Vehicle-mounted terminal for recording automatic driving data of commercial vehicle

Abstract

The invention relates to an automatic driving data recording vehicle-mounted terminal for a commercial vehicle, which not only meets the requirements of GBT19056-2021'automobile traveling data recorder ', but also realizes the function of an automatic driving data recording system. The microprocessor (1) is used for cooperatively calling all functional modules and interfaces to acquire vehicle data and storing the vehicle data to the nonvolatile data memory (2); positioning data acquired by a satellite positioning module (3), vehicle data acquired by a vehicle state information acquisition module (4) and necessary data acquired by other functional modules (9) are combined and reported to a cloud end through a wireless communication module (5) according to a wireless network communication protocol, and timestamps in all communication processes are provided by a real-time clock (6); functional interaction, parameter configuration, data selection and the like of the vehicle-mounted terminal are realized through the human-computer interaction interface (8), an external memory or a data analyzer is accessed to the data export interface (10) for data export, and the data of the memory is exported or analyzed.

Description

Technical Field

[0001] The present invention relates to a vehicle-mounted terminal, and in particular to a vehicle-mounted terminal with the function of a commercial vehicle automatic driving data recording system. Background Art

[0002] The present invention is further innovated based on patents CN219287730U "A special-shaped dual-card single-standby vehicle-mounted terminal" and CN117750334A "A Modbus protocol vehicle-mounted terminal".

[0003] The vehicle-mounted terminal is a terminal device installed on the vehicle in the satellite positioning system of road transport vehicles, which includes: a microprocessor, a data storage device, a satellite positioning module, a vehicle status information acquisition module, a wireless communication module, a real-time clock, a data acquisition interface, etc. It can automatically record relevant data during the operation of the vehicle and save it in the form of an electronic file. The present invention refers to the vehicle-mounted terminal that meets the requirements of GB\T 19056-2021 "Automobile Driving Recorder" as the new national standard vehicle-mounted terminal.

[0004] The autonomous driving data recording system is a device or system composed of electronic modules similar to vehicle terminals. It is generally referred to as DSSAD (Data Storage System for Automated Driving) in the industry. It is mainly used to monitor, collect and record various data generated by autonomous driving vehicles during operation. These data include but are not limited to basic information about the vehicle and system, vehicle status and dynamic information, autonomous driving system operation information, driving environment information, driver and passenger operation and status information, fault information, etc. The autonomous driving data recording system is of great significance to the safety of autonomous driving vehicles. It can provide detailed accident data after an accident occurs, help investigators understand the cause of the accident, determine the responsible party, and optimize the design and algorithm of the autonomous driving system. In addition, these data can also be used for the research and development and testing of autonomous driving technology to improve the performance and reliability of the autonomous driving system. DSSAD is a necessary condition for the commercialization of L3+ autonomous driving. At present, the formulation and implementation of relevant regulations are also being actively promoted at home and abroad. DSSAD is currently developing towards the trend of mandatory vehicle regulations.

[0005] As a mandatory regulation for commercial vehicles, the new national standard vehicle terminal has been used in batches for many years. In GB\T19056-2021 "Automobile Driving Recorder", it is stipulated that it has non-volatile storage capacity and powerful video recording and vehicle operation data recording capabilities, which is very consistent with the data recording system (DSSAD) function required in the commercialization of autonomous driving. In fact, this is also the case in the hardware technology route. Therefore, from the perspective of vehicle component integration and cost control of vehicle components, how to use existing vehicle components to realize the function of the autonomous driving data recording system, and use the functional advantages of existing vehicle components to achieve more effective autonomous driving data recording capabilities, has become a must-have topic in the process of technology research and development and product design. Summary of the invention

[0006] The purpose of the present invention is to design a vehicle-mounted terminal, which not only meets the requirements of GB\T 19056-2021 "Automobile Driving Recorder", but also can realize the function of autonomous driving data recording system, and based on the vehicle-mounted terminal having intelligent networking properties such as networking and positioning, it can also realize remote data management and data backup functions on the basis of autonomous driving data storage.

