, channel number of the CAN subcard and the CANFD subcard.

[0009] Further, the PS end adopts dual-core CPU to process data, wherein the first CPU is used for unpacking Ethernet data and storing the unpacked data in DDR3 buffer, and the second CPU is used for recombining the unpacked data and writing configuration information and the recombined data into BRAM of the corresponding channel to complete interaction with the control signal of the PL end through INDEX signal.

[0010] Further, the process of transmitting CAN frame by the CAN subcard includes:

[0011] The PL end of the CAN subcard reads the configuration information in the BRAM to perform baud rate configuration and relay resistance enable configuration, and completes baud rate configuration by modifying internal registers of the CAN IP core.

[0012] After the configuration is completed, the CAN subcard reads simulation data to unpack ID number, channel number, transceiving instruction signal and DLC length from the simulation data.

[0013] According to AXI_Lite bus timing, CAN frame is composed to perform data transmission.

[0014] Further, the process of transmitting CANFD frame by the CANFD subcard includes:

[0015] The PL end of the CANFD subcard reads the configuration information in the BRAM to perform baud rate configuration and relay resistance enable configuration, and completes baud rate configuration by modifying internal registers of the CANFD IP core.

[0016] After the configuration is completed, simulation data is read to distinguish ID number, channel number, transceiving instruction signal and DLC length.

[0017] According to AXI_Lite bus timing, CANFD frame is composed to perform data transmission.

[0018] Further, the process of transmitting Ethernet frame by the Ethernet subcard includes:

[0019] The PL end of the Ethernet subcard reads the configuration information in the BRAM to perform IP address and port number configuration.

[0020] After the configuration is completed, simulation data is read.

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

[0022] The application further provides a use method of the configurable vehicle-mounted sensor data feedback system.

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

[0024] The application completes a set of sensor data feedback system for vehicle safety driving test and intelligent driving simulation scene based on FPGA, which can provide video, laser radar, ultrasonic radar and other sensor data feedback, and can configure IP address, port number and channel number of the Ethernet subcard, baud rate, relay enable resistor and channel number of the CAN subcard and the CANFD subcard. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 FIG. 1 is a structural schematic diagram of the configurable vehicle-mounted sensor data feedback system according to the application;

[0026] Figure 2 FIG. 2 is a structural schematic diagram of the host computer sending vehicle-mounted sensor data according to the application;

[0027] Figure 3 FIG. 3 is a schematic diagram of the CAN frame structure and the CAN data packet structure according to the application;

[0028] Figure 4 FIG. 4 is a schematic diagram of the CANFD frame structure and the CANFD data packet structure according to the application;

[0029] Figure 5 FIG. 5 is a schematic diagram of the ETH frame structure and the ETH data packet structure according to the application. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0031] The application provides a configurable vehicle-mounted sensor data feedback system, which comprises a host computer, a motherboard and a plurality of subcards, wherein:

[0032] The host computer and the motherboard perform bidirectional communication through a serial port, the host computer sends serial port transmission configuration information and protocol commands to the motherboard through the serial port, and the motherboard feeds back the working states of the subcards to the host computer.

[0033] The plurality of sub-cards include different types of sub-cards, at least including a CAN sub-card, a CANFD sub-card, an Ethernet sub-card and a video sub-card, each of which obtains configuration information and simulation data from the upper computer through an Ethernet interface, and obtains protocol commands from the mother board through an SPI interface, and transmits the working state of the sub-card to the mother board.

[0034] The technical solution provided by the application is implemented as follows: firstly, the application back-annotation system includes a hardware structure and a software module, wherein the hardware structure includes an upper computer, a mother board and various sub-cards, the upper computer transmits simulation data to the various sub-cards through an Ethernet, the upper computer transmits configuration information and protocol commands for the various sub-cards to the mother board through a serial port, then the mother board configures sub-card information and transmits protocol commands through an SPI interface, the various sub-cards perform data back-annotation in combination with the configuration and the protocol commands and the simulation data, and transmit the working state to the mother board through the SPI interface, and the mother board transmits the received working state to the upper computer through 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 mother board to receive configuration information sent by the upper computer, and transmit the various configuration information to the corresponding sub-cards; the data unpacking module is used for the various sub-cards to unpack the received messages, i.e. separate the corresponding data from the received messages; the data storage module is used for the sub-cards to store the received information and the data separated from the information; and the data transmission module is used for the sub-cards to recombine the data separated from the received data stored in the data storage module according to the corresponding type, and transmit the data according to the protocol of the corresponding sub-card type. In the embodiment of the application, at least a video sub-card, a CAN sub-card, a CANFD sub-card and an Ethernet sub-card are included.

