Computing power platform controller

Abstract

The utility model provides a computing power platform controller, which comprises a computing power module, a data acquisition module and a data transmission module, the computing power module is respectively connected with the data acquisition module and the data transmission module, and the computing power module can be connected with time synchronization source input so as to realize multi-group time synchronization source output. The computing power module comprises an MCU and a computing power module which are connected with each other, and the data acquisition module comprises a GMSL camera data acquisition circuit, a CAN communication link, a GNSS module serving as time synchronization source input and onboard IMU equipment for acquiring sensor information. The computing power platform controller has strong computing power and abundant data acquisition interfaces, integrates various functional modules and can complete data acquisition, data transmission, data processing and other work, all the functional modules are integrated together, the problems of connection reliability, signal quality and the like caused by external wiring are avoided, the reliability is higher, and the cost is lower. And the scheme debugging and the problem checking are simpler.

Description

Technical Field

[0001] The utility model relates to a computing power device, in particular to a computing power platform controller. Background Art

[0002] In some industries that require a large amount of computing, such as high-order autonomous driving, assisted driving, mobile robots, mobile operation platforms, etc., a complex system composed of IPCs, corresponding data acquisition devices, data transmission devices, time synchronization devices, and various connection cables is required to complete the computing. Correspondingly, there are many devices, the devices are large, the circuits are complex, and the installation, debugging, and maintenance are quite troublesome. Summary of the Utility Model

[0003] The utility model provides a computing power platform controller, which solves the problem of using a general computing power platform for common data acquisition modules, data transmission and exchange modules, network access and network sharing modules, etc. The technical solution is as follows:

[0004] A computing power platform controller includes a computing power module, a data acquisition module, and a data transmission module. The computing power module is respectively connected to the data acquisition module and the data transmission module. The computing power module can also access a time synchronization source input to realize multiple groups of time synchronization source outputs. The computing power module includes an MCU and a computing power module connected to each other. The data acquisition module includes a GMSL camera data acquisition circuit, a CAN communication link, a GNSS module as a time synchronization source input, and an on-board IMU device for collecting sensor information.

[0005] The MCU uses Infineon TC397, and the computing power module uses 1 to 2 NVIDIA Jetson AGX Orin modules.

[0006] The GMSL camera data acquisition circuit includes a camera management MCU and a deserializer, and the deserializer is connected to the computing power module and the camera management MCU.

[0007] The data transmission module is provided with an automotive-grade TSN switch chip and a network access and sharing module. The automotive-grade TSN switch chip uses a MAC_88Q6113 chip to complete the cascading of internal network devices and provide an in-vehicle Ethernet interface externally. The network access and sharing module includes an embedded M.2 card slot and an embedded WiFi module. The embedded M.2 card slot can access a 5G / 4G module to access the public network, and the embedded WiFi module can be used to connect to an external WIFI or serve as a hotspot for other devices to connect.

[0008] When two computing power modules are provided, they serve as the main Orin and the slave Orin respectively. The data transmission module is provided with two in-vehicle TSN switching chips. Each of the two TSN switching chips has one 10G port for inter-chip cascading, and the remaining one 10G port of each is connected to the main Orin and the slave Orin respectively. At the same time, 12 in-vehicle PHY chips are carried externally to connect to in-vehicle Ethernet devices; there is also a PCIe 4.0x8 channel between the main Orin and the slave Orin, and the main Orin is directly connected to the TC397 through 1G Ethernet.

[0009] When one computing power module is provided, it serves as the main Orin. The data transmission module is provided with one in-vehicle TSN switching chip. The TSN switch is connected to the main Orin through one 10G port. At the same time, 8 in-vehicle PHY chips are carried externally to connect to in-vehicle Ethernet devices; the main Orin is directly connected to the TC397 through 1G Ethernet.

[0010] The computing power module supports a total of 12 CAN communication links. Each of the 7 CANs is connected to the MCU and the computing power module, and there are another 5 CANs only connected to the MCU; a CAN TX disable button interface connected to both the MCU and the computing power module is also provided for externally connecting an emergency stop button.

