Radar module, controller, data transmission system, method, product and vehicle

Abstract

The invention provides a radar module, a controller, a data transmission system, a method, a product and a vehicle, relates to the field of data communication, and aims to simplify a transmission link of a radar, reduce the design cost, reduce the area of a printed circuit board (PCB) and save the hardware cost of the data transmission system. The data transmission system comprises a radar module and a controller, the serializer in the radar module is connected with the deserializer in the controller; the serializer is used for encoding radar data to generate encoded data and sending the encoded data to the deserializer; the deserializer is used for receiving the coded data and decoding the coded data to generate decoded data.

Description

Technical Field

[0001] The present invention relates to the field of data communications, and in particular to a radar module, a controller, a data transmission system, a method, a product and a vehicle. Background Art

[0002] Currently, radar data transmission is achieved through Ethernet. The data collected by the radar is output as a point cloud by the main control unit. It is then encoded by the Ethernet physical layer (PHY) chip and transmitted to the controller for subsequent processing. This transmission architecture requires multiple processing and encoding and decoding of radar data, and involves multiple chips and data transmission links. This leads to disadvantages such as complex data transmission links, low transmission efficiency, and high hardware costs. Summary of the Invention

[0003] The present invention provides a radar module, a controller, a data transmission system, a method, a product and a vehicle to overcome the above-mentioned problems or at least partially solve the above-mentioned problems.

[0004] In a first aspect, the present invention provides a radar module, comprising:

[0005] A serializer is used to encode the radar data to generate encoded data and send the encoded data to a deserializer in the controller.

[0006] In a second aspect, the present invention provides a controller, which includes a deserializer, which is connected to a serializer in a radar module, and the deserializer is used to receive encoded data sent by the serializer and decode the encoded data to generate decoded data.

[0007] In a third aspect, the present invention provides a data transmission system, comprising the radar module according to the first aspect of the present invention and the controller according to the second aspect of the present invention, wherein the serializer in the radar module is connected to the deserializer in the controller;

[0008] The serializer is used to encode the radar data to generate encoded data, and send the encoded data to the deserializer;

[0009] The deserializer is configured to receive the encoded data and decode the encoded data to generate decoded data.

[0010] In a fourth aspect, the present invention provides a data transmission method, applied to the data transmission system according to the third aspect of the present invention, the method comprising:

[0011] The serializer receives radar data, encodes the radar data based on a high-speed serial transmission protocol to generate encoded data, and sends the encoded data to the deserializer.

[0012] In a fifth aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the data transmission method described in the fourth aspect of the present invention.

[0013] In a sixth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the data transmission method described in the fourth aspect of the present invention are implemented.

[0014] In a seventh aspect, the present invention provides a vehicle, comprising at least: the data transmission system described in the third aspect of the present invention.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] The radar module of the present invention includes a serializer, which is used to encode radar data to generate encoded data and send the encoded data to a deserializer in a controller. In this way, the present invention sets a serializer in the radar module, encodes the radar data through the serializer and sends it to the controller, eliminating the Ethernet PHY chip in the related art radar, and eliminating the need for multiple processing and encoding of the radar data, thereby simplifying the transmission link, improving transmission efficiency, reducing design costs, and reducing PCB area, thereby saving the hardware cost of the data transmission link.

[0017] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for describing the embodiments.

[0019] Figure 1 A hardware architecture block diagram of a vehicle-mounted lidar module provided in the related art;

[0020] Figure 2 This is a structural block diagram of a radar module provided in the first aspect of an embodiment of the present invention;

[0021] Figure 3 This is a hardware architecture block diagram of a vehicle-mounted laser radar module according to one embodiment of the present invention;

[0022] Figure 4is a structural block diagram of a controller provided by the second aspect of an embodiment of the present invention;

[0023] Figure 5 is a structural block diagram of a data transmission system provided by the third aspect of an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of an application scenario of a data transmission system according to an embodiment of the present invention;

[0025] Figure 7 This is a data flow diagram of a vehicle-mounted laser radar data transmission method according to an embodiment of the present invention;

[0026] Figure 8 This is a flow chart of a data transmission method provided by one embodiment of the present invention;

[0027] Figure 9 FIG. 1 is a schematic diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention may be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0029] Taking the automotive lidar as an example, the following describes the related technology of radar data transmission via Ethernet:

[0030] Current on-board lidar is widely used in intelligent driving, playing a key role in environmental perception and obstacle detection, positioning and navigation, lane recognition and keeping, automatic parking and obstacle avoidance. It is also highly adaptable to severe weather and has all-weather perception capabilities, which is crucial for improving the vehicle's environmental perception capabilities and driving safety.

[0031] With the rapid development of new energy vehicles and intelligent driving technologies, the demand for high-performance, low-cost automotive LiDAR is growing. As mentioned earlier, current LiDAR solutions are complex in design, have limited transmission bandwidth, and lack transmission stability, which seriously hinders the technological iteration of intelligent driving systems.

[0032] like Figure 1 As shown, Figure 1 This is a hardware architecture block diagram of a vehicle-mounted lidar module provided in the related art. Figure 1The effective components of the vehicle-mounted LiDAR module include: a transmitting module, a receiving module, a main control unit, and a power supply module. Laser light is emitted from the transmitting module through the transmitting optical system. After being reflected by the object in front of it, it enters the receiving module through the receiving optical system. The receiving module is mainly composed of a photodetector and an analog front end. The photodetector converts the received optical signal into an electrical signal, and the analog front end further converts the electrical signal from analog to digital. The digital signal is then sent to the field-programmable gate array (FPGA) / system-on-chip (SOC) in the main control unit for data preprocessing. In addition to the FPGA / SOC, the main control unit also includes a microcontroller unit (MCU) and an Ethernet PHY chip. The MCU is mainly responsible for timing and functional control of the transmitting and receiving modules. The Ethernet PHY chip is responsible for transmitting the LiDAR data preprocessed by the LiDAR FPGA / SOC to the backend (such as the vehicle computing platform SOC of the intelligent driving domain controller) using twisted pair cable as the transmission medium. It can also receive control signals for the LiDAR sent by the vehicle computing platform SOC. After converting analog signals to digital signals, the receiving module of an automotive LiDAR module typically transmits the data using the Camera Serial Interface (CSI) data protocol within the Mobile Industry Processor Interface (MIPI). Due to requirements for data preprocessing and factory calibration, current automotive LiDAR modules cannot send MIPI CSI data directly to the intelligent driving domain controller. Instead, the data must be preprocessed by the FPGA / SOC within the module's main control unit before being transmitted via Ethernet.