[0007] The present invention is achieved by the following technical solutions:

[0008] A commercial vehicle autonomous driving data recording vehicle terminal, whose hardware configuration and software functions generally comply with the provisions of GB / T19056-2021 "Automobile Driving Recorder", includes: a microprocessor (1), a non-volatile data storage (2), a satellite positioning module (3), a vehicle status information acquisition module (4), a wireless communication module (5), a real-time clock (6), a data acquisition interface (7), including CAN, Ethernet, IO, serial port, etc., a human-computer interaction interface (8), including a display screen, buttons, MIC, speakers, etc., and other functional modules (9) including power management, Bluetooth module, video acquisition module and all necessary auxiliary modules including accelerometer and data export interface (10).

[0009] The microprocessor (1) is used to coordinately call all functional modules and interfaces to collect vehicle data and store it in a non-volatile data memory (2). At the same time, the positioning data obtained by the satellite positioning module (3), the vehicle data collected by the vehicle status information collection module (4) and the necessary data collected by other functional modules (9) are reported to the cloud through the wireless communication module (5) according to the wireless network communication protocol. The timestamps in all communication processes are provided by the real-time clock (6). The vehicle terminal function interaction, parameter configuration, data selection, etc. are realized through the human-computer interaction interface (8). The external memory or data analyzer is connected to the data export interface (10) to solve the data export problem, and the memory data is exported or analyzed.

[0010] Furthermore, the microprocessor is a mainstream ARM architecture MCU processing platform, with a main frequency of not less than 120MHz, a flash memory capacity of not less than 3000KB, and multiple interface capabilities such as CAN, USART / Irda / LIN / ISO7816, SPI, I2C, OTG USB2.0, 10 / 100M Ethernet MAC, etc.

[0011] Furthermore, the satellite positioning module (3) supports BDS / GPS / GLONASS multi-system joint positioning and single-system independent positioning, and has active antenna detection and protection functions.

[0012] Furthermore, the vehicle status information acquisition module (4) has the capabilities of CAN bus, IO, AD, pulse signal, switch quantity, serial communication, and Ethernet data acquisition.

[0013] Furthermore, the wireless communication module (5) is an LTE Cat 4 wireless communication module specially designed for M2M and IoT applications, supporting full network access and DFOTA functions.

[0014] Furthermore, the data acquisition interface (7) includes no less than 3 CAN buses, 1 10 / 100M Ethernet, no less than 10 switch quantities, 3 AD quantities, 1 RS232 and 2 RS485 communication interfaces.

[0015] Furthermore, a data extraction port recorded by a commercial vehicle autonomous driving data recording vehicle terminal should comply with the port definition in Appendix A of ISO 13400-4:2016 (see Table 1).

[0016] Table 1 Appendix A Terminal Arrangement

[0017] Terminal number use Terminal number use 1 Custom 9 Custom 2 Custom 10 Custom 3 Ethernet Rx(+) 11 Ethernet Rx(-) 4 Power "ground" 12 Ethernet Tx(+) 5 Signal "ground" 13 Ethernet Tx(-) 6 CAN_H 14 CAN_L 7 Custom 15 Custom 8 Activation line 16 Power supply "positive"

[0018] Furthermore, the continuous data of autonomous driving data recorded in non-volatile storage should not be less than 8 hours, and the number of timestamp events stored (events that only record relevant data at the starting time of the event when the trigger condition is met) should not be less than 2500 times.

[0019] Furthermore, when the non-volatile storage area is full, the following storage coverage requirements should be met:

[0020] a) Real-time continuously recorded data and time-stamped event data should not overwrite each other;

[0021] b) Other situations should be covered in chronological order.

[0022] Furthermore, during the activation of the autonomous driving system, if a collision event (a collision or other physical event that reaches or exceeds the trigger threshold, or any other event that causes the deployment of the irreversible restraint device, whichever occurs first) causes the autonomous driving data recording vehicle terminal to be unable to be powered normally, the autonomous driving data recording vehicle terminal should at least record data from the start point of event recording to the start point of the event.