[0011] The deserialiser is provided with an in-vehicle deserialiser chip MAX96712. When one set of computing power modules is provided, the mipi csi x4 channel of each deserialiser chip is connected to the computing power module; when two sets of computing power modules are provided, the 2 mipi csi x4 channels of each deserialiser chip are respectively connected to the two computing power modules in a way of replicating data streams.

[0012] The time synchronization source can select one of the PPS / RMC embedded with GNSS and the external PPS / RMC as the GNSS time source. The selected GNSS time source is directly connected to the TC397 and the computing power module. Then, the TC397 and the computing power module respectively generate PPS / RMC according to the system situation, and combine with the previous GNSS and PPS / RMC sources, and then select one of the three as the system PPS / RMC source for output.

[0013] The serial communication of the present utility model with the computing power module includes a GNSS module and an on-board IMU device. The GNSS module communicates with two serial ports, and the on-board IMU device communicates with one serial port. In addition, there are also four RS422 / 485 multiplexed serial ports connected to both the MCU and the computing power module, and two RS232 interfaces and two RS422 / 485 interfaces connected to the computing power module.

[0014] The computing power platform controller has powerful computing power, rich data acquisition interfaces, and integrates various functional modules. In most cases, this device alone can complete data acquisition, data transmission, data processing, etc. that traditionally require several devices. All the functional modules are integrated together, avoiding problems such as connection reliability and signal quality caused by external wiring, with higher reliability and being simpler in terms of solution debugging and problem troubleshooting. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic diagram of the connection of the data transmission module in the first embodiment of the computing power platform controller;

[0016] Figure 2 is a schematic diagram of the structure of the CAN communication link in the first embodiment of the computing power platform controller;

[0017] Figure 3 is a schematic diagram of the structure of the GMSL camera data acquisition circuit in the first embodiment of the computing power platform controller;

[0018] Figure 4 is a schematic diagram of the structure of the time synchronization link in the first embodiment of the computing power platform controller;

[0019] Figure 5 is a schematic diagram of the structure of the serial communication link in the first embodiment of the computing power platform controller;

[0020] Figure 6 is a schematic diagram of the connection of the data transmission module in the second embodiment of the computing power platform controller;

[0021] Figure 7 is a schematic diagram of the structure of the CAN communication link in the second embodiment of the computing power platform controller;

[0022] Figure 8 is a schematic diagram of the structure of the GMSL camera data acquisition circuit in the second embodiment of the computing power platform controller;

[0023] Figure 9 is a schematic diagram of the structure of the time synchronization link in the second embodiment of the computing power platform controller;

[0024] Figure 10 is a schematic diagram of the structure of the serial communication link in the second embodiment of the computing power platform controller. DETAILED DESCRIPTION OF THE INVENTION

[0025] The computing power platform controller includes a computing power module, a data acquisition module, and a data transmission module. The computing power module is respectively connected to the data acquisition module and the data transmission module. The computing power module can also access a time synchronization source input to achieve multiple groups of time synchronization source outputs. The data acquisition module includes a GMSL camera data acquisition circuit and a CAN communication link.

[0026] The computing power module includes an MCU and a computing power module connected thereto. The MCU uses Infineon TC397, which can undertake part of the computing work and can also execute software with high reliability requirements and functional safety. The computing power module uses 1 to 2 NVIDIA Jetson AGX Orin modules, with the model of NVIDIA Jetson AGX Orin 64G / Industrial / 32G. The NVIDIA Jetson AGX Orin module uses an NVIDIA Ampere architecture GPU, an Arm Cortex-A78AE CPU, and a new generation of deep learning and vision accelerators, capable of performing 20 trillion operations per second (TOPS), comparable to a server with a built-in GPU.