[0033] However, this transmission architecture in related technologies requires multiple processing and encoding / decoding of radar data on the radar side, involving multiple chips and multiple data transmission links. This increases the difficulty of PCB design and the risk of data packet loss. It also suffers from complex data transmission links, low transmission efficiency, and high hardware costs. Furthermore, the current rate of increase in Ethernet chip transmission bandwidth is gradually lagging behind the growth in LiDAR bandwidth demand, and high-speed Ethernet chips increase hardware design costs.

[0034] Therefore, in order to at least partially solve one or more of the above-mentioned problems and other potential problems, an embodiment of the present invention proposes a radar module, including a serializer, which is used to encode radar data to generate encoded data and send the encoded data to a deserializer in a controller. In this way, an embodiment of the present invention sets a serializer in the radar module, and encodes the radar data through the serializer and sends it to the controller, eliminating the Ethernet PHY chip in the related art radar, and eliminating the need for multiple processing and encoding of the radar data, thereby simplifying the transmission link, improving transmission efficiency, reducing design costs, and reducing PCB area, thereby saving the hardware cost of the data transmission link.

[0035] Hereinafter, specific examples of this solution will be described in more detail with reference to the accompanying drawings.

[0036] Reference Figure 2 , Figure 2 1 is a structural block diagram of a radar module provided by the first aspect of the embodiment of the present invention. Figure 2 As shown, the radar module provided by the first aspect of the embodiment of the present invention includes: a serializer, which is used to encode radar data to generate encoded data and send the encoded data to a deserializer in a controller.

[0037] In this embodiment, the serializer and deserializer serve as the data transceiver chips for interaction between the radar module and the controller. The radar module is equipped with a serializer that encodes the real-time radar data collected by the radar module, generating encoded data and sending it to the deserializer in the controller via an uplink channel. The uplink channel is the data transmission channel for the radar module to send data to the controller.

[0038] A serializer, also known as a serializer, is a data encoding chip that encodes parallel data into a serial stream of digital signals for easier transmission and processing. The serializer acts like a string of data, making it easier to transmit at high speed to other systems for processing.

[0039] A deserializer is a data codec chip that performs the reverse operation of a serializer, decoding the serial signal into its original data format for subsequent processing and analysis. Deserializers work in conjunction with a serializer to serialize data at the transmitter before deserializing it at the receiver. This serial transmission method meets the needs of long-distance, low-power, and low-cost data transmission.

[0040] In this embodiment, the radar data is encoded by a serializer and sent to the controller, eliminating the Ethernet PHY chip in the related art radar, eliminating the need for multiple processing and encoding of the radar data, simplifying the transmission link, improving transmission efficiency, reducing design costs, and reducing PCB area, thereby saving the hardware cost of the data transmission link.

[0041] In combination with the above embodiments, in one embodiment, the first aspect of the present invention further provides a radar module, which includes any one of the following: an over-the-horizon radar, a microwave radar, a millimeter-wave radar, and a laser radar.

[0042] According to the radar frequency band, the radar module in this embodiment can be any one of over-the-horizon radar, microwave radar, millimeter-wave radar, and lidar, etc. This embodiment does not impose any limitation on the type of radar module.

[0043] In combination with the above embodiments, in one implementation, the first aspect of the present invention further provides a radar module. In this embodiment, the serializer encodes the radar data based on a high-speed serial transmission protocol.

[0044] In this embodiment, the serializer encodes the real-time radar data collected by the radar module with high bandwidth requirements based on a high-speed serial transmission protocol to obtain encoded data, and sends the encoded data to the deserializer in the controller through a high-speed uplink channel.

[0045] In this embodiment, the radar data collected by the radar module is sent directly to the controller through a high-speed serial transmission protocol. The single-channel uplink transmission rate can reach up to 36Gbps, while the Ethernet PHY transmission solution used in the related art has a transmission rate of up to 10Gbps, and at the same transmission rate, the cost of the Ethernet PHY chip is higher. In addition, compared with the Ethernet transmission protocol (1000M BASE-T1, 10G Base-T1, etc.), the circuit area of this embodiment is smaller, the power consumption is lower, and the cost is lower. The present invention transmits radar data to the controller based on a high-speed serial transmission protocol, which not only improves the transmission rate and transmission stability, but also meets the growth demand of the laser radar bandwidth.

[0046] In combination with the above embodiments, in one implementation, the first aspect of the present invention further provides a radar module. In this embodiment, the serializer and the deserializer are connected via a twisted pair or a coaxial cable.

[0047] In this embodiment, the radar module and the controller are connected via a twisted pair or coaxial (cable) line. Specifically, the serializer and the deserializer can be connected via a twisted pair or coaxial line. Wherein, the twisted pair or coaxial line supports data transmission of high-speed serial transmission protocol.

[0048] In addition, using coaxial cable as the transmission medium for radar data and connecting the serializer and deserializer through the coaxial cable can reduce the cost compared to Ethernet twisted-pair transmission solutions at the same transmission rate and provide higher reliability than optical fiber transmission solutions. It can avoid bandwidth waste, is less susceptible to damage from mechanical and environmental factors, and is more suitable for automotive applications.

