Data sensing device of vehicle
By configuring a unified MIPIA-PHY protocol interface for the image and environmental data acquisition modules of the vehicle data sensing device, the problem of inconsistent interfaces and protocols was solved, enabling real-time synchronous processing of data, improving the stability and accuracy of data transmission, and reducing security risks.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHINA FAW CO LTD
- Filing Date
- 2025-12-12
- Publication Date
- 2026-04-28
AI Technical Summary
The lack of uniformity in the interfaces and protocols of different data acquisition modules in traditional vehicle environmental data perception devices leads to high difficulty in hardware adaptation, complex structure, increased data transmission latency, and low parsing efficiency, which affects the reliability of the decision-making basis of the intelligent driving system and increases safety hazards during driving.
By adopting a unified data transmission interface and protocol, the same MIPIA-PHY protocol interface is configured for the image acquisition module and the environmental data acquisition module, directly transmitting visual data and spatial status data to the controller, eliminating intermediate conversion links and realizing real-time synchronous data processing.
It reduces the difficulty of hardware adaptation and structural complexity, improves the real-time performance and stability of data transmission, ensures the accuracy and timeliness of environmental perception data, provides reliable decision-making basis for intelligent driving systems, and reduces safety hazards.
Smart Images
Figure CN121940388A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle data processing technology, and more particularly to a vehicle data sensing device. Background Technology
[0002] Perceiving the vehicle's environmental data generally refers to collecting environmental information such as visual and spatial states of objects around the vehicle through various sensors, thereby providing a basis for decision-making in intelligent driving.
[0003] In traditional vehicle environmental data perception technology, the acquisition of images of the vehicle's surroundings and environmental data typically employs different data transmission interfaces and corresponding protocols within the vehicle's perception devices. For example, image acquisition units or modules generally use the CameraLink interface and corresponding protocol, while environmental data units or modules use the CAN bus interface and corresponding protocol. This inconsistency in interfaces and protocols increases the difficulty of hardware adaptation for data perception devices, requiring corresponding adapters and drivers for different modules. This increases the overall cost and structural complexity of the device. Furthermore, the vehicle's internal controller needs to perform multiple protocol conversions when receiving and parsing data, leading to increased data transmission latency and low data parsing efficiency. Therefore, due to the inconsistency in interfaces and protocols among different data acquisition modules, traditional technologies cannot provide reliable decision-making information for intelligent driving systems in a timely manner, thus affecting the vehicle's active safety performance and increasing safety hazards during vehicle operation. Summary of the Invention
[0004] The main purpose of this application is to propose a vehicle data sensing device. By unifying the interfaces and protocols of different data acquisition units, the difficulty of hardware adaptation and the complexity of device structure can be reduced, and the parsing delay and data packet loss caused by protocol conversion can be avoided, thereby reducing safety hazards during vehicle operation.
[0005] To achieve the above objectives, one aspect of this application provides a data sensing device for a vehicle, the data sensing device comprising: a sensing unit and a controller; The sensing unit includes an image acquisition module and an environmental data acquisition module; wherein the image acquisition module, the environmental data acquisition module, and the controller are all provided with the same data transmission interface; the data transmission interface corresponds to a preset data transmission protocol; The image acquisition module is used to acquire visual data of the vehicle within a preset range, and then transmit the visual data to the controller using a preset data transmission protocol. The environmental data acquisition module is used to collect spatial state data of different objects within a preset range of the vehicle, and then transmit each spatial state data to the controller using a preset data transmission protocol. The controller is used to parse the visual data and each of the spatial state data to generate environmental perception data corresponding to the vehicle.
[0006] Furthermore, in some embodiments, the image acquisition module includes: a plurality of sub-image acquisition modules; wherein, the sub-image acquisition module is equipped with an image sensor and a first power supply unit; The image sensor and the first power supply unit are each provided with the data transmission interface; wherein, the data transmission interface of the image sensor and the data transmission interface of the first power supply unit are respectively connected to the data transmission interface of the controller through a first cable; The first cable is used to transmit visual data collected by the image sensor to the controller using a preset data transmission protocol, and to transmit the power supply signal of the controller to the first power supply unit.