[0027] The GMSL camera data acquisition circuit of the data acquisition module includes a camera management MCU and a deserialiser. The deserialiser is connected to the computing power module and the camera management MCU; the CAN communication link is connected to the vehicle body CAN.

[0028] The data transmission module is provided with a TSN switch chip for providing an in-vehicle Ethernet interface externally and a 10G industrial Ethernet interface internally.

[0029] Embodiment 1 of the computing power platform controller is Figures 1 to 5 the structure of a dual computing power module as shown. As Figure 1 shown, it is used to represent the connection schematic of the computing power module and the data transmission module connected thereto.

[0030] Among them, the computing power module includes an MCU and two computing power modules, namely the main Orin and the slave Orin, which can provide a maximum computing power of 550 TOPS. The MCU uses a TC397 chip. The data transmission module is provided with an automotive-grade TSN switch chip and a network access sharing module. The two built-in automotive-grade TSN switch chips are used to complete the cascading of internal network devices (the main Orin and the slave Orin) and provide 12 in-vehicle Ethernet interfaces externally; the network access sharing module includes an embedded M.2 card slot and an embedded WiFi module. The embedded M.2 card slot can access a 5G / 4G module to access the public network, and the embedded WiFi module can be used to connect to an external WIFI or act as a hotspot for other devices to connect.

[0031] The automotive-grade TSN switch chip uses the MAC_88Q6113 chip. A single TSN switch chip has 8 gigabit interfaces and 2 10-gigabit interfaces. Each of the two TSN switch chips outputs 1 10G port for inter-chip cascading, and the remaining 1 10G port of each is connected to the main Orin and the slave Orin respectively. At the same time, 12 automotive-grade PHY chips are externally mounted to connect to in-vehicle Ethernet devices. Among them, the TSN switch chip connected to the main Orin externally mounts 8 automotive-grade PHY chips, and the other TSN switch chip connected to the slave Orin externally mounts 8 automotive-grade PHY chips.

[0032] In addition to 10G communication between the main Orin and the slave Orin through the switch chip, there is also a PCIe4.0x8 channel, which can provide a theoretical data bandwidth of 128Gbps. The main Orin and the TC397 are directly connected through 1G Ethernet, which can realize high-bandwidth data communication between the two. The TC397 can be connected to the public network through uart with a 5G / 4G module to meet the remote start of the driverless vehicle in the sleep state. The main Orin can be connected to the public network through USB with a 5G / 4G module. The switch chip can be connected to the public network through a PCIe4.0x1 channel with a 5G / 4G module.

[0033] Such a network design has the following three advantages:

[0034] (1) The Ethernet-based sensor data processing nodes can be flexibly deployed on either of the two Orins. Any Orin can directly obtain data from the network, avoiding the waste of CPU resources, communication delay, and instability caused by transparent transmission; it can realize cross-machine big data recording, separated from computing, and reduce the impact of data recording on computing.

[0035] (2) Two big data channels are reserved between the main Orin and the slave Orin. The PCIe channel can be used for the overall deployment of large models. By developing an efficient PCIe driver, resources such as the GPUs of the dual Orins can be integrated into a large computing power GPU. The 10G channels of the two switch chips are very friendly for transmitting node data in a distributed computing system.

[0036] (3) The 1G Ethernet connection between the TC397 and the main Orin realizes the layering of the chassis safety domain and the perception and control domain, and at the same time retains a direct and stable high-bandwidth communication channel between the two layers.

[0037] Such as Figure 2As shown in the figure, the computing power module supports a total of 12 CAN communication links. Among them, 7 CANs are directly connected to TC397, the main Orin, and the slave Orin, and it also supports 5 CANs, which are only directly connected to TC397. For connecting to the body CAN, an additional CAN TX disable button interface is added, which is used to externally connect an emergency stop button to disconnect the computing power module from sending data to the body CAN in case of an emergency. Such a design has the following three advantages:

[0038] (1) The 7 CAN communication links enable the three computing units (TC397, the main Orin, and the slave Orin) of the computing power module to directly obtain data, avoiding the waste of CPU resources, communication delay, and instability caused by transparent transmission; it can realize cross-machine data recording, separate computing and data recording, and monitor the by-wire control instructions; most importantly, after the perception and planning domain fails, TC397 can directly use sensors such as CAN millimeter-wave radars to complete the fail-to-safe vehicle control function.