[0049] In an optional embodiment, the radar module and the controller are connected via a coaxial cable using a Fakra interface.

[0050] In conjunction with the above embodiments, in one embodiment, the first aspect of the present invention further provides a radar module. In this embodiment, the radar module includes: a receiving module and a main control unit, the main control unit including the serializer; the receiving module is connected to the serializer; the receiving module is configured to collect the radar data and send the radar data to the serializer.

[0051] In this embodiment, the receiving module collects radar data and sends the radar data to the serializer. In an optional embodiment, the receiving module can send the collected radar data to the serializer via a parallel transmission protocol interface, and the serializer then receives the radar data based on the parallel transmission protocol interface. In an optional embodiment, the parallel transmission protocol interface is a standard MIPI CSI protocol interface.

[0052] In conjunction with the above embodiments, in one embodiment, the first aspect of the present invention further provides a radar module. In this embodiment, the main control unit further includes a microcontroller unit (MCU), which is connected to the serializer. The serializer further receives control information sent by the deserializer based on a first transmission protocol and sends the control information to the MCU.

[0053] In this embodiment, the controller can send control information to the radar module via a downlink channel to control the radar module. Specifically, the controller sends control information to the serializer via the deserializer. The downlink channel is the data transmission channel for the controller to send data to the radar module. In an optional embodiment, the control information can include any one or more of the following: power on and off information, reset information, fault reading information, radar transmission information, radar collection information, etc.

[0054] The serializer can receive control information sent by the deserializer based on a first transmission protocol and send the received control information to the microcontroller, and the microcontroller can perform relevant control based on the received control information. The first transmission protocol is a non-high-speed serial transmission protocol.

[0055] Furthermore, in one embodiment, the serializer encodes the radar data based on a high-speed serial transmission protocol, obtains the encoded data, and transmits it to the deserializer. Furthermore, the serializer receives control information transmitted by the deserializer based on a first transmission protocol. Furthermore, the coaxial cable in this embodiment is an asymmetric transmission medium. The serializer transmits the radar data to the deserializer via the coaxial cable based on the high-speed serial transmission protocol, and the deserializer transmits the control information to the serializer via the coaxial cable based on the first transmission protocol. Typically, non-high-speed serial transmission protocols are serial protocols other than high-speed serial protocols, including Serial ATA (SATA), Universal Asynchronous Receiver / Transmitter (UART), and Controller Area Network (CAN).

[0056] In this way, the serializer sends radar data to the deserializer through a high-speed uplink channel based on the coaxial cable. At the same time, the serializer receives control information sent by the deserializer through a low-speed downlink channel based on the coaxial cable. Compared with the Ethernet symmetric mode in related technologies, this asymmetric transmission mode can avoid the waste of bandwidth resources.

[0057] In conjunction with the above embodiments, in one implementation, the first aspect of the present invention further provides a radar module. In this embodiment, the radar module further includes a transmitting module; the microcontroller unit is connected to the transmitting module and the receiving module, respectively, and is configured to control the transmitting module and the receiving module based on the control information.

[0058] In this embodiment, the transmitting module is used for detection and perception. The transmitting module is mainly composed of a laser and a laser driver. Each laser needs to be connected to a laser driver. The laser driver sends a control signal to the laser according to the control instruction issued by the main control unit to realize the pulsed emission of the laser.

[0059] After receiving the control information, the microcontroller can control the transmitting module and / or receiving module based on the control information. For example, if the control information is radar transmission information, the microcontroller can generate a radar transmission instruction based on the radar transmission information and send the radar transmission instruction to the transmitting module, so that the transmitting module can achieve pulsed laser transmission based on the radar transmission instruction. For another example, if the control information is power on / off information, the microcontroller can generate a power on / off instruction based on the power on / off information and send the power on / off instruction to the corresponding module (such as the transmitting module and / or receiving module), so that the transmitting module and / or receiving module can achieve power on / off based on the power on / off instruction.

[0060] In conjunction with the above embodiments, in one embodiment, the first aspect of the present invention further provides a radar module. In this embodiment, the radar module further includes a power supply module, which is connected to the controller via a coaxial cable, and the controller supplies power to the power supply module via the coaxial cable. Specifically, the power supply module is respectively connected to the receiving module, the transmitting module, and the main control unit, and is used to supply power to the receiving module, the transmitting module, and the main control unit.

[0061] In this embodiment, the coaxial cable features Power Over Coaxial (POC), a technology that uses coaxial cable to simultaneously transmit AC signals and DC power. This technology, achieved through power superposition, allows both power and data signals to be transmitted through a single coaxial cable, simplifying wiring and reducing costs. The coaxial cable in this embodiment can be used to power the radar module, saving power wire.

[0062] In an optional embodiment, the controller is connected to the serializer and the power supply module in the radar module through a coaxial cable, thereby not only utilizing the POC power supply technology to power the radar module through the coaxial cable and the power supply module, so that the radar module does not need to be powered separately, but also realizing data transmission between the serializer and the deserializer through the coaxial cable.

[0063] In one embodiment, if Figure 3 As shown, Figure 3 This is a hardware architecture block diagram of a vehicle-mounted laser radar module according to an embodiment of the present invention. Figure 3 In the vehicle-mounted LiDAR module, the radar data is collected and sent to the back-end driving domain controller for intelligent driving calculations. The radar data includes spatial data information and reflection intensity information. The hardware system of the vehicle-mounted LiDAR module mainly consists of four parts: the transmitting module, the receiving module, the main control unit, and the power supply module:

[0064] Among them, the transmitting module is mainly composed of a laser and a laser driver. Each laser needs to be connected to a laser driver. The laser driver sends a control signal to the laser according to the instructions issued by the main control unit to realize the pulsed emission of the laser. In addition, the transmitting optical system (such as a physical lens) collimates and shapes the light beam emitted by the laser, and improves the quality of the output light beam by adjusting the divergence, beam width and beam cross-sectional area of the light beam. The emitted laser beam is reflected after encountering the object to be measured, and the reflected light passes through the receiving optical system (such as a physical lens) and enters the receiving module in the lidar.

