Ultrasonic radar data synchronous recharge method and system
By adding timestamps to the ultrasonic radar system and CAN bus and synchronously processing, the problem that ultrasonic radar signals and CAN signals cannot be refilled synchronously, efficient fault analysis and software verification are achieved, and labor costs are reduced.
Patent Information
- Application Number
- CN202510244679.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-03
- Publication Date
- 2025-06-06
AI Technical Summary
In the development of intelligent driving, ultrasonic radar signals and CAN signals cannot be synchronized, resulting in the inability to accurately restore the real test environment, increasing labor costs and reducing work efficiency.
By receiving data in real time on the ultrasonic radar system and the CAN bus, adding timestamps, packing and sending it to the ultrasonic radar data recharge system, time stamp conversion and sorting, synchronous data recharge is achieved.
It realizes the time synchronization between the CAN data of the entire vehicle and the ultrasonic digital signal, and directly refilles the original data without data conversion or secondary software development, which improves the efficiency of fault analysis and software verification speed, and reduces labor costs.
Smart Images
Figure CN120111075A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of vehicle technology, and in particular to a method and system for synchronously recharging ultrasonic radar data. Background Art
[0002] With the development of intelligent driving, the real-time requirements for ultrasonic radar products are becoming increasingly higher. During the data injection process, if the ultrasonic radar signal and the CAN signal cannot be synchronized, the real test environment cannot be accurately restored, which may eventually cause differences in conditions at the time of the problem and deviate from the true cause of the problem.
[0003] The collected data cannot be directly injected back into the software. Usually some data conversion steps or secondary development of the product software are required to adapt it. This process often requires manual processing, which increases labor costs and reduces work efficiency. Summary of the invention
[0004] In order to solve the above problems, the present invention proposes a method and system for synchronously recharging ultrasonic radar data.
[0005] The specific plan is as follows:
[0006] A method for synchronously recharging ultrasonic radar data, comprising the following steps:
[0007] S1: The ultrasonic radar system receives the ultrasonic radar data detected by the ultrasonic radar sensor in real time, and adds the timestamps corresponding to the wave signal and the echo signal thereto; it also receives the CAN data on the vehicle CAN bus in real time, and adds the timestamp indicating the receiving time of the CAN data thereto;
[0008] S2: The ultrasonic radar system regularly packages the received ultrasonic radar data and CAN data and sends them to the ultrasonic radar data feedback system;
[0009] S3: After the ultrasonic radar data feedback system receives the data, it calculates the time taken for each CAN data according to the length of each CAN data in the data and the CAN baud rate, and then converts the timestamp representing the receiving time corresponding to each CAN data into the timestamp representing the sending time according to the time taken; after the conversion, the received ultrasonic radar data and CAN data are sorted in the order of the converted timestamps, and the data are fed back to the ultrasonic radar system one by one in sequence according to the sorting.
[0010] Furthermore, the ultrasonic radar system includes a CAN interrupt processing module; when the ultrasonic radar system receives CAN data, the CAN interrupt processing module generates an interrupt, and in the corresponding interrupt processing function, the received CAN data and the timestamp of the current moment are saved.
[0011] Furthermore, the ultrasonic radar system includes an ultrasonic radar interrupt processing module; when the ultrasonic radar system receives an ultrasonic radar signal, the ultrasonic radar interrupt processing module generates an interrupt, and in the corresponding interrupt processing function, the received ultrasonic radar data and the timestamp of the current moment are saved.
[0012] Furthermore, it also includes a data acquisition system; the ultrasonic radar system regularly packages the received ultrasonic radar data and CAN data and sends them to the CAN bus; after the data acquisition system obtains the packaged data from the CAN bus, it parses the data packet and sends the parsed data to the ultrasonic radar data feedback system according to the set time slice.
[0013] Furthermore, after receiving the data, the ultrasonic radar data re-injection system first caches the data and waits to receive the wave-transmitting command from the ultrasonic radar system, and then performs the operation of step S3 after receiving the wave-transmitting command from the ultrasonic radar system.
[0014] An ultrasonic radar data synchronous recharge system comprises an ultrasonic radar system and an ultrasonic radar data recharge system, wherein the ultrasonic radar data synchronous recharge system implements the steps of the above method in an embodiment of the present invention.
[0015] The present invention adopts the above technical solution to achieve time synchronization between the vehicle CAN data and the ultrasonic digital signal, and can directly re-inject the collected ultrasonic probe digital signal without converting the collected data or performing secondary development of the product software. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 Shown is a flow chart of Embodiment 1 of the present invention. DETAILED DESCRIPTION
[0017] To further illustrate various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, ordinary technicians in this field should be able to understand other possible implementations and advantages of the present invention.
[0018] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.
[0019] Embodiment 1:
[0020] The embodiment of the present invention provides a method for synchronously recharging ultrasonic radar data. Figure 1 As shown, the method comprises the following steps:
[0021] S1: The ultrasonic radar system receives the ultrasonic radar data detected by the ultrasonic radar sensor in real time, and adds the timestamps corresponding to the transmission signal and the echo signal thereto; it also receives the CAN data on the vehicle CAN bus in real time, and adds the timestamp indicating the reception time of the CAN data thereto.
[0022] The ultrasonic radar system includes a CAN interrupt processing module and an ultrasonic radar interrupt processing module. When the ultrasonic radar system receives CAN data, the CAN interrupt processing module generates an interrupt, and in the corresponding interrupt processing function, the received CAN data and the timestamp of the current moment (i.e., the timestamp indicating the receiving time) are saved. When the ultrasonic radar system receives an ultrasonic radar signal, the ultrasonic radar interrupt processing module generates an interrupt, and in the corresponding interrupt processing function, the received ultrasonic radar data and the timestamp of the current moment are saved.