[0039] (2) The CAN TX disable button interface can, in case of an emergency, disconnect the instruction transmission while still monitoring the body data;

[0040] (3) Sufficient CAN interfaces can support a sufficient number of CAN interface devices.

[0041] As Figure 3 shown in the figure, the data acquisition module includes a GMSL camera data acquisition circuit, which can externally connect 12 GMSL cameras and is realized through three deserializers. The deserializer is provided with an automotive-grade deserializer chip MAX96712, and the 2 mipi csi x4 channels of each deserializer chip are respectively connected to the main Orin and the slave Orin in a way of replicating the data stream.

[0042] The data acquisition module also includes a camera management MCU, which can use the STM32F103 chip. It is a chip with a built-in camera trigger PWM generator, taking the system PPS as the input, and outputting a PWM with adjustable frequency, duty cycle, and phase. It can also output a single FSYNC PWM, and the frequency, duty cycle, and phase of the PWM can all be adjusted by the main Orin.

[0043] Such a design has the following three advantages:

[0044] (1) A single deserializer supports a forward bandwidth of 10 Gbps, and the average forward bandwidth of a single camera reaches 2.5 Gbps, which can meet the requirements of 8M 15fps.

[0045] (2) The main Orin and the slave Orin can directly obtain the data stream from the deserializers in a replicated manner, avoiding the waste of CPU resources, communication latency, and instability caused by Orin passthrough; it can achieve cross-machine large data recording, separated from computing, and reduce the impact of data recording on computing.

[0046] (3) It has a built-in high-precision camera management MCU that outputs PWM with adjustable frequency, duty cycle, and phase to meet the requirements of specific trigger sequences for cameras in specific orientations, so that it can be more accurately registered with the lidar to achieve better data spatio-temporal synchronization.

[0047] (4) It can simultaneously connect 12 GMSL1 / 21 cameras and trigger the cameras synchronously or asynchronously.

[0048] As Figure 4 shown, the data acquisition module further includes two optional embedded GNSS modules for serving as GNSS time sources. The computing power module can also access the time synchronization source input to achieve multiple groups of time synchronization source outputs. Among them, the time synchronization source can select one of the PPS / RMC of the embedded GNSS1 and GNSS2 and the external PPS / RMC as the GNSS time source, and then directly access the TC397 and the main Orin. Then, the TC397 and the main Orin respectively generate PPS / RMC according to the system situation, combine with the previous GNSS and PPS / RMC sources, and then select one of them as the system PPS / RMC source to give to the slave Orin, IMU, and sensors (such as lidar).

[0049] The utility model externally reserves a group of time synchronization source inputs and multiple groups of time synchronization source outputs, and also has a time synchronization source selection button inside, and designs an efficient and high-precision time synchronization circuit to complete the distribution of time synchronization signals, facilitating the satisfaction of the time synchronization requirements of peripheral devices and the overall system. Such a design has the following advantages: Considering power-on in the case of weak GNSS signals, at this time the GNSS PPS / RMC is still unavailable, and at this time, the main Orin or TC397 is required to be used as the PPS / RMC source to give to other devices in the system.

[0050] As Figure 5 shown, the data acquisition module further includes an on-board IMU device for collecting angle information, angular acceleration information, and acceleration information. The on-board IMU device and the above two GNSS modules both use serial communication.

[0051] The computing power module supports embedding 2 GNSS modules and 1 on-board IMU. Each GNSS module communicates via two serial ports, and the on-board IMU communicates via 1 serial port. These 5 serial ports are all connected to both the main Orin and TC397, and 4 RS422 / 485 multiplexed serial ports that are connected to both TC397 and the main Orin are reserved externally, which can be used to connect external IMUs or other devices. The data of these 9 serial port devices is connected to both TC397 and Orin at the same time. On the one hand, it reduces the time delay caused by data transparent transmission. On the other hand, it can ensure that when a certain module fails, the system can ensure basic safety functions.