[0065] The core components of the receiver module are the optical detector and the analog front-end. The optical detector converts the reflected light signal it receives into an electrical signal, which it transmits to the analog front-end. The analog front-end converts the analog signal from the optical detector into a digital signal and executes relevant algorithms to improve signal quality. In the receiver module, the collected lidar data is ultimately transmitted to the serializer via the standard MIPI CSI protocol interface.

[0066] The main control unit mainly includes an MCU and a serializer. The input end of the serializer is also a standard MIPI CSI protocol interface. The radar data sent by the receiving module enters the serializer through this interface. After being encoded with a high-speed serial transmission protocol in the serializer, it is transmitted from the serializer output port to the deserializer of the driving domain controller. For example, the high-speed serial transmission protocols used in this embodiment include but are not limited to GMSL protocol, FPD-Link protocol, APHY protocol, HSMT protocol and other serial deserializer-specific transmission protocols.

[0067] The MCU is responsible for sending timing control signals to the transmitting module and the receiving module. The timing control information of the lidar is issued by the on-board computing platform SOC, passed through the deserializer, and transmitted back to the serializer of the lidar module, and then output to the MCU by the serializer, thereby realizing the MCU's control over the lidar transmitting and receiving modules.

[0068] Furthermore, the onboard LiDAR module and the driving domain controller are connected via a coaxial cable using a Fakra interface. Both forward and reverse transmission for each LiDAR can be completed on a single coaxial cable. Utilizing Point-of-Call (PoC) power supply technology, the LiDAR is powered directly from the driving domain controller via the coaxial cable.

[0069] In this way, the vehicle-mounted LiDAR module shown in this embodiment improves data transmission efficiency and reduces design costs. The MIPI CSI data output by the receiving module can be sent directly to the driving domain controller through a serializer, eliminating the SOC and PHY chips on the LiDAR side of the related technology. The data preprocessing and calibration process is directly handed over to the vehicle-mounted computing platform SOC for completion. In addition, the vehicle-mounted computing platform SOC is powerful and has higher computing power, which can completely cover the data preprocessing function of the radar-side SOC. The beneficial effects brought about by this are: simplifying the transmission link, reducing transmission delay, improving data transmission efficiency, reducing design costs, reducing LiDAR power consumption, reducing PCB area, and saving hardware costs.

[0070] Based on the same inventive concept, a second aspect of the present invention provides a controller. Since this controller is substantially similar to the controller in the embodiment provided in the first aspect, the description thereof is relatively simple, and the relevant details can be referred to the partial description of the embodiment provided in the first aspect.

[0071] Reference Figure 4 , Figure 4 This is a block diagram of a controller provided by the second aspect of the embodiment of the present invention. Figure 4 As shown, the controller provided in the second aspect of the embodiment of the present invention includes a deserializer, which is connected to the serializer in the radar module. The deserializer is used to receive the encoded data sent by the serializer and decode the encoded data to generate decoded data.

[0072] In this embodiment, the serializer and deserializer serve as data transceiver chips for interaction between the radar module and the controller. The controller is equipped with a deserializer, and the radar module is equipped with a serializer. The serializer is responsible for encoding the real-time radar data collected by the radar module, generating coded data, and then sending this coded data to the deserializer in the controller via an uplink channel. The deserializer is responsible for receiving the coded data sent by the serializer and decoding it to generate decoded data, thereby enabling radar data transmission.

[0073] In this embodiment, the deserializer receives and decodes the encoded data sent by the serializer to encode the radar data, and obtains the decoded data to realize the transmission of the radar data. In this way, the Ethernet PHY chip in the related art radar is eliminated, the transmission link is simplified, the transmission efficiency is improved, the design cost is reduced, and the PCB area is reduced, thereby saving the hardware cost of the data transmission link.

[0074] In combination with the above embodiments, in one embodiment, the second aspect of the present invention further provides a controller. In this embodiment, the deserializer is connected to the serializer via a twisted pair or a coaxial cable, and the deserializer decodes the encoded data based on a high-speed serial transmission protocol.

[0075] In this embodiment, the radar module and the controller are connected via a twisted pair or coaxial (cable) line. Specifically, the serializer and the deserializer can be connected via a twisted pair or coaxial line. Wherein, the twisted pair or coaxial line both support data transmission using a high-speed serial transmission protocol. Based on this, the serializer encodes the radar data based on the high-speed serial transmission protocol to obtain encoded data and transmits it to the deserializer. The deserializer can then decode the encoded data based on the high-speed serial transmission protocol to obtain decoded data.

[0076] In addition, using coaxial cable as the transmission medium for radar data and connecting the serializer and deserializer through the coaxial cable can reduce the cost compared to Ethernet twisted-pair transmission solutions at the same transmission rate and provide higher reliability than optical fiber transmission solutions. It can avoid bandwidth waste, is less susceptible to damage from mechanical and environmental factors, and is more suitable for automotive applications.

[0077] In conjunction with the above embodiments, in one implementation, the second aspect of the present invention further provides a controller. In this embodiment, the controller further includes a computing unit connected to the deserializer; the deserializer is configured to send the decoded data to the computing unit, and the computing unit is configured to process the decoded data.

[0078] In this embodiment, after obtaining the decoded data, the deserializer sends the decoded data to the computing unit (SOC). In an optional embodiment, the deserializer can send the decoded data to the computing unit via a parallel transmission protocol interface, and the computing unit then receives the decoded data based on the parallel transmission protocol interface. In an optional embodiment, the parallel transmission protocol interface is a standard MIPI CSI protocol interface.