[0007] Furthermore, in some embodiments, the environmental data acquisition module includes: a plurality of radar modules; wherein, the radar module is equipped with a radar sensor and a second power supply unit; The radar sensor and the second power supply unit are each provided with the data transmission interface; wherein, the data transmission interface of the radar sensor and the data transmission interface of the second power supply unit are respectively connected to the data transmission interface of the controller through a second cable; The second cable is used to transmit the spatial state data collected by the radar sensor to the controller according to a preset data transmission protocol, and to transmit the power supply signal of the controller to the second power supply unit.
[0008] Furthermore, in some embodiments, the controller includes: a third power supply unit, a data converter, and a data processing unit; The third power supply unit is used to generate a power supply signal; wherein the power supply signal is transmitted to the first power supply unit of each sub-image acquisition module and the second power supply unit of each radar module through the first cable and the second cable, respectively. The data converter is used to receive visual data and spatial state data from the sensing unit, and then convert the visual data and spatial state data to generate data to be processed. The data processing unit is used to parse the data to be processed and generate environmental perception data corresponding to the vehicle.
[0009] Furthermore, in some embodiments, the controller further includes: a switching device; the switching device has a plurality of independent switching channels; For each switch channel, the switch channel is provided with a switch input port and a switch output port; the switch input port is connected to the third power supply unit, and the switch output port is connected to the first power supply unit of the sub-image acquisition module, or to the second power supply unit of the radar module.
[0010] Furthermore, in some embodiments, the data converter includes: a converter output port and a plurality of converter input ports; For each converter input port, the converter input port is connected to the image sensor of the sub-image acquisition module or to the radar sensor of the radar module; The converter output port is connected to the data processing unit.
[0011] Furthermore, in some embodiments, the sub-image acquisition module is further provided with a storage unit and a first clock unit; the radar module is further provided with a second clock unit; The storage unit is used to cache visual data acquired by the image sensor; The first clock unit is used to provide a clock signal to the image sensor; The second clock unit is used to provide a clock signal for the radar sensor.
[0012] Furthermore, in some embodiments, the preset data transmission protocol includes: the MIPIA-PHY protocol; The data transmission interface includes a physical layer interface based on the MIPIA-PHY protocol.
[0013] Furthermore, in some embodiments, the data converter includes a multiplexer / deserializer.
[0014] Furthermore, in some embodiments, the switching device includes a high-side switch.
[0015] The embodiments of this application include at least the following beneficial effects: This application provides a vehicle data perception device. This solution, by configuring the same data transmission interface for the image acquisition module, environmental data acquisition module, and controller, and setting a unified preset data transmission protocol, eliminates the interface conversion link between different modules, thereby reducing the difficulty of hardware adaptation and the complexity of the device structure. Furthermore, after acquiring visual data, the image acquisition module can directly transmit the data to the controller through its own unified interface according to the preset data transmission protocol. Similarly, after acquiring spatial state data of objects, the environmental data acquisition module also transmits data to the controller through a unified interface and protocol. Since the two types of data use the same transmission standard, the controller does not need to perform multi-protocol conversion, improving the real-time performance and stability of data transmission. Therefore, in the solution of this invention, the interfaces and protocols of different data acquisition units or modules can be unified, avoiding parsing delays and data packet loss problems caused by protocol conversion, ensuring the accuracy and timeliness of environmental perception data, providing reliable decision-making basis for intelligent driving systems in a timely manner, and reducing safety hazards during vehicle operation. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the structure of a vehicle data sensing device provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of the image acquisition module provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of the environmental data acquisition module provided in an embodiment of this application; Figure 4 This is a schematic diagram of the controller provided in an embodiment of this application; Figure 5 This is a schematic diagram of the specific structure of a data sensing device provided in another embodiment of this application; Figure 6 This is a schematic diagram of the specific structure of an image acquisition module provided in another embodiment of this application; Figure 7 This is a schematic diagram of the specific structure of an environmental data acquisition module provided in another embodiment of this application. Detailed Implementation
[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application; they are merely examples of systems and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.