[0052] The 8 serial port data acquisition interfaces reserved externally include, in addition to 4 RS422 / 485 serial ports that are connected to the main orin, the slave Orin, and TC397, also include two RS232 interfaces and two RS422 / 485 interfaces that are only connected to the main Orin, and multiple serial port devices can be mounted simultaneously.

[0053] In addition, the present utility model reserves two USB3.0, one video display DP port, and one system programming port for each of the two Orins to meet the implementation of mouse and keyboard or Orin-related functions, and two fans are also provided to meet the overall heat dissipation requirements of the device.

[0054] The second embodiment of the computing power platform controller is Figures 6 to 10 the structure of the single computing power module shown. As Figure 6 shown, it is used to represent the connection schematic of the computing power module and the data transmission module connected thereto.

[0055] Among them, the computing power module includes an MCU and a computing power module. The computing power module is set as the main Orin, which can provide a maximum computing power of 275 TOPS. The MCU uses a TC397 chip. The data transmission module is provided with an automotive-grade TSN switching chip and a network access sharing module. An embedded automotive-grade TSN switching chip is used to complete the cascading of internal network devices and provide 8 in-vehicle Ethernet interfaces externally; the network access sharing module includes an embedded M.2 card slot and an embedded WiFi module. The embedded M.2 card slot can access 5G / 4G modules to access the public network, and the embedded WiFi module can be used to connect to an external WIFI or be used as a hotspot for other devices to connect.

[0056] The automotive-grade TSN switching chip uses a MAC_88Q6113 chip, which has 8 gigabit interfaces and 2 10-gigabit interfaces. The TSN switching chip is connected to the main Orin through 1 10G port, and at the same time, 8 automotive-grade PHY chips are externally mounted to connect to in-vehicle Ethernet devices. The Ethernet devices include lidar, 4D millimeter-wave radar, or T-BOX.

[0057] The main Orin is directly connected to the TC397 via 1G Ethernet, enabling high-bandwidth data communication between the two. The TC397 can be connected to the public network through the uart with a 5G / 4G module to meet the requirement of remotely starting the driverless vehicle in the sleep state. The main Orin can be connected to the public network through the USB with a 5G / 4G module. This can ensure that both Orin and TC397 can access the network independently, laying a hardware foundation for remote start and stop. The 5G module and the TC397 are not directly incorporated into the switched local area network. One reason is to isolate the public network from the local area network to avoid mutual influence. The other reason is that the TC397 and the main Orin represent the security domain and the perception domain, and a fixed and unaffected channel is needed between them. The switching chip can be connected to the public network through the PCIe 4.0x1 channel with a 5G / 4G module.

[0058] As Figure 7 shown, the computing power module supports 12 CAN communication links, among which 7 CANs are directly connected to the TC397 and the main Orin. Further, each of these 7 CANs is directly connected to the TC397 and the Orin. It also supports 5 CANs, which are only directly connected to the TC397. For connecting to the vehicle body CAN, an additional CAN TX disable button interface is added for connecting an external emergency stop button to disconnect the computing power module from sending data to the vehicle body CAN in case of emergency. With such a design, there are the following 3 advantages:

[0059] (1) For the 7 CANs, both the main Orin and the TC397 can directly obtain data, avoiding the waste of CPU resources, communication delay, and instability caused by transparent transmission; it can achieve cross-machine data recording, separate computing and data recording, and monitor the by-wire control instructions; most importantly, after the perception and planning domain fails, the TC397 can directly use sensors such as CAN millimeter-wave radar to complete the fail-to-safe vehicle control function.

[0060] (2) The CAN TX disable button interface can disconnect the instruction sending in case of emergency and also monitor the vehicle body data.