[0079] As can be understood, the decoded data is the radar data collected by the radar module. This embodiment enables the raw data collected by the radar module to be sent directly to the controller, and then the decoded data is processed by the computing unit in the controller, such as data preprocessing and factory calibration. In this embodiment, the data preprocessing and calibration of the radar data are directly handed over to the controller's computing platform SOC for completion. Compared with the FPGA / SOC chip of the radar in traditional solutions, this computing platform SOC is more powerful and has higher computing power, and can fully cover the data preprocessing functions of the radar-side SOC in related technologies.

[0080] In this embodiment, the raw data collected by the radar module (echo information for all pixels) is transmitted to the computing platform SOC without any preprocessing operations (such as compression, cropping, data format conversion, etc.) on the transmission link, ensuring the integrity of the point cloud information. Compared with existing Ethernet transmission solutions that require preprocessing, the pixel information only retains x, y, z, and intensity data. This not only saves the radar data preprocessing step, but also eliminates the FPGA / SOC chip and Ethernet PHY chip in the radar end of the related technology. This simplifies the transmission link, reduces design costs, and reduces PCB area, thereby saving hardware costs for the data transmission link.

[0081] In addition, the processing of decoded data by the computing unit includes not only data preprocessing, factory calibration and other processing; it also includes related calculation processing on the preprocessed radar data, such as intelligent auxiliary calculation on the preprocessed radar data. For example, for the driving domain controller, the computing platform SOC can perform subsequent intelligent driving operations on the preprocessed radar data to perform auxiliary driving actions such as deceleration and avoidance, etc.

[0082] The computing unit is further configured to generate control information and send the control information to the deserializer, and the deserializer sends the control information to the serializer based on a first transmission protocol.

[0083] In this embodiment, the controller may also send relevant control information to the microcontroller unit of the radar module. Specifically, the computing unit may generate the control information and send it to the deserializer. The deserializer sends the control information to the serializer based on a first transmission protocol. The serializer then forwards the control information to the microcontroller unit, so that the microcontroller unit controls the receiving module and / or transmitting module based on the control information. The first transmission protocol is a non-high-speed serial transmission protocol.

[0084] In an optional embodiment, the computing unit can generate control information based on the application scenario and send the control information to the deserializer. The control information may include any one or a combination of the following: power-on and power-off information, reset information, fault reading information, radar transmission information, radar acquisition information, etc. For example, the computing unit can generate power-on information based on the power-on scenario, power-off information based on the power-off scenario, and reset information and / or fault reading information based on abnormal scenarios.

[0085] In addition, in one embodiment, the deserializer decodes the encoded data based on a high-speed serial transmission protocol to obtain decoded data, and the deserializer sends control information to the serializer based on a first transmission protocol. In this embodiment, the serializer and the deserializer are connected with a coaxial cable. The coaxial cable is an asymmetric transmission medium. The deserializer receives the data sent by the serializer through the coaxial cable based on the high-speed serial transmission protocol, and the deserializer sends the control information to the serializer through the coaxial cable based on the first transmission protocol.

[0086] In this way, the deserializer receives the radar data sent by the serializer through a high-speed uplink channel based on the coaxial cable. At the same time, the deserializer sends the control information to the serializer through a low-speed downlink channel based on the coaxial cable. Compared with the Ethernet symmetric mode in related technologies, this asymmetric transmission mode can avoid the waste of bandwidth resources.

[0087] Based on the same inventive concept, the third aspect of an embodiment of the present invention provides a data transmission system, which includes the radar module provided by the first aspect of an embodiment of the present invention, and the controller provided by the second aspect of an embodiment of the present invention. As for the radar module and the controller, since they are basically similar to the radar module and the controller in the embodiment provided by the first aspect, the description is relatively simple. For relevant matters, please refer to the partial description of the embodiment provided by the first aspect.

[0088] Reference Figure 5 , Figure 5 : is a structural block diagram of a data transmission system provided by the third aspect of the embodiment of the present invention. Figure 5 As shown, the data transmission system provided by the third aspect of the embodiment of the present invention includes: a radar module and a controller, and the serializer in the radar module is connected to the deserializer in the controller.

[0089] The serializer is used to encode the radar data to generate encoded data, and send the encoded data to the deserializer.

[0090] In this embodiment, the serializer and deserializer serve as the data transceiver chips for interaction between the radar module and the controller. The radar module is equipped with a serializer that encodes the real-time radar data collected by the radar module, generating encoded data and sending it to the deserializer in the controller via an uplink channel. The uplink channel is the data transmission channel for the radar module to send data to the controller.

[0091] The deserializer is configured to receive the encoded data and decode the encoded data to generate decoded data.

[0092] In this embodiment, a deserializer is provided in the controller. The deserializer is responsible for receiving the encoded data sent by the serializer and decoding the received encoded data to generate decoded data, thereby realizing the transmission of radar data.

[0093] In this embodiment, the serializer in the radar module encodes the collected radar data and sends the encoded data to the deserializer in the controller. The deserializer then decodes the encoded data to obtain decoded data. In this way, the present invention eliminates the Ethernet PHY chip in the related art radar, simplifies the transmission link, improves transmission efficiency, reduces design costs, and reduces PCB area, thereby saving the hardware cost of the data transmission system.

[0094] In conjunction with the above embodiments, in one embodiment, a third aspect of the present invention further provides a data transmission system. In this data transmission system, the serializer encodes the radar data based on a high-speed serial transmission protocol, and the deserializer decodes the encoded data based on the high-speed serial transmission protocol.

[0095] In this embodiment, the serializer encodes the radar data based on a high-speed serial transmission protocol to obtain encoded data, which is then sent to the deserializer. After receiving the encoded data, the deserializer decodes the encoded data based on the high-speed serial transmission protocol to obtain decoded data. It can be understood that the decoded data is the radar data collected by the radar module. Through the data transmission system of this embodiment, the raw data collected by the radar is sent directly to the controller via a high-speed serial transmission protocol.