[0023] Furthermore, the embedded software runs in the microprocessor (1), and the software protocol stack includes at least the vehicle communication protocols: SAE J1939, ISO 14229, ISO15031, and IS015765.

[0024] Furthermore, reading Ethernet communication parameters based on DoCAN should meet the following requirements:

[0025] a) Vehicle Ethernet communication parameters should be able to be read through the OBD port defined in Table 1 or Table 2;

[0026] b) The network layer and transport layer should meet the requirements of IS015765-2:2016;

[0027] c) The session layer should meet the requirements of ISO 14229-2:2020;

[0028] d) The application layer shall meet the requirements of ISO 14229-1:2020 and ISO 14229-3:2020;

[0029] e) The request and reply addresses shall be as specified in Table 2.

[0030] Table 2 Request and reply address definitions

[0031]

[0032] Furthermore, the Ethernet communication service adopts the 2216 defined in ISO 14229-1:2020 to read the data service through the identifier, and the identifier is defined as FA162016. The specific definition should comply with the provisions of Appendix B, where the network IP address omits the "." character.

[0033] Furthermore, based on DoIP reading data, the following requirements should be met:

[0034] a) The network communication parameters of the controller in the vehicle that stores the autonomous driving data and records the vehicle terminal data should be read according to the definition in the previous step;

[0035] b) The DoIP application requirements in ISO 13400-2:2019 should be met, and the data extraction tool and the vehicle network connection should be identified and completed through the vehicle VIN code.

[0036] Furthermore, the IP address uses IPv4 or IPv6 and should meet the requirements of Chapter 12 of ISO 13400-2:2019.

[0037] Furthermore, the transport layer should comply with the requirements of Chapter 11 of ISO 13400-2:2019, and the adopted port number should be "13400".

[0038] Furthermore, the application layer message should meet the DoIP message definition in 9.2 to 9.5 of ISO 13400-2:2019.

[0039] Furthermore, when DoIP is used to read the data recorded by the autonomous driving data recording vehicle terminal, all instructions should use physical addressing. According to ISO 13400-2:2019, the logical address of the extraction tool and the ECU that implements the autonomous driving data recording vehicle terminal function should be set, and the address should comply with the definition in Table 3.

[0040] Table 3 Definition of logical addresses of data extraction tools and ECUs

[0041]

[0042] Furthermore, the UDS diagnostic service used to read data based on Ethernet (ETH) should meet the following requirements:

[0043] a) It should comply with the UDS on IP requirements defined in ISO 14229-52013;

[0044] b) should use 3816 "File Transfer Request Service" as specified in 15.6 of ISO 14229-12020,

[0045] 3616 "Data Transfer Service" as specified in 15.4, and 3716 "Request to Exit Transfer Service" as specified in 15.5

[0046] Used for reading data files;

[0047] c) It shall comply with 3116 "Routine Control Services" in 14.2 of ISO 14229-12020 for obtaining the cyclic redundancy check (CRC) value of the data file.

[0048] Furthermore, the autonomous driving data recording vehicle terminal should ensure the integrity and authenticity of the recorded data to prevent data tampering, malicious deletion and forgery. When the data integrity and authenticity are destroyed, it should be able to be identified and logged through technical means.

[0049] Compared with the conventional vehicle-mounted terminal and the conventional autonomous driving data recording system (DSSAD), the autonomous driving data recording vehicle-mounted terminal of the present invention has the following advantages:

[0050] a) Effectively utilize existing vehicle-side component resources to achieve system integration at a relatively low cost, avoid wasting component resources, avoid increasing the complexity of electronic and electrical architecture design, and avoid increasing the number of component failure points;

[0051] b) Comprehensiveness of data recording is improved. Traditional on-board terminals mainly record vehicle driving status, location, video and other information, while DSSAD focuses on recording data on the operation of the autonomous driving system (such as sensor data, decision logic, vehicle control instructions, etc.). The combination of the two can cover all-round data from vehicle status to the operation of the autonomous driving system. This comprehensive data recording helps to deeply understand the operating status of the vehicle and the performance of the autonomous driving system.