[0061] (3) Sufficient CAN interfaces can support enough CAN interface devices.

[0062] As Figure 8 shown, the data acquisition module includes a GMSL camera data acquisition circuit, which can externally connect 8 GMSL cameras through two deserializers. The deserializers are equipped with automotive-grade deserializer chips MAX96712, and the mipi csi x4 channels of each deserializer chip are connected to the main Orin.

[0063] The data acquisition module further includes a camera management MCU, such as the STM32F103 chip, which is a chip with built-in camera trigger PWM generation. Taking the system PPS as the input, it outputs PWM with adjustable frequency, duty cycle, and phase, and can also output a single FSYNC PWM. The frequency, duty cycle, and phase of the PWM can all be adjusted by the main Orin. Such a design has the following advantages:

[0064] (1) The single deserializer supports a forward bandwidth of 10 Gbps, and the average forward bandwidth of a single camera reaches 2.5 Gbps, which can meet the requirements of 8M 15fps.

[0065] (2) It has a built-in high-precision camera management MCU that outputs PWM with adjustable frequency, duty cycle, and phase to meet the requirements of specific trigger sequences for cameras in specific orientations, so that it can be more accurately registered with other sensors to achieve better data spatio-temporal synchronization.

[0066] As Figure 9 shown, the data acquisition module further includes an embedded GNSS module for serving as a GNSS time source. The computing power module can also access the time synchronization source input to achieve multiple groups of time synchronization source outputs. The time synchronization source among them can select either the PPS / RMC of the embedded GNSS or the external PPS / RMC as the GNSS time source, and then directly access the TC397 and the main Orin. Then, the TC397 and the main Orin respectively generate PPS / RMC according to the system situation, combine the previous GNSS and PPS / RMC sources, and then select one of the three as the system PPS / RMC source to be given to the IMU and sensors (such as lidar).

[0067] The present utility model externally retains a group of time synchronization source inputs and multiple groups of time synchronization source outputs, and also has a time synchronization source selection button inside, and designs an efficient and high-precision time synchronization circuit to complete the distribution of time synchronization signals, facilitating the satisfaction of the time synchronization requirements of peripheral devices and the overall system. Such a design has the following advantages: Considering power-on in the case of weak GNSS signals, at this time the GNSS PPS / RMC is not yet available, and at this time the main Orin or TC397 is required to be used as the PPS / RMC source to be given to other devices in the system.

[0068] As Figure 10 shown, the data acquisition module further includes an on-board IMU device for collecting angle information, angular acceleration information, and acceleration information. The on-board IMU device and the above-mentioned GNSS module both use serial communication.

[0069] The computing power module supports embedding 1 GNSS module and 1 on-board IMU. The GNSS module communicates via two serial ports, and the on-board IMU communicates via 1 serial port. These 3 serial ports are all connected to the main Orin and TC397, and there is also a reserved RS422 / 485 multiplexed serial port externally that is connected to both TC397 and the main Orin, which can be used to connect an external IMU or other devices.

[0070] The externally reserved serial port type data acquisition interface also includes two RS232 interfaces and two RS422 / 485 interfaces that are only connected to the main Orin, and multiple serial port type devices can be mounted simultaneously.

[0071] In addition, the present utility model leaves two USB3.0 ports, one video display DP port, and one system flashing port for Orin to meet the implementation of functions related to mouse and keyboard or Orin, and a fan is also provided to meet the overall heat dissipation requirements of the device.

[0072] The present utility model has powerful computing power, rich data acquisition interfaces, and integrated various functional modules. In most cases, data acquisition, data transmission, data processing, etc. that traditionally require several devices can be completed using only this device. All functional modules are integrated together, avoiding problems such as connection reliability and signal quality caused by external wiring, with higher reliability and being simpler in terms of scheme debugging and problem troubleshooting.