[0018] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various concepts, but unless otherwise stated, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the words “if,” “when,” or “in response to a determination” as used herein may be interpreted as “when…” or “when…” or “in response to a determination.”
[0019] As used in this application, the terms "at least one", "multiple", "each", "any", etc., "at least one" includes one, two or more, "multiple" includes two or more, "each" refers to each of the corresponding multiples, and "any" refers to any one of the multiples.
[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.
[0021] Before providing a detailed description of the embodiments of this application, some of the nouns and terms involved in the embodiments of this application will be explained first. The nouns and terms involved in the embodiments of this application are subject to the following interpretations.
[0022] (1) MIPIA-PHY protocol refers to the automotive-grade high-speed asymmetric SerDes physical layer protocol (IEEE2977-2021) developed by the MIPI Alliance. It supports long-distance high-reliability transmission and is compatible with upper-layer protocols such as CSI2 / DSI-2. In this invention, it is used as a preset data transmission protocol to unify the communication standards between the image / environment data acquisition module and the controller, and realize the co-line transmission of data and power supply.
[0023] (2) The physical layer interface based on the MIPIA-PHY protocol actually refers to the physical layer (PHY) hardware interface that conforms to the MIPIA-PHY protocol, which is the specific implementation of the protocol at the physical layer. In the solution of this invention, the physical layer interface based on the MIPIA-PHY protocol is a kind of A-PHY interface, serving as a unified interface for image sensors / radar / controllers. It can realize the transmission of multi-source data using the A-PHY protocol, and with the help of a multiplexer, it can complete signal convergence and protocol conversion.
[0024] In the process of intelligent driving, vehicle sensing devices are often required to collect environmental data around the vehicle to better assist in intelligent driving. Existing vehicle sensing devices generally include cameras and radar. The raw image data from cameras needs to be transmitted through SERDES bridging chips, and mainly uses proprietary protocols, which lack flexibility. The raw images from radar also need to be converted into CAN or Ethernet by an MCU for transmission. Not only are the communication protocol architectures of the two inconsistent, but synchronous transmission between them is also difficult to achieve.
[0025] In view of this, this application provides a vehicle data sensing device that configures the image acquisition module (which may be a camera) and the environmental data acquisition module (which may be a radar) with the same data transmission interface and adopts a preset unified data transmission protocol to replace the camera's original private SERDES protocol, eliminating the need for a bridging chip; it can also replace the radar's original CAN / Ethernet conversion scheme without the need for additional conversion by the MCU.
[0026] Furthermore, in this invention, both the raw image data from the camera and the spatial status data from the radar are directly transmitted to the controller through their own unified interface and preset protocol, without the need for intermediate conversion. Since both types of data use the same physical layer standard, the controller can receive and synchronously parse the data through unified timing logic, achieving synchronized processing of camera and radar data.
[0027] Therefore, this invention replaces proprietary protocols with a unified protocol, breaking down communication barriers between different devices, facilitating the subsequent integration of new sensing devices (such as LiDAR), reducing system expansion costs, and eliminating the need for SERDES bridging chips and MCU conversion modules, thus reducing the number of hardware components and lowering the size, weight, and cost of the device. Furthermore, this invention enables the acquisition and direct transmission of different data, replacing multi-stage conversions, reducing data latency and packet loss risks, and ensuring the real-time environmental data requirements of intelligent driving.
[0028] This invention proposes a vehicle data sensing device, such as... Figure 1 The diagram shows a structural schematic of a vehicle data sensing device, which includes a sensing unit and a controller. The sensing unit includes an image acquisition module and an environmental data acquisition module; wherein the image acquisition module, the environmental data acquisition module, and the controller are all provided with the same data transmission interface; the data transmission interface corresponds to a preset data transmission protocol; The image acquisition module is used to acquire visual data of the vehicle within a preset range, and then transmit the visual data to the controller using a preset data transmission protocol. The environmental data acquisition module is used to collect spatial state data of different objects within a preset range of the vehicle, and then transmit each spatial state data to the controller using a preset data transmission protocol. The controller is used to parse the visual data and each of the spatial state data to generate environmental perception data corresponding to the vehicle.
