Data monitoring device and method between electronic control unit and camera

Abstract

The invention belongs to the technical field of intelligent driving, and discloses a data monitoring device and method between an electronic control unit and a camera, and the device comprises a processor interface to serial link module, a serial link to processor interface module, a programmable logic module, and a storage module. When an electronic control unit performs data interaction with a camera, a programmable logic module uploads monitored interaction data to an upper computer, so that the upper computer combines the interaction data to configure an injection device which normally simulates data interaction between the vehicle-mounted camera and the electronic control unit. According to the technical scheme of the invention, the error report of the electronic control unit can be effectively avoided, the injection efficiency of the injection equipment can be ensured, and the normal data interaction between the electronic control unit and the camera can be ensured by using the low time delay of the programmable logic module, so that a better data monitoring effect can be brought.

Description

Technical Field

[0001] The present application belongs to the field of intelligent driving technology, and in particular relates to a data monitoring device and method between an electronic control unit and a camera. Background Art

[0002] With the continuous development of the field of intelligent driving, pure visual solutions that rely on image data captured by on-board cameras for environmental perception and decision-making have gradually become the preferred solution for most car manufacturers. They use image processing technology and machine learning methods (especially deep learning) to extract useful information from image data to identify road signs, pedestrians, other vehicles, and traffic signals, etc., thereby realizing autonomous driving functions.

[0003] Due to the complexity of real road conditions and environments, intelligent driving algorithms based on pure vision solutions usually use scene simulation software to generate various complex road conditions during the learning and verification stage to replace the on-board camera to obtain image data. The rendered images are then injected into the vehicle's electronic control unit (ECU) through an injection device for deep learning.

[0004] Since the data interaction between the vehicle camera and the electronic control unit is in a black box state, if the injection device cannot normally simulate the data interaction between the vehicle camera and the electronic control unit, it may easily cause the electronic control unit to think that the vehicle camera does not exist or the configuration does not match and report an error, thereby affecting the injection efficiency of the injection device. Summary of the invention

[0005] In order to solve the above-mentioned technical problems that the data interaction between the vehicle camera and the electronic control unit is in a black box state, if the injection device cannot normally simulate the data interaction between the vehicle camera and the electronic control unit, it is easy for the electronic control unit to think that the vehicle camera does not exist or the configuration does not match, thereby reporting an error, thereby affecting the injection efficiency of the injection device, etc., a data monitoring device and method between the electronic control unit and the camera are proposed, and the technical solution is as follows: In a first aspect, an embodiment of the present application provides a data monitoring device between an electronic control unit and a camera, the device comprising a processor interface to serial link module, a serial link to processor interface module, a programmable logic module and a storage module, wherein: The serial link end of the processor interface to serial link module is connected to the electronic control unit, the processor interface end of the processor interface to serial link module is connected to the first processor interface end of the programmable logic module, and the serial communication end of the processor interface to serial link module is respectively connected to the serial communication end of the programmable logic module and the serial communication end of the serial link to processor interface module; The serial communication end of the serial link to processor interface module is also connected to the serial communication end of the programmable logic module, the processor interface end of the serial link to processor interface module is connected to the second processor interface end of the programmable logic module, and the serial link end of the serial link to processor interface module is connected to the camera; The data storage end of the programmable logic module is connected to the storage module, and the data transceiver end of the programmable logic module is connected to the host computer to upload the interaction data monitored between the electronic control unit and the camera to the host computer.

[0006] In an optional solution of the first aspect, the programmable logic module includes a processor interface sending unit, a processor interface receiving unit, a serial communication monitoring unit, an optical port transceiver unit, and an Ethernet transceiver unit, wherein: The processor interface sending unit is respectively connected to the processor interface end of the serial link to processor interface module and the storage module; The processor interface receiving unit is respectively connected to the processor interface end of the processor interface to serial link module and the storage module; The serial communication monitoring unit is respectively connected to the serial communication end of the processor interface to serial link module, the serial communication end of the serial link to processor interface module, and the Ethernet transceiver unit; The optical port transceiver unit is connected to the storage module and the host computer respectively; The Ethernet transceiver unit is also connected to the host computer.

[0007] In another optional solution of the first aspect, the programmable logic module further includes a serial communication unit, which is respectively connected to the processor interface sending unit, the processor interface receiving unit, the serial communication monitoring unit, and the host computer.