Claims

1. A computing power platform controller, characterized in that: It includes a computing power module, a data acquisition module and a data transmission module. The computing power module is connected to the data acquisition module and the data transmission module respectively. The computing power module can also be connected to the time synchronization source input to realize multiple groups of time synchronization source outputs. The computing power module includes a connected MCU and a computing power module. The data acquisition module includes a GMSL camera data acquisition circuit, a CAN communication link, and also includes a GNSS module as a time synchronization source input, and an onboard IMU device for collecting sensor information.

2. The computing power platform controller according to claim 1, characterized in that: The MCU adopts Infineon TC397, and the computing power module adopts 1~2 NVIDIA Jetson AGX Orin modules.

3. The computing power platform controller according to claim 1, characterized in that: The GMSL camera data acquisition circuit includes a camera management MCU and a deserializer, and the deserializer is connected to a computing power module and the camera management MCU.

4. The computing power platform controller according to claim 1, characterized in that: The data transmission module is equipped with an automotive-grade TSN switching chip and a network access sharing module. The automotive-grade TSN switching chip adopts the MAC_88Q6113 chip, which is used to complete the cascading of internal network devices and provide an on-board Ethernet interface to the outside; the network access sharing module includes an embedded M.2 card slot and an embedded WiFi module. The embedded M.2 card slot can be connected to a 5G / 4G module for accessing the public network, and the embedded WiFi module can be used to connect to an external WIFI or as a hotspot for other devices to connect.

5. The computing power platform controller according to claim 2, characterized in that: When two computing power modules are provided, they serve as the master Orin and the slave Orin respectively. The data transmission module is provided with two automotive-grade TSN switching chips. Each of the two TSN switching chips has one 10G port for inter-chip cascading, and the remaining 10G port of each is connected to the master Orin and the slave Orin respectively. At the same time, 12 automotive-grade PHY chips are carried externally to connect to external vehicle Ethernet devices; there is also a PCIe 4.0x8 channel between the master Orin and the slave Orin, and the master Orin and TC397 are directly connected via 1G Ethernet.

6. The computing power platform controller according to claim 2, characterized in that: When one computing power module is provided, it serves as the main Orin. The data transmission module is provided with an automotive-grade TSN switching chip. The TSN switching is connected to the main Orin through a 10G port. At the same time, 8 automotive-grade PHY chips are equipped to connect to external vehicle Ethernet devices. The main Orin and TC397 are directly connected via 1G Ethernet.

7. The computing power platform controller according to claim 1, characterized in that: The computing power module supports a total of 12 CAN communication links, of which each of the 7 CAN channels is connected to the MCU and the computing power module, and there are 5 CAN channels that are only connected to the MCU; a CAN TX disable button interface is also provided, which is connected to the MCU and the computing power module and is used for an external emergency stop button.

8. The computing power platform controller according to claim 3, characterized in that: The deserializer is equipped with an automotive-grade deserialization chip MAX96712. When one group of computing power modules is provided, the mipi csi x4 channel of each deserialization chip is connected to the computing power module; when two groups of computing power modules are provided, the two mipi csi x4 channels of each deserialization chip are respectively connected to the two computing power modules by duplicating the data stream.

9. The computing power platform controller according to claim 1, characterized in that: The time synchronization source selects one of the embedded GNSS PPS / RMC and the external PPS / RMC as the GNSS time source. The selected GNSS time source is directly connected to TC397 and the computing power module. Then TC397 and the computing power module each generate PPS / RMC according to the system situation, and combine the previous GNSS and PPS / RMC sources to select one of the three as the system PPS / RMC source for output.

10. The computing power platform controller according to claim 1, characterized in that: The computing power platform controller communicates with the computing power module through serial ports, including a GNSS module and an onboard IMU device. The GNSS module uses two serial ports for communication, and the onboard IMU device uses one serial port for communication. In addition, it also includes four RS422 / 485 multiplexed serial ports connected to both the MCU and the computing power module, as well as two RS232 interfaces and two RS422 / 485 interfaces connected to the computing power module.

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