[0096] In this embodiment, radar data is transmitted between the serializer and deserializer using a high-speed serial transmission protocol, achieving a single-channel transmission rate of up to 36 Gbps. In contrast, the Ethernet PHY transmission solution used in related technologies has a maximum transmission rate of 10 Gbps, and at the same transmission rate, the Ethernet PHY chip is more expensive. Furthermore, compared to Ethernet transmission protocols (such as 1000M BASE-T1 and 10G Base-T1), this embodiment has a smaller circuit area, lower power consumption, and lower cost.

[0097] In conjunction with any of the above embodiments, in one embodiment, the third aspect of the present invention further provides a data transmission system. In this data transmission system, the high-speed serial transmission protocol is a high-speed serial transmission protocol that meets the in-vehicle transmission distance. The in-vehicle transmission distance can be freely set. For example, if the in-vehicle transmission distance is greater than 7 meters, such as 10-15 meters, the PCIe high-speed serial transmission protocol has a short transmission distance, with a theoretical transmission distance of only 7 meters, which has certain limitations in in-vehicle applications. Therefore, the high-speed serial transmission protocol used in this embodiment excludes the PCIe high-speed serial transmission protocol.

[0098] In an optional embodiment, the high-speed serial transmission protocols of this embodiment that meet the vehicle-mounted transmission distance include but are not limited to: Gigabit Multimedia Serial Links (GMSL) protocol, video serial communication (Flat Panel Display Link, FPD-Link) protocol, analog physical layer interface (Analog Physical, APHY) protocol, hypertext transport protocol (HyperText Transport Protocol, HSMT) protocol and other serial deserializer-specific transmission protocols, which have scrambling and descrambling, DC balanced coding, adaptive equalization, forward error correction and physical retransmission mechanisms, so that data transmission reliability is high, data packet loss rate is reduced, and data bit error rate is low.

[0099] Specifically, the high-speed serial transmission protocol adopted in this embodiment has a forward error correction function: before the radar data signal is sent to the transmission channel (uplink channel), it is encoded according to a certain algorithm and redundant codes with the characteristics of the signal itself are added. At the deserializer end, the data signal is decoded according to the corresponding algorithm to find the error code generated during the transmission process and correct it.

[0100] The high-speed serial transmission protocol used in this embodiment features scrambling and descrambling functions: the radar data signal is multiplied / added with the scrambling code to generate a new modulated signal. Compared to the original signal, the modulated signal is scattered in time and frequency, avoiding the occurrence of long 0s, long 1s, and periodic signals. This reduces intersymbol interference and jitter, facilitating clock signal extraction.

[0101] The high-speed serial transmission protocol used in this embodiment has a DC balance encoding and decoding function, which includes but is not limited to 8b / 10b encoding, 9b / 10b encoding, and 128b / 132b encoding. It is used to embed a clock in the data and maintain the DC balance of the transmission channel, and can also enhance error detection.

[0102] The high-speed serial transmission protocol adopted in this embodiment has an adaptive equalization function, which pre-emphasizes or de-emphasizes the signal at the data sending end (serializer) and compensates for signal equalization at the data receiving end (deserializer), thereby reducing the effects of inter-symbol crosstalk and signal attenuation during signal transmission.

[0103] Based on this, the laser radar data of this embodiment undergoes forward error correction, spooling, DC encoding, parallel-serial conversion and pre-emphasis processing in the serializer based on the high-speed serial transmission protocol, and the encoded data is output to the deserializer of the driving domain controller. After the deserializer receives the encoded data sent by the serializer, it performs equalization processing, serial-parallel conversion, DC decoding, descrambling on the encoded data in turn, and after decoding, determines whether an error occurs and corrects it according to the redundant code to obtain the original laser radar data signal.

[0104] In conjunction with any of the above embodiments, in one embodiment, the third aspect of the present invention further provides a data transmission system. In this data transmission system, the power supply module in the radar module is connected to the controller via a coaxial cable, and the controller is configured to supply power to the power supply module via the coaxial cable.

[0105] In this embodiment, the radar module and the controller are connected via a coaxial cable, which serves as the transmission medium for radar data. The radar module and the controller are connected via the coaxial cable. At the same transmission rate, the cost is lower than that of Ethernet twisted pair transmission solutions, and the reliability is higher than that of optical fiber transmission solutions. It can avoid bandwidth waste, is not easily damaged by mechanical, environmental and other factors, and is more suitable for vehicle-mounted applications.

[0106] Specifically, the radar module also includes a power supply module. The power supply module in the radar module is connected to the controller via a coaxial cable, and the controller supplies power to the power supply module via the coaxial cable.

[0107] In this embodiment, the coaxial cable also features POC (Power over Cable) technology, a technique for simultaneously transmitting AC signals and DC power over coaxial cable. This technology, achieved through power superposition, allows both power and data signals to be transmitted over a single coaxial cable, simplifying wiring and reducing costs. The coaxial cable in this embodiment can also be used to power the radar module, saving on power wire.

[0108] Specifically, the controller is connected to the serial adder and power supply module in the radar module through a coaxial cable, thereby utilizing POC power supply technology to power the radar module through the coaxial cable and the power supply module, so that the radar module does not need to be powered separately.

[0109] In conjunction with any of the above embodiments, in one implementation, the third aspect of the present invention further provides a data transmission system. In the data transmission system, there are multiple radar modules, and the serializers in the multiple radar modules are respectively connected to the deserializer.