[0008] In another optional solution of the first aspect, the storage module includes a first storage unit and a second storage unit, wherein: The first storage unit is connected to the processor interface sending unit and the optical port transceiver unit respectively; The second storage unit is connected to the processor interface sending unit and the processor interface receiving unit respectively.

[0009] In another optional scheme of the first aspect, the processor interface to serial link module and the serial link to processor interface module are connected to the interface daughter card, the programmable logic module and the storage module are connected to the main board, and the interface daughter card and the main board are connected via a connector.

[0010] In yet another optional solution of the first aspect, the number of processor interface to serial link modules is three, and the number of serial link to processor interface modules is three.

[0011] In yet another optional solution of the first aspect, the processor interface to serial link module includes a max9295 serializer chip.

[0012] In yet another optional solution of the first aspect, the serial link to processor interface module includes a max9296 deserializer chip.

[0013] In yet another optional solution of the first aspect, the storage module is a fourth generation double data rate memory.

[0014] In a second aspect, an embodiment of the present application provides a method for monitoring data between an electronic control unit and a camera, the method being applied to a data monitoring device between an electronic control unit and a camera provided in the first aspect or any one of the optional solutions of the first aspect, the method comprising: When the serial link end of the serial link to processor interface module receives the interactive data sent by the camera, the serial link to processor interface module parses and processes the interactive data to obtain processor interface data and serial communication data; The processor interface end of the serial link to processor interface module sends the processor interface data to the second processor interface end of the programmable logic module, and the serial communication end of the serial link to processor interface module sends the serial communication data to the serial communication end of the programmable logic module and the serial communication end of the processor interface to serial link module respectively; The programmable logic module parses and processes the processor interface data according to the preset first configuration information, and the data storage end of the programmable logic module sends the parsed processor interface data to the storage module, and parses and processes the serial communication data according to the preset second configuration information, and the data transceiver end of the programmable logic module sends the parsed serial communication data to the host computer; The storage module sends the parsed processor interface data to the programmable logic module, and the data transceiver of the programmable logic module sends the parsed processor interface data to the host computer, and packages the parsed processor interface data; The first processor interface end of the programmable logic module sends the packaged processor interface data to the processor interface end of the processor interface to serial link module, and the processor interface to serial link module encapsulates the packaged processor interface data and serial communication data to obtain interactive data; The serial link end of the processor interface to serial link module sends the interactive data to the electronic control unit.

[0015] Beneficial effects of this application: By constructing a data monitoring device including a processor interface to serial link module, a serial link to processor interface module, a programmable logic module and a storage module, when the electronic control unit and the camera are interacting with each other, the programmable logic module can upload the monitored interaction data to the host computer, so that the host computer can configure an injection device that normally simulates the data interaction between the vehicle-mounted camera and the electronic control unit based on the interaction data. This can not only effectively avoid errors in the electronic control unit and ensure the injection efficiency of the injection device, but also utilize the low latency of the programmable logic module to ensure normal data interaction between the electronic control unit and the camera, thereby bringing better data monitoring effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A schematic diagram of the structure of a data monitoring device between an electronic control unit and a camera provided in an embodiment of the present application; Figure 2 A schematic diagram of a circuit structure of a portion of a processor interface to serial link module provided in an embodiment of the present application; Figure 3 A schematic diagram of another part of the circuit structure of a processor interface to serial link module provided in an embodiment of the present application; Figure 4 A schematic diagram of a circuit structure of a portion of a serial link to processor interface module provided in an embodiment of the present application; Figure 5 A schematic diagram of another part of the circuit structure of a serial link to processor interface module provided in an embodiment of the present application; Figure 6 A schematic diagram of the structure of a data monitoring device between an electronic control unit and a camera provided in another embodiment of the present application; Figure 7 A schematic diagram of a circuit structure of a portion of an optical port transceiver unit provided in an embodiment of the present application; Figure 8 A schematic diagram of another part of the circuit structure of an optical port transceiver unit provided in an embodiment of the present application; Fig. 9 A schematic diagram of a circuit structure of a portion of an Ethernet transceiver unit provided in an embodiment of the present application; Fig.10 A schematic diagram of another part of the circuit structure of an Ethernet transceiver unit provided in an embodiment of the present application; Fig.11 A schematic diagram of the circuit structure of the first part of a connector of a daughter card provided in an embodiment of the present application; Fig.12 A schematic diagram of the circuit structure of the second part of a connector of a daughter card provided in an embodiment of the present application; Fig.13 A schematic diagram of the circuit structure of the third part of a connector of a daughter card provided in an embodiment of the present application; Fig.14 A schematic diagram of the circuit structure of the fourth part of a connector of a daughter card provided in an embodiment of the present application; Fig.15 A schematic diagram of the circuit structure of the first part of a connector of a mainboard provided in an embodiment of the present application; Fig.16 A schematic diagram of the circuit structure of the second part of a connector of a mainboard provided in an embodiment of the present application; Fig.17 A schematic diagram of the circuit structure of the third part of a connector of a mainboard provided in an embodiment of the present application; Fig.18 A schematic diagram of the circuit structure of the fourth part of a connector of a mainboard provided in an embodiment of the present application; Fig.19 An overall flow chart of a method for monitoring data between an electronic control unit and a camera provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0019] In the following introduction, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following introduction provides multiple embodiments of the present application, and different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments recorded. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, although the embodiment may not be clearly recorded in the following text.