[0029] In some embodiments, within an intelligent driving scenario, visual data within a preset range of the vehicle and spatial state data of different objects constitute the data types for environmental perception. The visual data of the vehicle within the preset range refers to the environmental visual information collected by the image acquisition module (camera), which is multi-dimensional data based on two-dimensional pixels, primarily including basic vehicle image data and contour data.
[0030] Specifically, basic vehicle image data mainly includes: image frames of the road surrounding the vehicle, traffic participants (vehicles / people / non-motorized vehicles), traffic signs (traffic lights / lane lines / speed limit signs), and obstacles (roadblocks / manhole covers / falling rocks); Contour data mainly includes: the edge contours of vehicles or pedestrians and surface textures (such as vehicle model lines and pedestrian clothing textures).
[0031] Furthermore, spatial state data of different objects refers to the three-dimensional spatial information of the target collected by the radar module. It can be quantized data based on point cloud / echo signals, mainly including position data, motion state data and target attribute data.
[0032] Specifically, the location data mainly includes: the relative distance between the target (i.e., different objects) and the vehicle, the azimuth angle of the target relative to the vehicle, the height difference between the target and the vehicle, and the three-dimensional coordinates of the target in the vehicle coordinate system.
[0033] The motion state data mainly includes: the radial velocity of the target relative to the vehicle, the lateral velocity of the target perpendicular to the direction of travel of the vehicle, and the acceleration of the target.
[0034] Target attribute data mainly includes: target point cloud density and target radar cross-section, etc.
[0035] Understandably, in intelligent driving, visual data is responsible for identifying target categories or semantic information, while spatial state data is responsible for accurately measuring target position and motion parameters. The fusion of the two can generate more complete environmental perception data, such as the following environmental perception data: 100m ahead, a white sedan traveling at 60km / h is changing lanes to the left.
[0036] In some embodiments, such as Figure 2 The diagram shows the structure of the image acquisition module, which includes several sub-image acquisition modules; wherein each sub-image acquisition module is equipped with an image sensor and a first power supply unit. The image sensor and the first power supply unit are each provided with the data transmission interface; wherein, the data transmission interface of the image sensor and the data transmission interface of the first power supply unit are respectively connected to the data transmission interface of the controller through a first cable; The first cable is used to transmit visual data collected by the image sensor to the controller using a preset data transmission protocol, and to transmit the power supply signal of the controller to the first power supply unit.
[0037] It is understood that in the image acquisition module of the present invention, the image sensor and the first power supply unit both use the same data transmission interface, which is fully compatible with the data transmission interface of the controller. No additional protocol conversion chip is required (such as the SERDES bridge chip in the traditional solution). This means that when adding a sub-image acquisition module, only the first cable of the same specification needs to be connected. There is no need to modify the controller interface or protocol, thus realizing plug-and-play modular expansion.
[0038] Furthermore, this invention uses a single first cable to correspond to one sub-image acquisition module, allowing for direct location of the specific module's cable during fault diagnosis, eliminating the need to distinguish between data / power lines and further reducing the difficulty of subsequent maintenance.
[0039] In some embodiments, such as Figure 3 The diagram shows the structure of an environmental data acquisition module, which includes several radar modules; wherein each radar module is equipped with a radar sensor and a second power supply unit. The radar sensor and the second power supply unit are each provided with the data transmission interface; wherein, the data transmission interface of the radar sensor and the data transmission interface of the second power supply unit are respectively connected to the data transmission interface of the controller through a second cable; The second cable is used to transmit the spatial state data collected by the radar sensor to the controller according to a preset data transmission protocol, and to transmit the power supply signal of the controller to the second power supply unit.
[0040] It is understood that the environmental data acquisition module of the present invention has the same design logic as the image acquisition module, and also has the characteristic of multi-signal collinear transmission.
[0041] At the hardware level, both the radar sensor and the second power supply unit are equipped with a unified data transmission interface. The second cable can simultaneously transmit data and power supply current according to a preset protocol, realizing the dual-function integrated transmission of data and power supply.