[0110] In this embodiment, the data transmission system includes multiple radar modules and a controller. Each radar module is provided with a serializer, and the controller is also provided with a deserializer. The deserializer in the controller of this embodiment has a multi-channel feature. A single deserializer can connect to multiple serializers, that is, the serializers in different radar modules are connected to the same deserializer through different coaxial cables. Compared with the Ethernet transmission solution used in the related art, a switch chip needs to be added to the controller for communication between the PHY chip and the computing platform SOC. This embodiment can not only meet the needs of the controller carrying multiple radars, but also reduce the chip usage, thereby reducing the PCB area of the controller and reducing costs.

[0111] In this embodiment, the forward and reverse transmission processes corresponding to each radar module are completed on the same coaxial line. The forward transmission process is the process of transmitting data from the radar module to the controller, and the reverse transmission process is the process of transmitting data from the controller to the radar module. Accordingly, the uplink channel is the data transmission channel for sending data from the radar module to the controller, and the downlink channel is the data transmission channel for sending data from the controller to the radar module.

[0112] In one embodiment, if Figure 6 As shown, Figure 6 The figure is a schematic diagram of an application scenario of a data transmission system according to an embodiment of the present invention. Figure 6 The data transmission system is used in the automotive field, and the radar module is a laser radar module. Figure 6 In the data transmission system, the data transmission system includes at least: multiple laser radar modules (such as Figure 6 Laser radar 1, laser radar 2, ... laser radar n), coaxial line and controller (ie Figure 6 The intelligent driving domain controller in the system can connect a single deserializer to multiple serializers via a coaxial cable. Both the forward transmission (radar data) and reverse transmission (control information) of each lidar can be completed on a single coaxial cable. Furthermore, the intelligent driving domain controller utilizes Point-of-Call (PoC) power supply technology to directly power the lidar via the coaxial cable.

[0113] In combination with any of the above embodiments, in one implementation, the third aspect of the present invention further provides a data transmission system in which the deserializer and the serializer are connected via a twisted pair or a coaxial cable.

[0114] In this embodiment, the radar module and the controller are connected via a twisted pair or coaxial (cable) line. Specifically, the serializer and the deserializer can be connected via a twisted pair or coaxial line. Wherein, the twisted pair or coaxial line both support data transmission using a high-speed serial transmission protocol. Based on this, the serializer encodes the radar data based on the high-speed serial transmission protocol to obtain encoded data and transmits it to the deserializer. The deserializer can then decode the encoded data based on the high-speed serial transmission protocol to obtain decoded data.

[0115] In addition, using coaxial cable as the transmission medium for radar data and connecting the serializer and deserializer through the coaxial cable can reduce the cost compared to Ethernet twisted-pair transmission solutions at the same transmission rate and provide higher reliability than optical fiber transmission solutions. It can avoid bandwidth waste, is less susceptible to damage from mechanical and environmental factors, and is more suitable for automotive applications.

[0116] In one embodiment, if Figure 7 As shown, Figure 7 This is a data flow diagram of a vehicle-mounted laser radar data transmission method according to an embodiment of the present invention. Figure 7 In the example, the radar module is a laser radar module (i.e. Figure 7 The laser radar in the vehicle), the controller is the intelligent driving domain controller, the laser radar's receiving module collects and generates raw data (i.e., radar data), and the laser radar's receiving module transmits the raw data to the laser radar's serial adder chip through the camera serial interface (CSI) defined by the Mobile Industry Processor Interface Alliance (MIPI). The laser radar's serial adder chip receives the raw data through the standard MIPI CSI protocol interface. The laser radar's serial adder chip processes the data based on the high-speed serial transmission protocol and packages it and sends it to the deserializer chip of the intelligent driving domain controller. The deserializer chip of the intelligent driving domain controller receives the data and decodes it. After decoding, it is sent to the vehicle computing platform SOC through the MIPI CSI interface of the deserializer chip of the intelligent driving domain controller. Finally, the vehicle computing platform SOC receives the laser radar data through the MIPI CSI interface and parses it, such as performing preprocessing or subsequent intelligent driving operations of the laser radar.

[0117] Based on the same inventive concept, the fourth aspect of the embodiment of the present invention provides a data transmission method, which is applied to the data transmission system provided by the third aspect of the embodiment of the present invention. Figure 8 , Figure 8 FIG. 1 is a flow chart of a data transmission method provided by an embodiment of the present invention. Figure 8 As shown, the data transmission method includes:

[0118] The serializer receives radar data, encodes the radar data based on a high-speed serial transmission protocol to generate encoded data, and sends the encoded data to the deserializer.

[0119] Optionally, the method further includes:

[0120] The deserializer receives the encoded data, and decodes the encoded data based on the high-speed serial transmission protocol to generate decoded data;

[0121] The deserializer sends the decoded data to a computing unit, and the computing unit processes the decoded data.

[0122] Optionally, before the serializer receives the radar data, the method further includes:

[0123] The receiving module collects the radar data and sends the radar data to the serializer.

[0124] Optionally, the method further includes:

[0125] The computing unit generates control information according to the application scenario and sends the control information to the deserializer;

[0126] The deserializer sends the control information to the serializer based on a first transmission protocol, wherein the first transmission protocol is a non-high-speed serial transmission protocol.

[0127] Optionally, the method further includes:

[0128] The serial adder receives the control information based on the first transmission protocol and sends the control information to the micro control unit;

[0129] The micro control unit controls the receiving module and the transmitting module according to the control information.

[0130] It should be noted that for the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0131] As for the method embodiment, since it is basically similar to the system, the description is relatively simple, and the relevant parts can be referred to the partial description of the system embodiment.

[0132] Based on the same inventive concept, the seventh aspect of an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in the data transmission method described in the fourth aspect of an embodiment of the present invention are implemented.

[0133] Based on the same inventive concept, an eighth aspect of the embodiment of the present invention provides an electronic device, such as Figure 9 shown. Figure 9 This is a schematic diagram of an electronic device according to an embodiment of the present invention. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When executed by the processor, the computer program implements the steps of the data transmission method according to the fourth aspect of the embodiment of the present invention.