[0020] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present application. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted or combined. In addition, features described in some examples may be combined in other examples.

[0021] It should be noted that there are two main ways of data interaction between the vehicle camera and the electronic control unit. One is the serial bus communication access of the electronic control unit to the vehicle camera, and the other is the image data sent by the vehicle camera to the electronic control unit. Since the data interaction between the vehicle camera and the electronic control unit is in a black box state, if the injection device cannot normally simulate the access response of the vehicle camera to the electronic control unit, it is easy for the electronic control unit to think that the vehicle camera does not exist or the model is wrong and report an error; or if the image data sent by the injection device does not match the configuration of the electronic control unit, it will also cause an error, thereby affecting the injection efficiency of the injection device.

[0022] See next Figure 1 , Figure 1 A schematic structural diagram of a data monitoring device between an electronic control unit and a camera provided in an embodiment of the present application is shown.

[0023] like Figure 1 As shown, the data monitoring device between the electronic control unit and the camera may include at least a processor interface to serial link module, a serial link to processor interface module, a programmable logic module and a storage module, wherein: The processor interface to serial link module can be understood as a mobile industry processor interface to gigabit multimedia serial link module (also known as MIPI to GMSL module). The serial link end of the processor interface to serial link module is connected to the electronic control unit (for example, but not limited to being connected to the electronic control unit via a FAKRA-C connector), the processor interface end of the processor interface to serial link module is connected to the first processor interface end of the programmable logic module, and the serial communication end of the processor interface to serial link module is respectively connected to the serial communication end of the programmable logic module and the serial communication end of the serial link to processor interface module. It can be understood that when the processor interface to serial link module receives the interactive data (which can be understood as serial link protocol data, i.e. GMSL protocol data) output by the electronic control unit, it can parse the serial communication data (which can be understood as serial communication protocol data, i.e. I2C protocol data) from the interactive data, and send the parsed serial communication data to the programmable logic module and the serial link to processor interface module respectively to ensure the normal access response status between the camera and the electronic control unit; in addition, when the processor interface to serial link module receives the serial communication data and the processor interface data (which can be understood as the processor interface protocol data, i.e. MIPI protocol data) output by the programmable logic module, it can encapsulate the serial communication data and the processor interface data into interactive data (i.e. GMSL protocol data) output by the camera to the serial link to processor interface module, and send the interactive data obtained after the encapsulation processing to the electronic control unit through the FAKRA-C connector to ensure that the image data sent by the camera matches the configuration of the electronic control unit normally.

[0024] Here, you can also see Figure 2 A schematic diagram of a circuit structure of a portion of a processor interface to serial link module provided in an embodiment of the present application is shown, and Figure 3 FIG. 2 is a schematic diagram showing another part of the circuit structure of a processor interface to serial link module provided in an embodiment of the present application. Figure 2 as well as Figure 3 As shown, the processor interface to serial link module may include Maxim's max9295 serializer chip and a power management circuit. As a second-generation serializer, the max9295 serializer chip not only supports 6G / 3G modes, but can also be flexibly configured through external configuration resistors or chip internal registers. The pin connection method of the max9295 serializer chip and the pin connection method of the power management circuit can refer to the technical means known in the art, but will not be elaborated here.