[0052] c) Enhanced data accuracy and reliability: Through specialized hardware and software design, the vehicle terminal can ensure data accuracy and reliability, which is crucial for subsequent data analysis and troubleshooting.

[0053] d) Based on the convenient human-computer interaction interface (display, buttons) of the vehicle terminal and the universal high-speed data export interface, compared with the traditional DSSAD, the recorded autonomous driving data can be queried and exported more conveniently, which helps to quickly and accurately trace the cause of the accident and improve the efficiency and accuracy of accident handling;

[0054] e) Based on the networking properties of the vehicle-mounted terminal such as networking and positioning, compared with the traditional DSSAD, local key data can be uploaded to the cloud, thereby realizing remote data monitoring and management and dual redundant backup, improving the convenience of data record retrieval and data security. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a structural schematic diagram of the present invention. DETAILED DESCRIPTION

[0056] like Figure 1As shown, a commercial vehicle autonomous driving data recording vehicle terminal, whose hardware configuration and software functions generally comply with the provisions of GB / T19056-2021 "Automobile Driving Recorder", includes: a microprocessor (1), a non-volatile data storage (2), a satellite positioning module (3), a vehicle status information acquisition module (4), a wireless communication module (5), a real-time clock (6), a data acquisition interface (7), including CAN, Ethernet, IO, serial port, etc., a human-computer interaction interface (8), including a display screen, buttons, MIC, speakers, etc., other functional modules (9) including power management, Bluetooth module, video acquisition module and all necessary auxiliary modules including accelerometer, and a data export interface (10).

[0057] The microprocessor (1) is used to coordinately call all functional modules and interfaces to collect vehicle data and store it in a non-volatile data memory (2). At the same time, the positioning data obtained by the satellite positioning module (3), the vehicle data collected by the vehicle status information collection module (4) and the necessary data collected by other functional modules (9) are reported to the cloud through the wireless communication module (5) according to the wireless network communication protocol. The timestamps in all communication processes are provided by the real-time clock (6). The vehicle terminal function interaction, parameter configuration, data selection, etc. are realized through the human-computer interaction interface (8). The external memory or data analyzer is connected (10) to solve the data export problem, and the memory data can be exported or analyzed.

[0058] In the present invention, the microprocessor (1) selects a mainstream ARM architecture MCU processing platform, the main frequency is not less than 120MHz, the flash memory capacity is not less than 3000KB, and it has multiple interface capabilities such as CAN, USART / Irda / LIN / ISO7816, SPI, I2C, OTG USB2.0, 10 / 100M Ethernet MAC, etc.; the capacity of the non-volatile data storage (2) is not less than 32G, the continuous data of the autonomous driving data recorded in the non-volatile storage should not be less than 8 hours, and the number of timestamp events stored (when the trigger condition is met, only the event of the relevant data at the starting time of the event is recorded) should not be less than 2500 times; the satellite positioning module (3) supports BDS / GPS / GLONASS multi-system joint positioning and single-system independent positioning, and has active antenna detection and protection functions; the vehicle status information acquisition module (4) should have data acquisition capabilities such as CAN bus, IO, AD, pulse signal, switch quantity, serial communication, Ethernet, etc.; the wireless communication module (5) should select LTE Cat. 1 designed specifically for M2M and IoT applications. 4. Wireless communication module, supporting full network access and DFOTA function; the data acquisition interface (7) should include no less than 3 CAN buses, 1 10 / 100M Ethernet, no less than 10 switch quantities, 3 AD quantities, 1 RS232 and 2 RS485 communication interfaces; the serial communication unit data rate is not less than 2.5Mb / s, and the working power supply voltage is 5V; other functional modules (9) include all necessary auxiliary modules including power management, Bluetooth module, video acquisition module and accelerometer; the data export interface (10) should include at least one USB-A interface with a rate of 3.0.

[0059] The embedded software runs in the microprocessor (1), and the software protocol stack at least includes the vehicle communication protocols: SAEJ1939, ISO 14229, ISO15031, and IS015765.