[0042] Since traditional radars require an MCU to convert data into CAN / Ethernet for transmission, the radar sensor of this invention directly transmits raw spatial state data using the same protocol as the image sensor, eliminating the need for an MCU and protocol conversion device, thus simplifying the hardware structure. In contrast, traditional radars require a separate power supply line, while the radar module of this invention uses a second cable to transmit power simultaneously, reducing one power supply line per radar module and three lines for three modules, significantly simplifying vehicle wiring.
[0043] In the solution of this invention, the radar module and the image acquisition module adopt the same interface and protocol to realize the unified processing and synchronization of multi-source data. This not only solves the problem of heterogeneous radar protocols and redundant wiring harnesses in traditional radar, but also realizes the unified design of interface, protocol and power supply control with the image acquisition module. Thus, it can provide an integrated, collaborative and low-cost environmental data acquisition solution for multi-sensor fusion in intelligent driving.
[0044] In some embodiments, the preset data transmission protocol includes the MIPIA-PHY protocol; the data transmission interface includes a physical layer interface based on the MIPIA-PHY protocol. Specifically, the data transmission interface is an A-PHY interface.
[0045] Understandably, the MIPIA-PHY protocol supports the simultaneous transmission of high-speed data (visual data), power signals, and control signals on the same physical link, distinguishing between data and power supply through different signal frequency bands / modulation methods; The image sensor and the first power supply unit of the sub-image acquisition module are both equipped with A-PHY interfaces. The first cable is a dedicated cable corresponding to the A-PHY interface (supporting PoC power supply) and can carry A-PHY protocol data and power supply current at the same time. Specifically, the first cable connects the A-PHY interface of the image sensor, the A-PHY interface of the first power supply unit and the A-PHY interface of the controller.
[0046] Furthermore, both the radar sensor and the second power supply unit are equipped with A-PHY interfaces, and the second cable connects the A-PHY interfaces of the radar sensor, the second power supply unit, and the controller.
[0047] It should be noted that the technical advantages of the sub-image acquisition module of this invention are analyzed as follows: In some embodiments, the sub-image acquisition module is actually an in-vehicle camera, and the image sensor inside the image acquisition module is actually the image sensor inside the camera. In the design of traditional cameras, after the image sensor of a traditional camera acquires an image, it transmits the image data to the image processing unit (ISP) inside the traditional camera via digital signals for image processing. After processing, the digital signals are then input to the internal serializer chip, converted into various serial protocols, and then transmitted over long distances.
[0048] from Figure 2 As can be seen, the improved camera (i.e., the sub-image acquisition module) of this invention optimizes the image processing unit (ISP) and serializer in its transmission architecture. Due to the unified transmission interface, the image processing unit (ISP) functions of traditional cameras can be transferred to the controller for processing in this invention. Regarding the serializer function of traditional cameras, this invention, through the improved image sensor integrating the SerDes standard protocol based on A-PHY, allows the serializer function to be implemented within the image sensor chip, thus eliminating the need for an external serializer. Compared with traditional cameras, the improved camera solution of this invention not only simplifies the internal hardware architecture of the camera module but also reduces the complexity of hardware design, thereby reducing the error rate in the early design stages. Simultaneously, the reduction in components results in a smaller camera module size and lower cost.
[0049] It should be noted that the technical advantages of the radar module of the present invention are analyzed as follows: In some embodiments, after the radar sensor of a traditional radar module collects data, it often needs to transmit the data to a microprocessor (MCU) via digital signals for data processing and conversion, and then transmit it over long distances via traditional protocols such as CAN or Ethernet.
[0050] pass Figure 3The improved radar module demonstrated in this invention features an optimized microprocessor (MCU) transmission architecture. Furthermore, the radar sensor, like the image sensor, integrates the SerDes standard based on A-PHY, enabling direct transmission of raw radar data. For example, spatial state data can be transmitted to the controller for analysis and processing. The improved radar module simplifies its internal hardware architecture, reducing the complexity of hardware design. The reduced number of components also results in a smaller radar module size. Since the A-PHY interface supports power supply over the data line, it eliminates the need for a separate power supply harness in traditional solutions, further reducing the hardware cost of the radar transmission module (i.e., the environmental data acquisition module of this invention).