[0025] The serial link to processor interface module can be understood as a gigabit multimedia serial link to mobile industry processor interface module (also known as GMSL to MIPI module). The serial communication end of the serial link to processor interface module is also connected to the serial communication end of the programmable logic module. The processor interface end of the serial link to processor interface module is connected to the second processor interface end of the programmable logic module. The serial link end of the serial link to processor interface module is connected to the camera. It can be understood that when the serial link to processor interface module receives the interactive data (which can be understood as serial link protocol data, i.e. GMSL protocol data) output by the camera, it can parse the serial communication data (which can be understood as serial communication protocol data, i.e. I2C protocol data) and the processor interface data (which can be understood as processor interface protocol data, i.e. MIPI protocol data) from the interactive data, and send the serial communication data to the programmable logic module and the processor interface to serial link module respectively, and send the processor interface data to the programmable logic module, so as to combine with the processor interface to serial link module to jointly ensure that the image data sent by the camera matches the configuration of the electronic control unit normally; in addition, the serial link to processor interface module can also send the serial communication data to the camera when receiving the serial communication data parsed by the processor interface to serial link module, so as to combine with the processor interface to serial link module to jointly ensure the normal access response status between the camera and the electronic control unit.

[0026] Here, you can also see Figure 4 A schematic diagram of a circuit structure of a part of a serial link to processor interface module provided in an embodiment of the present application is shown, and Figure 5 FIG. 2 is a schematic diagram showing another part of the circuit structure of a serial link to processor interface module provided by an embodiment of the present application. Figure 4 as well as Figure 5 As shown, the serial link to processor interface module may include Maxim's max9296 deserializer chip and a power management circuit. As a second-generation deserializer, the max9296 deserializer chip not only supports 6G / 3G modes, but can also be flexibly configured through external configuration resistors or chip internal registers. The pin connection method of the max9296 deserializer chip and the pin connection method of the power management circuit can refer to the technical means known in the art, but will not be elaborated here.

[0027] The programmable logic module can be understood as a Field-Programmable Gate Array (FPGA), which can be but is not limited to the xczu7ev-ffvc1156 chip. The data storage end of the programmable logic module is connected to the storage module, and the data transceiver end of the programmable logic module is connected to the host computer to upload the interactive data monitored between the electronic control unit and the camera to the host computer. It can be understood that when the programmable logic module receives the serial communication data parsed by the processor interface to serial link module, the interactive data monitored by the programmable logic module can be understood as the interactive data output by the electronic control unit, and the programmable logic module can parse and process the serial communication data, for example, but not limited to parsing one or more registers, camera initialization configuration, frame rate control and exposure adjustment types of configuration data from the serial communication data, and uploading all the parsed configuration data to the host computer, so that the host computer can configure the injection device according to all the configuration data; in addition, when the programmable logic module receives the serial communication data parsed by the serial link to processor module, the programmable logic module can parse and process the serial communication data, for example, but not limited to parsing one or more registers, camera initialization configuration, frame rate control and exposure adjustment types of configuration data, and uploading all the parsed configuration data to the host computer, so that the host computer can configure the injection device according to all the configuration data; in addition, when the programmable logic module receives the serial communication data parsed by the serial link to processor module, the programmable logic module can parse and process the serial communication data, and the programmable logic module can parse and process the serial communication data. When the serial communication data and the processor interface data output by the programmable logic module are processed, the interactive data monitored by the programmable logic module can be understood as the interactive data output by the camera, and the programmable logic module can parse and process the serial communication data and the processor interface data respectively, for example but not limited to parsing out various registers, camera initialization configuration, frame rate control, exposure adjustment and other types of configuration data from the serial communication data, and parsing out resolution, frame rate, embedded row information and other types of configuration data from the processor interface data, and uploading all the parsed configuration data to the host computer, so that the host computer can configure the injection device according to all the configuration data.

[0028] It should be noted that the processor interface data mentioned in the embodiment of the present application can be but is not limited to image data collected by the camera. The storage module connected to the programmable logic module can be used to temporarily store the image data to avoid buffer overflow caused by too large image data.

[0029] Of course, the data monitoring device between the electronic control unit and the camera in the embodiment of the present application, in addition to the above-mentioned processor interface to serial link module, serial link to processor interface module, programmable logic module and storage module, can also include but is not limited to a power management circuit and a crystal oscillator, etc., which will not be elaborated here.

[0030] See next Figure 6 , Figure 6 A schematic structural diagram of a data monitoring device between an electronic control unit and a camera provided in an embodiment of the present application is shown.