[0060] Compared with the conventional vehicle-mounted terminal and the conventional autonomous driving data recording system (DSSAD), the autonomous driving data recording vehicle-mounted terminal of the present invention has the following advantages:

[0061] a) Effectively utilize existing vehicle-side component resources to achieve system integration at a relatively low cost, avoid wasting component resources, avoid increasing the complexity of electronic and electrical architecture design, and avoid increasing the number of component failure points;

[0062] b) Comprehensiveness of data recording is improved. Traditional on-board terminals mainly record vehicle driving status, location, video and other information, while DSSAD focuses on recording data on the operation of the autonomous driving system (such as sensor data, decision logic, vehicle control instructions, etc.). The combination of the two can cover all-round data from vehicle status to the operation of the autonomous driving system. This comprehensive data recording helps to deeply understand the operating status of the vehicle and the performance of the autonomous driving system.

[0063] c) Enhanced data accuracy and reliability: Through specialized hardware and software design, the vehicle terminal can ensure data accuracy and reliability, which is crucial for subsequent data analysis and troubleshooting.

[0064] d) Based on the convenient human-computer interaction interface (display, buttons) of the vehicle terminal and the universal high-speed data export interface, compared with the traditional DSSAD, the recorded autonomous driving data can be queried and exported more conveniently, which helps to quickly and accurately trace the cause of the accident and improve the efficiency and accuracy of accident handling;

[0065] e) Based on the networking properties of the vehicle-mounted terminal such as networking and positioning, compared with the traditional DSSAD, it can upload local key data to the cloud, thereby realizing remote data monitoring management and dual redundant backup, improving the convenience of data record retrieval and data security;

Claims

1. A commercial vehicle automatic driving data recording vehicle terminal, characterized by: Its hardware configuration and software functions generally comply with the provisions of GB / T19056-2021 "Automobile Driving Recorder", including: a microprocessor (1), a non-volatile data storage (2), a satellite positioning module (3), a vehicle status information acquisition module (4), a wireless communication module (5), a real-time clock (6), a data acquisition interface including CAN, Ethernet, IO, and serial port (7), a human-computer interaction interface including a display screen, a button, a MIC, and a speaker, other functional modules including power management, a Bluetooth module, a video acquisition module, and all necessary auxiliary modules including an accelerometer (9), and a data export interface (10); The microprocessor (1) is used to coordinately call all functional modules and interfaces to collect vehicle data and store it in a non-volatile data memory (2). At the same time, the positioning data obtained by the satellite positioning module (3), the vehicle data collected by the vehicle status information collection module (4) and the necessary data collected by other functional modules (9) are reported to the cloud through the wireless communication module (5) according to the wireless network communication protocol. The timestamps in all communication processes are provided by the real-time clock (6). The vehicle terminal function interaction, parameter configuration and data selection are realized through the human-computer interaction interface (8). The external memory or data analyzer is connected to the data export interface (10) to solve the data export problem, and the memory data is exported or analyzed.

2. The commercial vehicle automatic driving data recording vehicle terminal according to claim 1, characterized in that: The microprocessor (1) is a mainstream ARM architecture MCU processing platform, with a main frequency of not less than 120MHz, a flash memory capacity of not less than 3000KB, and has multiple interface capabilities such as CAN, USART / Irda / LIN / ISO7816, SPI, I2C, OTG USB2.0, and 10 / 100M Ethernet MAC; the satellite positioning module (3) supports BDS / GPS / GLONASS multi-system joint positioning and single-system independent positioning, and has active antenna detection and protection functions; the vehicle status information acquisition module (4) has CAN bus, IO, AD, pulse signal, switch quantity, serial communication, and Ethernet data acquisition capabilities; the wireless communication module (5) is an LTE Cat 4 wireless communication module designed specifically for M2M and IoT applications, supporting full network access and DFOTA functions; the data acquisition interface (7) includes not less than 3 CAN bus lines, 1 10 / 100M Ethernet, not less than 10 switch quantities, 3 AD quantities, 1 RS232, and 2 RS485 communication interfaces.