[0051] In some embodiments, such as Figure 4 The schematic diagram of the controller shown includes: a third power supply unit, a data converter, and a data processing unit; The third power supply unit is used to generate a power supply signal; wherein the power supply signal is transmitted to the first power supply unit of each sub-image acquisition module and the second power supply unit of each radar module through the first cable and the second cable, respectively. The data converter is used to receive visual data and spatial state data from the sensing unit, and then convert the visual data and spatial state data to generate data to be processed. The data processing unit is used to parse the data to be processed and generate environmental perception data corresponding to the vehicle.
[0052] Furthermore, as an optional implementation, the controller further includes: a switching device; the switching device has several independent switching channels; For each switch channel, the switch channel is provided with a switch input port and a switch output port; the switch input port is connected to the third power supply unit, and the switch output port is connected to the first power supply unit of the sub-image acquisition module, or to the second power supply unit of the radar module.
[0053] Furthermore, as an optional implementation, the data converter includes: a converter output port and a plurality of converter input ports; For each converter input port, the converter input port is connected to the image sensor of the sub-image acquisition module or to the radar sensor of the radar module; The converter output port is connected to the data processing unit.
[0054] As an optional implementation, the data converter includes a multiplexer; the switching device includes a high-side switch.
[0055] Understandably, when a switch output port of a certain switch channel is connected to the first power supply unit of the sub-image acquisition module or the second power supply unit of the radar module, each switch output port is connected to only one power supply unit, ensuring that the first power supply unit of the sub-image acquisition module and the second power supply unit of the radar module are connected to different switch channels. Similarly, the image sensor of the sub-image acquisition module and the radar sensor of the radar module are connected to different converter input ports.
[0056] In illustrative terms, the controller of this invention is an architecture that centralizes power supply management, unifies data conversion, and centralizes processing. It can leverage the characteristics of the MIPIA-PHY protocol to achieve the aggregation of multi-source sensing data, secure power supply control, and precise data processing. The specific principles underlying its implementation are as follows: The third power supply unit serves as the power source for the controller and all sensing modules, and can generate a stable power supply signal. For the high-side switch (switching device), the power supply of the third power supply unit is distributed to the first power supply unit of each sub-image acquisition module and the second power supply unit of the radar module through multiple independent switching channels. Specifically, each channel of the high-side switch corresponds to one sensing module and can independently control the power supply on and off (such as cutting off the power supply to a module if it fails). It also supports overcurrent / overvoltage protection to ensure the safe power supply of the vehicle functions.
[0057] For a multiplexer, each converter input port corresponds to a sensing module (image sensor / radar sensor) to receive the raw data transmitted by it through the A-PHY cable; Specifically, the deserializer can synchronously deserialize multiple A-PHY protocol serial data into parallel data and convert it into CSI2 protocol data supported by the data processing unit (main control chip); through the converter output port, the data to be processed in a unified format is transmitted to the data processing unit.
[0058] Regarding the data processing unit, it can receive CSI2 format data output from the multiplexer, and parse, spatiotemporally align and fuse visual data (such as image frames and features) and spatial state data (such as position and velocity) to ultimately generate environmental perception data (such as target type, position, and motion trajectory).
[0059] In illustrative terms, the high-side switch of this invention can quickly cut off the power supply to the faulty module through an independent channel to prevent the fault from spreading. The multiplexer aggregates all sensing data through multiple input ports, replacing the complex design of traditional multi-interface (SERDES / CAN / Ethernet) and simplifying the controller hardware layout. Furthermore, the multiplexer can convert the signal into CSI2C / D-PHY protocol data that the data processing unit can recognize, eliminating the need for an intermediate protocol conversion chip and meeting the real-time requirements of intelligent driving.
[0060] Furthermore, as an optional implementation, the deserializer can also have a built-in clock synchronization mechanism to achieve microsecond-level time alignment of multi-source data, providing a precise spatiotemporal reference for data fusion.