[0031] like Figure 6 As shown, the programmable logic module may include a processor interface sending unit, a processor interface receiving unit, a serial communication monitoring unit, an optical port transceiver unit, and an Ethernet transceiver unit, wherein: The processor interface sending unit is respectively connected to the processor interface end of the serial link to processor interface module and the storage module; The processor interface receiving unit is respectively connected to the processor interface end of the processor interface to serial link module and the storage module; The serial communication monitoring unit is respectively connected to the serial communication end of the processor interface to serial link module, the serial communication end of the serial link to processor interface module, and the Ethernet transceiver unit; The optical port transceiver unit is connected to the storage module and the host computer respectively; The Ethernet transceiver unit is also connected to the host computer.

[0032] In addition, the programmable logic module also includes a serial communication unit, which is respectively connected to the processor interface sending unit, the processor interface receiving unit, the serial communication monitoring unit, and the host computer.

[0033] In addition, the storage module includes a first storage unit and a second storage unit, wherein: The first storage unit is connected to the processor interface sending unit and the optical port transceiver unit respectively; The second storage unit is connected to the processor interface sending unit and the processor interface receiving unit respectively.

[0034] It can be understood that the processor interface sending unit can be understood as a mobile industry processor interface sending unit (also represented as MIPI-CSI-RX), which is used to receive the processor interface data parsed by the serial link to processor interface module, and when it is checked that there is no abnormality in the processor interface data (for example, there is no bit error or no incomplete frame, etc.), the processor interface data is parsed according to the preset first configuration information to parse out the configuration data of the resolution, frame rate and embedded line information, and all the configuration data can be sent to the first storage unit and the second storage unit for temporary storage. Here, the preset first configuration information can be but is not limited to the configuration types such as resolution, frame rate and embedded line information output by the host computer, and the preset first configuration information is output to the processor interface sending unit through the serial communication unit; of course, in the embodiment of the present application, the preset first configuration information can also include a preset image format to support different types of vehicle-mounted cameras, such as but not limited to YUV422, YUV420, RAW8, RAW10 or RAW12, etc., and is not limited to this.

[0035] It should be noted that the embedded row information mentioned above may include but is not limited to frame count, sensor temperature, exposure information, and unique identifier. If the injection device does not have embedded row information, the image data rendered by the scene software cannot be injected into the electronic control unit. When the embedded row information is included in all the parsed configuration data, the processor interface sending unit can also send the embedded row information as a separate data stream to the first storage unit and the second storage unit for temporary storage processing to ensure the monitoring effect of the image data.

[0036] The processor interface receiving unit can be understood as a mobile industry processor interface receiving unit (also represented as MIPI-CSI-TX), which is used to receive configuration data including resolution, frame rate, embedded row information and other types sent by the second storage unit (that is, the processor interface data after parsing), and the configuration data including resolution, frame rate, embedded row information and other types are packaged and processed according to the preset first configuration information mentioned above (which may also include the preset image format mentioned above), that is, to achieve the restoration of the processor interface data, and the processor interface data obtained by the restoration process can be sent to the processor interface to serial link module. Here, the preset first configuration information (which may also include the preset image format) can be, but is not limited to, output by the host computer, and the preset first configuration information (which may also include the preset image format) is output to the processor interface receiving unit through the serial communication unit.

[0037] The serial communication monitoring unit can be understood as an I2C monitoring unit, which can be used to receive the serial communication data parsed by the serial link to processor interface module, parse and process the serial communication data according to the preset second configuration information, so as to parse out various types of configuration data such as registers, camera initialization configuration, frame rate control and exposure adjustment, and temporarily store the data through a preset built-in storage (such as but not limited to the block ram built into the FPGA), and then all the configuration data can be sent to the Ethernet transceiver unit to upload all the configuration data to the host computer through the Ethernet transceiver unit. Here, the preset second configuration information can be but not limited to the configuration types such as various registers, camera initialization configuration, frame rate control and exposure adjustment output by the host computer, and the preset second configuration information is output to the serial communication monitoring unit through the serial communication unit; of course, in the embodiment of the present application, the preset second configuration information can also include a preset communication mode to be compatible with the serial communication interaction between different electronic control units and the vehicle-mounted camera, such as but not limited to single-byte read and write, multi-byte read and write, or page write and page read, etc., and is not limited to this.

[0038] In addition, the serial communication monitoring unit can also be used to receive serial communication data parsed by the processor interface to serial link module, and also parse and process the serial communication data according to the preset second configuration information to parse out various types of configuration data such as registers, camera initialization configuration, frame rate control, and exposure adjustment, and temporarily store them through a preset built-in storage (such as but not limited to the block RAM built into the FPGA), and then all the configuration data can be sent to the Ethernet transceiver unit to upload all the configuration data to the host computer through the Ethernet transceiver unit.