[0035] As an optional embodiment, the embodiment provides a use method of the back-annotation system, and specifically includes the following steps:

[0036] S1, the parameter configuration module reads the card slot position, the number of sub-cards, the type of sub-cards, the working temperature and voltage of the sub-cards from the mother board by using the upper computer, and can flexibly configure various sub-card related parameters;

[0037] S2, the data unpacking module is used to receive road sampling data provided by the upper computer or simulation data of a HIL system by using the PS end of the ZYNQ chip, and the data packet is unpacked and recombined according to the self-defined frame format, as shown in Figure 3 、 Figure 4 、 Figure 5 The original data packet sends different types of packets in time sequence, the unpacking and recombination can combine a certain number of same type packets at a time, and the same type packets are sent according to the channel number respectively, so that different types of data packets are separated, and the transmission efficiency is improved;

[0038] S3. Store various sub-card related parameters and unpacked and reassembled data through the data storage module;

[0039] S4. After reading the stored data through the data transmission module, complete the data reinjection 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: 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). The Ethernet frame structure includes a frame header and ETH data packets, the CANFD frame structure includes a frame header and CANFD data packets, the CAN frame structure includes a frame header and CAN data packets, and the video frame structure includes a frame header and Video data packets.

[0041] like Figure 3 After the CAN daughter card receives and parses the key information from the data packet, it reassembles the data based on the information obtained from the unpacking. The configuration of the CAN controller in this embodiment is as follows: Figure 3 This includes the SSR (Master System Controller), MSR (Master System Status Register), BRPR (Basic Input / Output Program Register), BTR (Basic Input / Output Transfer Register), ECR (Timer / Counter Control Register), ESR (Timer / Counter Extension Register), SR (Current Status Register), ISR (Interrupt Service Request Register), IER (Interrupt Enable Register), and ICR (Interrupt Clear Register), each 4 bytes long, with two reserved 4-byte address spaces. It also includes a relay resistor switch (RE), a PS terminal for writing the PL terminal pointer index (ps_wr_index), a PL terminal for reading the PS terminal pointer index (pl_rd_index), a CPSR for compensating the time, and 20 bytes for each CAN data packet. Four bytes are used to set the timing, four bytes to record the ID, one byte to record the channel number, one byte to record the transmit or receive configuration (RX / TX), one byte to record the 4-bit binary data length code, one byte to record the 6-bit binary file transfer protocol, and two DW fields indicating the data payload, each 4 bytes long. In this embodiment, the number of data packets is set to 150, but 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 the 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 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, 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, and the number of data packets is set to 150 in this embodiment, and those skilled in the art can set it according to the actual situation. In this embodiment, the back-feeding system adopts a mother board and daughter card separation design, and different numbers and different functions of data injection function daughter cards can be flexibly accessed according to requirements, including video daughter cards, laser radar ETH daughter cards, ultrasonic radar CAN / CANFD daughter cards, so as to provide simultaneous injection of multiple different types of data, including video data, laser radar data, ultrasonic radar data and the like. The mother board and the daughter card both use a ZYNQ chip as a master control unit.

[0044] The mother board communicates with the upper computer through a serial port to receive protocol commands of the upper computer, and then sends the protocol commands to the corresponding daughter card through an SPI interface to complete corresponding operations of the protocol. The daughter card receives configuration information and data through an Ethernet interface, receives protocol commands, transmits its own working state, temperature, clock and the like through an SPI interface, 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 resistance and channel number of the CAN daughter card and the CANFD daughter card.

[0046] In the data unpacking module, a dual-core CPU is used to process data. CPU1 is responsible for unpacking Ethernet data and storing the Ethernet data in a DDR3 buffer, and CPU2 is responsible for data reorganization and writing configuration information and reorganized data into a BRAM of a corresponding channel to complete interaction with control signals of the PL end through an INDEX signal.