[0061] In some embodiments, such as Figure 5 The schematic diagram of the data sensing device shown illustrates the integrated architecture of multiple cameras (i.e., image acquisition modules), multiple radar sensing modules (i.e., environmental data acquisition modules), and a controller. On the left is a sensing unit consisting of four image sensors (equipped with the first power supply unit) and two radar sensors (equipped with the second power supply unit). All modules are connected to the controller on the right via A-PHY cables. The controller includes a third power supply unit, a high-side switch, a deserializer, and a main control chip. The third power supply unit supplies power to all sensing modules via the high-side switch. The deserializer receives and converts the A-PHY protocol data into CSI2 format before transmitting it to the main control chip for data fusion processing.
[0062] In illustrative terms, through the above structural design, the present invention can achieve high-speed transmission of multi-source environmental data (visual + spatial status), co-line integration of power supply and data, and centralized power supply control, data conversion and fusion computing based on a unified A-PHY protocol and interface.
[0063] Therefore, it is not difficult to conclude that the present invention not only solves the problems of protocol heterogeneity, wiring redundancy, and synchronization difficulties of traditional sensing devices, but also improves system security through centralized power supply management and control. Furthermore, it reduces transmission latency and hardware costs through unified data conversion, and realizes plug-and-play expansion of sensing modules. It can provide a highly reliable, low-cost, and easily expandable environmental sensing device for intelligent driving of vehicles.
[0064] In some embodiments, such as Figure 6 and Figure 7 The schematic diagrams of the image acquisition module and the environmental data acquisition module shown indicate that: The sub-image acquisition module is further provided with a storage unit and a first clock unit; the radar module is further provided with a second clock unit. The storage unit is used to cache visual data acquired by the image sensor; The first clock unit is used to provide a clock signal to the image sensor; The second clock unit is used to provide a clock signal for the radar sensor.
[0065] Specifically, the structure of the sub-image acquisition module is based on an image sensor. The first power supply unit is responsible for power supply, the first clock unit provides a synchronization clock signal, the storage unit buffers the acquired visual data, and finally transmits the data out through the MIPIA-PHY interface via cable. This enables stable acquisition and buffering of visual data around the vehicle and transmission to the outside world using a unified protocol.
[0066] The radar module is structured with a radar sensor at its core. A second power supply unit provides power, and a second clock unit provides a synchronization clock signal. Spatial state data is transmitted via cable through the MIPIA-PHY interface, enabling accurate collection of spatial state data of objects around the vehicle and transmission to the outside world using a unified protocol.
[0067] Both systems ensure the stability and synchronization of data acquisition through the integrated design of sensors, power supply, clock, and unified protocol interface, while also being compatible with the unified architecture of the controller.
[0068] Therefore, this invention solves the supply chain and protocol heterogeneity problem of traditional sensing devices by uniformly adopting the MIPIA-PHY protocol. Based on the MIPI Alliance's open A-PHY standard, it replaces the proprietary SERDES protocol, breaks the dependence on a single supplier, reduces supply chain risks, and achieves full compatibility of interfaces / protocols between image, radar modules and controllers, simplifying cross-module hardware adaptation and software development.
[0069] The image sensor and radar sensor of this invention have built-in A-PHY interfaces, eliminating the need for serializer chips for cameras and MCU chips for radar in traditional solutions. This not only reduces the overall size of the sensing module but also directly lowers hardware material costs. At the same time, the controller uses a multiplexer that supports multiple data inputs, allowing simultaneous access to camera and radar data. This reduces the number of deserializer chips required. Combined with the multiplexing capability of the MIPICSI2 virtual channel, the CSI2 interface of the SoC can be maximized, increasing the number of sensors supported by the sensing device and further reducing the hardware cost of the controller.
[0070] After removing the MCU from the radar module, there is no need to deploy software inside the module. All data processing is uniformly transferred to the controller. Component manufacturers only need to complete hardware development, which lowers the development threshold of the perception module. At the same time, the unified transmission method of the camera and radar simplifies the complexity of hardware design and improves the real-time synchronization of image and radar data, providing a more accurate spatiotemporal reference for multi-sensor fusion.
[0071] Both the radar and camera utilize a unified PoC power supply, with power distributed into multiple independent channels via a high-side switch on the controller. This replaces the traditional independent power supply harness for the radar, reducing the amount of onboard wiring. Therefore, this invention not only simplifies the hardware structure but also reduces transmission latency and power consumption, better adapting to the perception requirements of different levels of autonomous driving.