[0039] The optical port transceiver unit can be understood as a 100G optical port transceiver unit, which is used to read configuration data such as resolution, frame rate, and embedded line information from the first storage unit, and upload all the configuration data to the host computer through optical fiber. Figure 7 A schematic diagram of a circuit structure of a portion of an optical port transceiver unit provided in an embodiment of the present application is shown, and Figure 8 Another partial circuit structure diagram of an optical port transceiver unit provided in an embodiment of the present application is shown. The overall composition of the optical port transceiver unit and the corresponding pin connection method can refer to the technical means well known in the art, which will not be described in detail here.

[0040] The Ethernet transceiver unit can be understood as a 1000M Ethernet transceiver unit, which is used to receive various registers, camera initialization configuration, frame rate control, exposure adjustment and other types of configuration data output by the serial communication monitoring unit, and send all the configuration data to the host computer through the network cable. Fig. 9 A schematic diagram of a circuit structure of a portion of an Ethernet transceiver unit provided in an embodiment of the present application is shown, and Fig.10 Another part of the circuit structure diagram of an Ethernet transceiver unit provided in an embodiment of the present application is shown. The overall composition of the Ethernet transceiver unit and the corresponding pin connection method can refer to the technical means known in the art, which will not be described in detail here.

[0041] The serial communication unit can be understood as a universal asynchronous receiver-transmitter unit, which can also be expressed as UART. It is connected to the host computer and the processor interface sending unit, the processor interface receiving unit, and the serial communication monitoring unit through a USB to DB9 cable. It is used to send the configuration information sent by the host computer to the processor interface sending unit, the processor interface receiving unit, and the serial communication monitoring unit. It can also be used to receive the serial communication data sent by the serial communication monitoring unit and upload the serial communication data to the host computer.

[0042] Both the first storage unit and the second storage unit can be fourth-generation double data rate memory, namely DDR4, which is used to temporarily store configuration data such as resolution, frame rate and embedded row information output by the processor interface sending unit to avoid buffer overflow due to too large image data.

[0043] It can be seen that when the interaction data between the electronic control unit and the camera is the interaction data output by the electronic control unit, the programmable logic module of the embodiment of the present application can upload the monitored configuration data of various registers, camera initialization configuration, frame rate control, exposure adjustment and other types to the host computer; when the interaction data between the electronic control unit and the camera is the interaction data output by the camera, the programmable logic module of the embodiment of the present application can upload the monitored configuration data of various registers, camera initialization configuration, frame rate control, exposure adjustment and other types, and configuration data of resolution, frame rate, embedded row information and other types to the host computer, and the host computer configures the injection device according to all the configuration data to effectively avoid errors in the electronic control unit and ensure the injection efficiency of the injection device. The low latency of the programmable logic module can also be used to ensure normal data interaction between the electronic control unit and the camera, thereby bringing better data monitoring effects.

[0044] As an option for one or more of the above embodiments, the number of processor interface to serial link modules can be set to three, and the number of serial link to processor interface modules can also be set to three, and then the data monitoring device between the electronic control unit and the camera mentioned in the present application can be used to realize simultaneous monitoring of the interaction data between the three cameras and the electronic control unit, and the low latency of the programmable logic module can also be used to ensure the normal data interaction between each electronic control unit and the camera, so that each electronic control unit will not make misjudgments, thereby bringing better data monitoring effects.

[0045] As an option for one or more of the above embodiments, the processor interface to serial link module and the serial link to processor interface module are connected to the interface daughter card, and the programmable logic module and the storage module are connected to the main board, so that the data monitoring device between the electronic control unit and the camera has better compatibility and applicability, and the interface daughter card and the main board are connected through a connector (which can be but is not limited to an FMS connector) and fixed with copper studs and screws. Not only can the pin speed reach several Gb / s, fully meeting the bandwidth requirements of the processor interface to serial link module or the serial link to processor interface module, but also when the processor interface to serial link module or the serial link to processor interface module needs to be replaced, the interface daughter card can be redesigned, greatly shortening the R&D cycle and hardware costs.