[0023] S2: The ultrasonic radar system periodically packages the received ultrasonic radar data and CAN data and sends them to the ultrasonic radar data feedback system.
[0024] This embodiment also includes a data acquisition system. Specifically, the ultrasonic radar system regularly packages the received ultrasonic radar data and CAN data and sends them to the CAN bus. After the data acquisition system obtains the packaged data from the CAN bus, it parses the data packet and sends the parsed data to the ultrasonic radar data re-injection system according to the set time slice. The user can set the above time slice according to the needs, or not set the time slice, and all parsed data will be sent to the ultrasonic radar data re-injection system.
[0025] S3: After the ultrasonic radar data feedback system receives the data, it calculates the time consumption (T) of each CAN data according to the length of each CAN data in the data and the CAN baud rate. can ), and then the timestamp (T 接收 ) is converted to a timestamp indicating the sending time (T 接收 -T can ); after conversion, the received ultrasonic radar data and CAN data are sorted in the order of the converted timestamps, and the data are fed back to the ultrasonic radar system one by one in sequence according to the sorting.
[0026] In this embodiment, in order to facilitate sorting, the timestamp of each data is converted into a relative time relative to the ultrasonic radar's wave signal, and then the data is sorted according to the relative time. This can better facilitate users to obtain the CAN data matched each time the ultrasonic radar detects an obstacle. The fed-back data can be used to verify the functional implementation of the post-processing software and analyze abnormal data for fault reproduction.
[0027] The embodiments of the present invention have the following beneficial effects:
[0028] (1) There is no need to convert the collected data or perform secondary development and adaptation on the product software. Directly re-injecting the collected original data can make occasional failures easier to reproduce, thereby efficiently analyzing the true cause of the problem. After analyzing the cause of the failure, when the software module needs to be verified after modification, only the data needs to be re-injected for in-loop simulation to verify the correctness of the software module modification. The software qualification is efficiently verified, while further reducing labor costs and improving the development efficiency of engineers and the testing efficiency of verifiers.
[0029] (2) Keep each frame of CAN data and ultrasonic digital signal synchronized to accurately restore the real test environment.
[0030] (3) The collected data can be reused for re-injection analysis and processing, and imported into the functional test module to promptly discover and resolve software problems, thereby improving the stability and reliability of the software.
[0031] Embodiment 2:
[0032] The present invention also provides an ultrasonic radar data synchronous recharge system, including an ultrasonic radar system and an ultrasonic radar data recharge system, wherein the ultrasonic radar data synchronous recharge system implements the steps in the above method embodiment of embodiment 1 of the present invention.
[0033] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.
Claims
1. A method for synchronously recharging ultrasonic radar data, characterized in that: The following steps are involved: S1: The ultrasonic radar system receives the ultrasonic radar data detected by the ultrasonic radar sensor in real time, and adds the timestamps corresponding to the wave signal and the echo signal thereto; it also receives the CAN data on the vehicle CAN bus in real time, and adds the timestamp indicating the receiving time of the CAN data thereto; S2: The ultrasonic radar system regularly packages the received ultrasonic radar data and CAN data and sends them to the ultrasonic radar data feedback system; S3: After the ultrasonic radar data feedback system receives the data, it calculates the time taken for each CAN data according to the length of each CAN data in the data and the CAN baud rate, and then converts the timestamp representing the receiving time corresponding to each CAN data into the timestamp representing the sending time according to the time taken; after the conversion, the received ultrasonic radar data and CAN data are sorted in the order of the converted timestamps, and the data are fed back to the ultrasonic radar system one by one in sequence according to the sorting.
2. The ultrasonic radar data synchronous recharging method according to claim 1, characterized in that: The ultrasonic radar system includes a CAN interrupt processing module; when the ultrasonic radar system receives CAN data, the CAN interrupt processing module generates an interrupt, and in the corresponding interrupt processing function, the received CAN data and the timestamp of the current moment are saved.
3. The ultrasonic radar data synchronous recharging method according to claim 1, characterized in that: The ultrasonic radar system includes an ultrasonic radar interrupt processing module; when the ultrasonic radar system receives an ultrasonic radar signal, the ultrasonic radar interrupt processing module generates an interrupt, and in the corresponding interrupt processing function, the received ultrasonic radar data and the timestamp of the current moment are saved.
4. The ultrasonic radar data synchronous recharging method according to claim 1, characterized in that: It also includes a data acquisition system; the ultrasonic radar system regularly packages the received ultrasonic radar data and CAN data and sends them to the CAN bus; after the data acquisition system obtains the packaged data from the CAN bus, it parses the data packet and sends the parsed data to the ultrasonic radar data feedback system according to the set time slice.
5. The ultrasonic radar data synchronous recharging method according to claim 1, characterized in that: After receiving the data, the ultrasonic radar data recharging system first caches the data and waits to receive the wave transmission command from the ultrasonic radar system, and then performs the operation of step S3 after receiving the wave transmission command from the ultrasonic radar system.
6. An ultrasonic radar data synchronous recharging system, characterized in that: It comprises an ultrasonic radar system and an ultrasonic radar data recharging system, and the ultrasonic radar data synchronous recharging system implements the steps of any method as claimed in claims 1 to 5.