[0072] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.
[0073] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0074] It should be understood that in this application, "at least one" refers to one or more items, and "several" refers to two or more items. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.
[0075] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.
Claims
1. A data sensing device for a vehicle, characterized in that, The data sensing device includes: a sensing unit and a controller; The sensing unit includes an image acquisition module and an environmental data acquisition module; wherein the image acquisition module, the environmental data acquisition module, and the controller are all provided with the same data transmission interface; the data transmission interface corresponds to a preset data transmission protocol; The image acquisition module is used to acquire visual data of the vehicle within a preset range, and then transmit the visual data to the controller using a preset data transmission protocol. The environmental data acquisition module is used to collect spatial state data of different objects within a preset range of the vehicle, and then transmit each spatial state data to the controller using a preset data transmission protocol. The controller is used to parse the visual data and each of the spatial state data to generate environmental perception data corresponding to the vehicle.
2. The vehicle data sensing device according to claim 1, characterized in that, The image acquisition module includes: a plurality of sub-image acquisition modules; wherein, each sub-image acquisition module is equipped with an image sensor and a first power supply unit; The image sensor and the first power supply unit are each provided with the data transmission interface; wherein, the data transmission interface of the image sensor and the data transmission interface of the first power supply unit are respectively connected to the data transmission interface of the controller through a first cable; The first cable is used to transmit visual data collected by the image sensor to the controller using a preset data transmission protocol, and to transmit the power supply signal of the controller to the first power supply unit.
3. The vehicle data sensing device according to claim 2, characterized in that, The environmental data acquisition module includes: several radar modules; wherein, each radar module is equipped with a radar sensor and a second power supply unit; The radar sensor and the second power supply unit are each provided with the data transmission interface; wherein, the data transmission interface of the radar sensor and the data transmission interface of the second power supply unit are respectively connected to the data transmission interface of the controller through a second cable; The second cable is used to transmit the spatial state data collected by the radar sensor to the controller according to a preset data transmission protocol, and to transmit the power supply signal of the controller to the second power supply unit.
4. A vehicle data sensing device according to claim 3, characterized in that, The controller includes: a third power supply unit, a data converter, and a data processing unit; The third power supply unit is used to generate a power supply signal; wherein the power supply signal is transmitted to the first power supply unit of each sub-image acquisition module and the second power supply unit of each radar module through the first cable and the second cable, respectively. The data converter is used to receive visual data and spatial state data from the sensing unit, and then convert the visual data and spatial state data to generate data to be processed. The data processing unit is used to parse the data to be processed and generate environmental perception data corresponding to the vehicle.
5. A vehicle data sensing device according to claim 4, characterized in that, The controller further includes: a switching device; the switching device has several independent switching channels; For each switch channel, the switch channel is provided with a switch input port and a switch output port; the switch input port is connected to the third power supply unit, and the switch output port is connected to the first power supply unit of the sub-image acquisition module, or to the second power supply unit of the radar module.
6. A vehicle data sensing device according to claim 5, characterized in that, The data converter includes: a converter output port and several converter input ports; For each converter input port, the converter input port is connected to the image sensor of the sub-image acquisition module or to the radar sensor of the radar module; The converter output port is connected to the data processing unit.
7. A vehicle data sensing device according to claim 6, characterized in that, The sub-image acquisition module is further provided with a storage unit and a first clock unit; the radar module is further provided with a second clock unit. The storage unit is used to cache visual data acquired by the image sensor; The first clock unit is used to provide a clock signal to the image sensor; The second clock unit is used to provide a clock signal for the radar sensor.
8. A vehicle data sensing device according to claim 7, characterized in that, The preset data transmission protocol includes: MIPIA-PHY protocol; The data transmission interface includes a physical layer interface based on the MIPIA-PHY protocol.
9. A vehicle data sensing device according to claim 8, characterized in that, The data converter includes a multiplexer.
10. A vehicle data sensing device according to claim 9, characterized in that, The switching device includes: a high-side switch.