[0046] Also see here Fig.11 FIG. 1 is a schematic diagram showing a circuit structure of a first part of a connector of a daughter card provided in an embodiment of the present application. Fig.12 FIG. 1 is a schematic diagram showing a circuit structure of a second part of a connector of a daughter card provided in an embodiment of the present application. Fig.13 A schematic diagram of the circuit structure of the third part of a connector of a daughter card provided in an embodiment of the present application is shown, and Fig.14 FIG. 1 is a schematic diagram of the circuit structure of the fourth part of a connector of a daughter card provided in an embodiment of the present application. Fig.11 as well as Fig.12 The connector part of the daughter card is shown as the circuit structure, which can be used with Figure 2 as well as Figure 3 The circuit structure of the processor interface to serial link module shown has a pin connection relationship; Fig.13 as well as Fig.14 The connector part of the daughter card is shown as the circuit structure, which can be used with Figure 4 as well as Figure 5 The circuit structure of the serial link to processor interface module shown in the figure has a pin connection relationship, and the Fig.11 , Fig.12 , Fig.13 as well as Fig.14 The overall composition of the connector of the daughter card and the corresponding pin connection method can refer to the technical means known in the art, and will not be described in detail here.

[0047] Also see here Fig.15 FIG. 1 is a schematic diagram showing a circuit structure of a first part of a connector of a mainboard provided in an embodiment of the present application. Fig.16 FIG. 1 is a schematic diagram showing a circuit structure of a second part of a connector of a mainboard provided in an embodiment of the present application. Fig.17 A schematic diagram of the circuit structure of the third part of a connector of a motherboard provided in an embodiment of the present application is shown, and Fig.18 The fourth circuit structure diagram of the connector of a motherboard provided in an embodiment of the present application is shown. Fig.15 as well as Fig.16 The connector part of the main board is shown, which can be connected with Fig.11 as well as Fig.12 The connector portion of the daughter card shown has a pin connection relationship in its circuit structure; Fig.17 as well as Fig.18 The connector part of the main board is shown, which can be connected with Fig.13 as well as Fig.14 The connector part of the daughter card has a pin connection relationship, and the Fig.15 , Fig.16 , Fig.17 as well as Fig.18The overall composition of the connector of the mainboard and the corresponding pin connection method can refer to the technical means known in the art, but will not be described in detail here.

[0048] See next Fig.19 , Fig.19 An overall flow chart of a method for monitoring data between an electronic control unit and a camera provided in an embodiment of the present application is shown.

[0049] like Fig.19 As shown, the data monitoring method between the electronic control unit and the camera can be applied to the data monitoring device between the electronic control unit and the camera mentioned in one or more embodiments above. The data monitoring method between the electronic control unit and the camera may include the following steps: Step 1902: When the serial link end of the serial link to processor interface module receives the interactive data sent by the camera, the serial link to processor interface module parses and processes the interactive data to obtain processor interface data and serial communication data.

[0050] Step 1904: the processor interface end of the serial link to processor interface module sends the processor interface data to the second processor interface end of the programmable logic module, and the serial communication end of the serial link to processor interface module sends the serial communication data to the serial communication end of the programmable logic module and the serial communication end of the processor interface to serial link module respectively.

[0051] Step 1906, the programmable logic module parses and processes the processor interface data according to the preset first configuration information, and the data storage end of the programmable logic module sends the parsed processor interface data to the storage module, and parses and processes the serial communication data according to the preset second configuration information, and the data transceiver end of the programmable logic module sends the parsed serial communication data to the host computer.

[0052] Step 1908: The storage module sends the parsed processor interface data to the programmable logic module, and the data transceiver of the programmable logic module sends the parsed processor interface data to the host computer, and packages the parsed processor interface data.

[0053] Step 1910: The first processor interface end of the programmable logic module sends the packaged processor interface data to the processor interface end of the processor interface to serial link module, and the processor interface to serial link module encapsulates the packaged processor interface data and serial communication data to obtain interactive data.

[0054] Step 1912: The serial link end of the processor interface to serial link module sends the interactive data to the electronic control unit.

[0055] It can be understood that all the above steps can refer to the description of the data monitoring device between the electronic control unit and the camera mentioned in one or more of the above embodiments, and will not be elaborated here.

[0056] Here, when the serial link end of the processor interface to serial link module receives the interactive data sent by the electronic control unit, the processor interface to serial link module can also parse and process the interactive data to obtain serial communication data; then, the serial communication end of the processor interface to serial link module can send the serial communication data to the serial communication end of the serial link to processor interface module and the serial communication end of the programmable logic module respectively, and the serial link end of the serial link to processor interface module sends the serial communication data to the camera; then, the programmable logic module can also parse and process the serial communication data according to the preset second configuration information, and the data transceiver end of the programmable logic module can send the parsed serial communication data to the host computer.