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

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

[0049] The transmission of the video frame includes the following steps:

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

[0051] S2: After data format conversion and clock synchronization, the GSM L2 interface is used for output, and the highest support is 2k@60FPS video back-annotation.

[0052] S3: The GMS L2 interface can be downward compatible with the GMS L interface.

[0053] The transmission of the CAN frame includes the following steps:

[0054] S1: The CAN sub-card PL end reads the configuration information in the BRAM for baud rate configuration (maximum 1M bit / s) and relay resistance enable configuration, and the baud rate configuration is completed by modifying the internal register of the CAN IP core;

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

[0056] S3: According to the AXI_Lite bus timing, the CAN frame is composed for data transmission.

[0057] The transmission of the CANFD frame includes the following steps:

[0058] S1: The CANFD sub-card PL end reads the configuration information in the BRAM for baud rate configuration (maximum 5M bit / s) and relay resistance enable configuration, and the baud rate configuration is completed by modifying the internal register of the CANFD IP core;

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

[0060] S3: According to the AXI_Lite bus timing, the CANFD frame is composed for data transmission.

[0061] The transmission of the Ethernet frame includes the following steps:

[0062] S1: The Ethernet sub-card PL end reads the configuration information in the BRAM for IP address and port number configuration;

[0063] S2: After the configuration is completed, the simulation data is read;

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

[0065] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A configurable vehicle onboard sensor data annotation system, characterized by, The system comprises a host computer, a motherboard and a plurality of sub-cards, wherein: The host computer and the motherboard communicate with each other through a serial port, the host computer sends configuration information and protocol commands to the motherboard through the serial port, and the motherboard feeds back the working status of each sub-card to the host computer; The plurality of sub-cards comprise different types of sub-cards, at least including CAN sub-cards, CANFD sub-cards, Ethernet sub-cards and video sub-cards, each sub-card acquires configuration information and simulation data from the host computer through an Ethernet interface, acquires protocol commands from the motherboard through an SPI interface, and transmits the working status of the sub-card to the motherboard; The sub-cards are configured with ZYNQ chips, the PS end of the ZYNQ chip receives configuration information and simulation data provided by the host computer, unpacks and recombines the data packets according to the type of the sub-card, and completes data back-annotation using the unpacked and recombined data; the PS end uses dual-core CPUs to process data, wherein the first CPU is used for unpacking Ethernet data and storing the unpacked data in DDR3 for buffering; the second CPU is used for recombining the unpacked data and writing configuration information and recombined data into BRAM of the corresponding channel to complete interaction with the control signal of the PL end through an INDEX signal.

2. The configurable vehicle sensor data logging system of claim 1, wherein, The serial port transmission configuration information includes the IP address, port number and channel number of the Ethernet sub-card, the baud rate, relay enable resistor and channel number of the CAN sub-card and the CANFD sub-card.

3. The configurable vehicle sensor data logging system of claim 1, wherein, The process of transmitting CAN frames by the CAN sub-card comprises: The PL end of the CAN sub-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 register of the CAN IP core; After the configuration is completed, the CAN sub-card reads simulation data to unpack the ID number, channel number, transmit-receive indication signal and DLC length; According to the AXI_Lite bus timing, a CAN frame is composed for data transmission.

4. The configurable vehicle sensor data logging system of claim 1, wherein, The process of transmitting CANFD frames by the CANFD sub-card comprises: The PL end of the CANFD sub-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 register of the CANFD IP core; After the configuration is completed, the CANFD sub-card reads simulation data to distinguish the ID number, channel number, transmit-receive indication signal and DLC length; According to the AXI_Lite bus timing, a CANFD frame is composed for data transmission.

5. The configurable vehicle sensor data logging system of claim 1, wherein, The process of transmitting Ethernet frames by the Ethernet sub-card comprises: The PL end of the Ethernet sub-card reads the configuration information in the BRAM to configure the IP address and port number; After the configuration is completed, the Ethernet sub-card reads simulation data; The Lwip protocol stack is used to complete Ethernet frame data transmission.

6. A method of using a configurable in-vehicle sensor data logging system, the method comprising: The configurable vehicle-mounted sensor data back-annotation system according to claim 1 is used for testing and simulation of a vehicle.

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