3. The commercial vehicle automatic driving data recording vehicle terminal according to claim 1, characterized in that: The recorded data extraction port should comply with the port definition in Appendix A, Table 1 of ISO13400-4:2016. Table 1 Appendix A Terminal Arrangement 4. The commercial vehicle automatic driving data recording vehicle terminal according to claim 1, characterized in that: The continuous data of autonomous driving data recorded in non-volatile storage should not be less than 8 hours, and the number of timestamp events stored should not be less than 2500 times; when the non-volatile storage area is full, the following storage coverage requirements should be met: a) Real-time continuously recorded data and time-stamped event data should not overwrite each other; b) Other situations should be covered in chronological order.

5. The commercial vehicle automatic driving data recording vehicle terminal according to claim 1, characterized in that: During the activation of the autonomous driving system, if a collision event causes the autonomous driving data recording vehicle terminal to be unable to be powered normally, the autonomous driving data recording vehicle terminal should at least record the data from the event recording start point to the event start point; The embedded software runs in a microprocessor (1), and the software protocol stack at least includes the vehicle communication protocols: SAE J1939, ISO 14229, ISO15031, and IS015765.

6. The commercial vehicle automatic driving data recording vehicle terminal according to claim 1, characterized in that: Reading Ethernet communication parameters based on DoCAN should meet the following requirements: a) Vehicle Ethernet communication parameters should be able to be read through the OBD port defined in Table 1 or Table 2; b) The network layer and transport layer should meet the requirements of IS0 15765-2:2016; c) The session layer should meet the requirements of ISO 14229-2:2020; d) The application layer shall meet the requirements of ISO 14229-1:2020 and ISO 14229-3:2020; e) The request and reply addresses shall be as specified in Table 2. Table 2 Request and reply address definitions 7. The commercial vehicle automatic driving data recording vehicle terminal according to claim 1, characterized in that: The Ethernet communication service adopts the 2216 defined in ISO 14229-1:2020 to read the data service through the identifier. The identifier is defined as FA162016. The specific definition shall comply with the provisions of Appendix B, where the network IP address omits the ". " character.

8. The commercial vehicle automatic driving data recording vehicle terminal according to claim 1, characterized in that: To read data based on DoIP, the following requirements should be met: a) The network communication parameters of the controller in the vehicle that stores the autonomous driving data and records the vehicle terminal data should be read according to the definition in the previous step; b) The DoIP application requirements in ISO 13400-2:2019 should be met, and the data extraction tool and the vehicle network connection should be identified and completed through the vehicle VIN code.

9. The commercial vehicle automatic driving data recording vehicle terminal according to claim 1, characterized in that: The IP address uses IPv4 or IPv6 and should meet the requirements of Chapter 12 of ISO 13400-2:2019; the transport layer should comply with the requirements of Chapter 11 of ISO 13400-2:2019, and the port number should be "13400"; the application layer message should meet the DoIP message definition in 9.2 to 9.5 of ISO 13400-2:2019; when using DoIP to read the data recorded by the autonomous driving data recording vehicle terminal, all instructions should use physical addressing. According to ISO 13400-2:2019, the logical address of the extraction tool and the ECU that implements the autonomous driving data recording vehicle terminal function should be set, and the address should comply with the definition in Table 3. Table 3 Definition of logical addresses of data extraction tools and ECUs 10. The commercial vehicle automatic driving data recording vehicle terminal according to claim 1, characterized in that: The UDS diagnostic service used to read data based on Ethernet (ETH) should meet the following requirements: a) It should comply with the UDS on IP requirements defined in ISO 14229-52013; b) 3816 "File Transfer Request Service" specified in 15.6, 3616 "Data Transfer Service" specified in 15.4, and 3716 "Request Exit Transfer Service" specified in 15.5 of ISO 14229-12020 should be used. Used for reading data files; c) It shall comply with 3116 "Routine Control Services" in 14.2 of ISO 14229-12020 for obtaining the cyclic redundancy check (CRC) value of the data file.

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