[0057] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A data monitoring device between an electronic control unit and a camera, characterized in that: The device comprises a processor interface to serial link module, a serial link to processor interface module, a programmable logic module and a storage module, wherein: The serial link end of the processor interface to serial link module is connected to the electronic control unit, the processor interface end of the processor interface to serial link module is connected to the first processor interface end of the programmable logic module, and the serial communication end of the processor interface to serial link module is respectively connected to the serial communication end of the programmable logic module and the serial communication end of the serial link to processor interface module; The serial communication end of the serial link to processor interface module is also connected to the serial communication end of the programmable logic module, the processor interface end of the serial link to processor interface module is connected to the second processor interface end of the programmable logic module, and the serial link end of the serial link to processor interface module is connected to a camera; The data storage end of the programmable logic module is connected to the storage module, and the data transceiver end of the programmable logic module is connected to the host computer to upload the interaction data monitored between the electronic control unit and the camera to the host computer.

2. The device according to claim 1, characterized in that The programmable logic module includes a processor interface sending unit, a processor interface receiving unit, a serial communication monitoring unit, an optical port transceiver unit and an Ethernet transceiver unit, wherein: The processor interface sending unit is connected to the processor interface end of the serial link to processor interface module and the storage module respectively; The processor interface receiving unit is connected to the processor interface end of the processor interface to serial link module and the storage module respectively; The serial communication monitoring unit is respectively connected to the serial communication end of the processor interface to serial link module, the serial communication end of the serial link to processor interface module, and the Ethernet transceiver unit; The optical port transceiver unit is connected to the storage module and the host computer respectively; The Ethernet transceiver unit is also connected to the host computer.

3. The device according to claim 2, characterized in that The programmable logic module also includes a serial communication unit, which is respectively connected to the processor interface sending unit, the processor interface receiving unit, the serial communication monitoring unit, and the host computer.

4. The device according to claim 2, characterized in that The storage module includes a first storage unit and a second storage unit, wherein: The first storage unit is connected to the processor interface sending unit and the optical port transceiver unit respectively; The second storage unit is connected to the processor interface sending unit and the processor interface receiving unit respectively.

5. The device according to claim 1, characterized in that The processor interface to serial link module and the serial link to processor interface module are connected to an interface daughter card, the programmable logic module and the storage module are connected to a main board, and the interface daughter card is connected to the main board via a connector.

6. The device according to claim 1, characterized in that The number of the processor interface to serial link modules is three, and the number of the serial link to processor interface modules is three.

7. The device according to claim 1, characterized in that The processor interface to serial link module includes a max9295 serializer chip.

8. The device according to claim 1, characterized in that The serial link to processor interface module includes a max9296 deserializer chip.

9. The device according to claim 1, characterized in that The storage module is a fourth generation double data rate memory.

10. A data monitoring method applied to a data monitoring device between an electronic control unit and a camera as claimed in any one of claims 1 to 9, characterized in that: include: When the serial link end of the serial link to processor interface module receives the interactive data sent by the camera, the serial link to processor interface module parses and processes the interactive data to obtain processor interface data and serial communication data; The processor interface end of the serial link to processor interface module sends the processor interface data to the second processor interface end of the programmable logic module, and the serial communication end of the serial link to processor interface module sends the serial communication data to the serial communication end of the programmable logic module and the serial communication end of the processor interface to serial link module respectively; The programmable logic module parses and processes the processor interface data according to the preset first configuration information, and the data storage end of the programmable logic module sends the parsed processor interface data to the storage module, and parses and processes the serial communication data according to the preset second configuration information, and the data transceiver end of the programmable logic module sends the parsed serial communication data to the host computer; The storage module sends the processor interface data after the analysis to the programmable logic module, and the data transceiver of the programmable logic module sends the processor interface data after the analysis to the host computer, and packages the processor interface data after the analysis; The first processor interface end of the programmable logic module sends the packaged processor interface data to the processor interface end of the processor interface to serial link module, and the processor interface to serial link module encapsulates the packaged processor interface data and the serial communication data to obtain the interactive data; The serial link end of the processor interface to serial link module sends the interactive data to the electronic control unit.

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