[0134] Based on the same inventive concept, a ninth aspect of an embodiment of the present invention provides a vehicle, which at least includes: the data transmission system described in the third aspect of an embodiment of the present invention.

[0135] Optionally, the radar module in the data transmission system is a vehicle-mounted radar module, the controller in the data transmission system is a driving domain controller, and the computing unit in the controller is a vehicle-mounted computing unit.

[0136] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0137] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, compact disc read-only memory (CD-ROM), optical storage, etc.) containing computer-usable program code.

[0138] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the process in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0139] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0140] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0141] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0142] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0143] The above is a detailed introduction to a radar module, controller, data transmission system, method, product and vehicle provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A radar module, characterized in that: The radar module includes: A serializer is used to encode the radar data to generate encoded data and send the encoded data to a deserializer in the controller.

2. The radar module according to claim 1, characterized in that The radar module includes: A receiving module and a main control unit, wherein the main control unit includes the serial adder; The receiving module is connected to the serializer; the receiving module is used to collect the radar data and send the radar data to the serializer.

3. The radar module according to claim 2, characterized in that: The main control unit further includes a micro control unit, and the micro control unit is connected to the string adder; The serializer further receives control information sent by the deserializer based on a first transmission protocol, and sends the control information to the micro control unit; The first transmission protocol is a non-high-speed serial transmission protocol.

4. The radar module according to claim 3, characterized in that: The radar module also includes a transmitting module; The micro control unit is connected to the transmitting module and the receiving module respectively, and is used to control the transmitting module and the receiving module according to the control information.

5. The radar module according to claim 4, characterized in that: The radar module further includes a power supply module, the power supply module is connected to the controller via a coaxial line, and the controller supplies power to the power supply module via the coaxial line; The power supply module is connected to the receiving module, the transmitting module and the main control unit respectively, and is used to supply power to the receiving module, the transmitting module and the main control unit respectively.

6. The radar module according to claim 1, characterized in that: The serializer encodes the radar data based on a high-speed serial transmission protocol.

7. The radar module according to claim 1, characterized in that: The serializer and the deserializer are connected via a twisted pair or a coaxial cable.

8. The radar module according to any one of claims 1 to 7, characterized in that: The radar module includes any of the following: Over-the-horizon radar, microwave radar, millimeter-wave radar and lidar.

9. A controller, characterized in that: The controller includes a deserializer, which is connected to a serializer in the radar module. The deserializer is used to receive encoded data sent by the serializer and decode the encoded data to generate decoded data.

10. The controller according to claim 9, characterized in that The controller further includes a computing unit connected to the deserializer; The deserializer is used to send the decoded data to the computing unit, and the computing unit is used to process the decoded data; The computing unit is further configured to generate control information and send the control information to the deserializer, and the deserializer sends the control information to the serializer based on a first transmission protocol; The first transmission protocol is a non-high-speed serial transmission protocol.

11. The controller according to claim 9, characterized in that The deserializer is connected to the serializer via a twisted pair or a coaxial cable, and the deserializer decodes the encoded data based on a high-speed serial transmission protocol.

12. A data transmission system, characterized in that: The data transmission system comprises the radar module according to any one of claims 1 to 8, and the controller according to any one of claims 9 to 11, wherein the serializer in the radar module is connected to the deserializer in the controller; The serializer is used to encode the radar data to generate encoded data, and send the encoded data to the deserializer; The deserializer is configured to receive the encoded data and decode the encoded data to generate decoded data.

13. The data transmission system according to claim 12, characterized in that: The serializer encodes the radar data based on a high-speed serial transmission protocol; and the deserializer decodes the encoded data based on the high-speed serial transmission protocol.

14. The data transmission system according to claim 12, wherein: The power supply module in the radar module is connected to the controller via a coaxial line, and the controller is used to supply power to the power supply module via the coaxial line.

15. The data transmission system according to claim 12, characterized in that: There are multiple radar modules, and the serializers in the multiple radar modules are respectively connected to the deserializer.

16. The data transmission system according to any one of claims 12 to 15, characterized in that: The deserializer and the serializer are connected via a twisted pair or a coaxial cable.

17. A data transmission method, characterized in that: Applied to the data transmission system according to any one of claims 12 to 16, the method comprising: The serializer receives radar data, encodes the radar data based on a high-speed serial transmission protocol to generate encoded data, and sends the encoded data to the deserializer.

18. The data transmission method according to claim 17, characterized in that: The method further comprises: The deserializer receives the encoded data, and decodes the encoded data based on the high-speed serial transmission protocol to generate decoded data; The deserializer sends the decoded data to a computing unit, and the computing unit processes the decoded data.

19. The data transmission method according to claim 17, wherein: Before the serializer receives the radar data, the method further includes: The receiving module collects the radar data and sends the radar data to the serializer.

20. The data transmission method according to claim 18, wherein: The method further comprises: The computing unit generates control information according to the application scenario and sends the control information to the deserializer; The deserializer sends the control information to the serializer based on a first transmission protocol, wherein the first transmission protocol is a non-high-speed serial transmission protocol.

21. The data transmission method according to claim 20, characterized in that: The method further comprises: The serial adder receives the control information based on the first transmission protocol and sends the control information to the micro control unit; The micro control unit controls the receiving module and the transmitting module according to the control information.

22. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the computer program is executed by the processor, the data transmission method according to any one of claims 17 to 21 is implemented.

23. A vehicle, characterized in that: The vehicle comprises the data transmission system according to any one of claims 12 to 16.

24. The vehicle according to claim 23, characterized in that The radar module in the data transmission system is a vehicle-mounted radar module, the controller in the data transmission system is a driving domain controller, and the computing unit in the controller is a vehicle-mounted computing unit.

25. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the data transmission method according to any one of claims 17 to 21 is implemented.

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