Domain control device
By introducing a co-processing unit into the autonomous driving domain control device, receiving functional unit data and forwarding it to the computing unit, the problem of excessive resource utilization of computing unit interfaces in the prior art is solved, and resource saving and system performance improvement are achieved.
Patent Information
- Application Number
- CN202422337581.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-24
- Publication Date
- 2025-06-27
- Estimated Expiration
- 2034-09-24
AI Technical Summary
In the existing autonomous driving domain control equipment, the core computing unit directly transmits and controls data with the sensor unit, resulting in excessive use of the computing unit interface resources, affecting the implementation of core functions.
A co-processing unit is introduced in the domain control device, which is connected to the functional unit through the co-processing unit, receives the data sent by the functional unit and forwards it to the computing power unit, reducing the direct connection between the computing power unit and the sensor unit.
The co-processing unit assists the computing power unit in data forwarding and controlling the low computing power demand, saving the interface resources of the computing power unit and improving the system's resource utilization rate.
Smart Images
Figure CN223038328U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of domain controllers, and particularly relates to a domain control device. Background Art
[0002] An autonomous driving domain control device can realize the control and management of the entire vehicle system. The autonomous driving domain control device centrally manages the electronic control units (ECUs) of the vehicle by integrating multiple sensors and controllers, thereby realizing the automatic control and management of the vehicle. Generally, an autonomous driving domain controller includes a core computing power unit for directly processing various sensor data of the vehicle and performing real-time control on the vehicle.
[0003] As Figure 1 shown, there is provided a structural schematic diagram of a domain control device in the prior art. In the existing method, the core computing power unit directly performs data transmission and control with the sensor unit, and the core computing power unit directly controls and processes data of various sensors. This method will occupy more interface resources of the computing power unit and affect the realization of the core functions of the computing power unit. Summary of the Utility Model
[0004] In view of the above technical problems existing in the prior art, a domain control device of the present utility model is proposed to overcome at least one of the above-mentioned problems.
[0005] To achieve the above object, the present utility model adopts the following technical solutions:
[0006] According to one aspect of the present utility model, there is provided a domain control device, wherein the domain control device includes: a computing power unit, a coprocessing unit, a functional unit, and a communication unit. The computing power unit and the coprocessing unit establish a communication connection through the communication unit, and the coprocessing unit is further connected to the functional unit for receiving data sent by the functional unit and sending the data to the computing power unit.
[0007] Optionally, a plurality of transmission interfaces are provided on the coprocessing unit, the functional unit includes a plurality of sensor units, and the coprocessing unit is respectively connected to the plurality of sensor units through the plurality of transmission interfaces for respectively receiving sensor data sent by each sensor unit.
[0008] Optionally, a plurality of first CAN interfaces are provided on the coprocessing unit, the sensor unit includes a plurality of millimeter-wave radars, and the coprocessing unit is connected to the plurality of millimeter-wave radars through the plurality of first CAN interfaces for receiving radar data collected by the plurality of millimeter-wave radars.
[0009] Optionally, a second CAN interface is further provided on the coprocessing unit. The sensor unit further includes an ultrasonic radar. The coprocessing unit is connected to the ultrasonic radar through the second CAN interface for receiving radar data collected by the ultrasonic radar.
[0010] Optionally, multiple PWM interfaces are further provided on the coprocessing unit. The sensor unit further includes multiple cameras. The coprocessing unit is connected to the multiple cameras through the multiple PWM interfaces for receiving camera data collected by the multiple cameras.
[0011] Optionally, a first serial interface and a first IO interface are further provided on the coprocessing unit. The sensor unit further includes an RTK positioning unit. The coprocessing unit is connected to the RTK positioning unit through the first serial interface for receiving positioning data of the RTK positioning unit, and is connected to the RTK positioning unit through the first IO interface for receiving the 1PPS signal of the RTK positioning unit.
[0012] Optionally, a second IO interface is further provided on the coprocessing unit. The coprocessing unit receives the heartbeat information of the computing unit through the second IO interface;
[0013] A third IO interface is further provided on the computing unit. The computing unit receives the heartbeat information of the coprocessing unit through the third IO interface.
[0014] Optionally, the communication unit is an Ethernet switch chip. Multiple network interfaces are provided on the Ethernet switch chip. The computing unit and the coprocessing unit are connected to different network interfaces to access the Ethernet switching network.
[0015] Optionally, a heat dissipation control interface is further provided on the coprocessing unit. The functional unit further includes a heat dissipation unit. The coprocessing unit is connected to the heat dissipation unit through the heat dissipation control interface.
[0016] Optionally, a debugging interface is further provided on the coprocessing unit. The coprocessing unit is connected to an external debugging device through the debugging interface.
[0017] In summary, the beneficial effects of the present utility model are:
[0018] The domain control device of the present utility model includes: a computing power unit, a coprocessing unit, a functional unit, and a communication unit. The computing power unit and the coprocessing unit establish a communication connection through the communication unit. The coprocessing unit is also connected to the functional unit, and is configured to receive data sent by the functional unit and send the data to the computing power unit. In the domain control device of the present utility model, a coprocessing unit is provided, which assists the core computing power unit to forward and control data with low computing power requirements, thereby saving the interface resources of the computing power unit. Brief Description of the Drawings
[0019] Figure 1 Fig. 6 shows a schematic structural diagram of a domain control device in the prior art;
[0020] Figure 2 Fig. 10 shows a schematic structural diagram of a domain control device of the present utility model;
[0021] Figure 3 Fig. 14 shows a schematic structural diagram of another domain control device of the present utility model. Detailed Embodiments
[0022] To make the objectives, technical solutions, and advantages of the present utility model clearer, the embodiments of the present utility model will be described in further detail below with reference to the accompanying drawings.
[0023] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present utility model. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.
[0024] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.
[0025] Embodiment 1
[0026] Figure 2The structural schematic diagram of a domain control device of the present utility model is shown. The domain control device of the present utility model includes: a computing power unit, a coprocessing unit, a functional unit, and a communication unit. The computing power unit and the coprocessing unit establish a communication connection through the communication unit. The coprocessing unit is also connected to the functional unit, and is used to receive the data sent by the functional unit and send the data to the computing power unit.
[0027] The domain control device of the present utility model mainly consists of a computing power unit, a coprocessing unit, a functional unit, and a communication unit. The computing power unit is the core unit inside the autonomous driving domain control device. For example, the present utility model can adopt the high-computing-power module Jetson AGX Orin module developed by NVIDIA Corporation to form the computing power unit of the domain control device. The Jetson AGX Orin module has a high computing power of 200 TOPS, and mainly provides the operation and processing capabilities for the entire system, such as processing camera image data, millimeter-wave radar data, lidar data, etc.
[0028] The coprocessing unit is a newly added structure in the domain control device of the present utility model, and is mainly used to assist the computing power unit in forwarding and controlling data with low computing power requirements. For example, it can be implemented by using the TC397 microcontroller. The TC397 microcontroller is a 6-core 32-bit microcontroller developed by Infineon Technologies AG, and is used as the coprocessing unit of the present utility model. Of course, for the specific type of microcontroller used as the coprocessing unit, those skilled in the art can flexibly select according to actual needs, and no specific limitation is made here.
[0029] The functional unit is the unit for the domain control device to implement various functions such as perception, monitoring, and heat dissipation. For example, it can include various units for collecting sensor data such as cameras, millimeter-wave radars, lidars, and RTK positioning units, and can also include monitoring units, heat dissipation units, etc. The communication unit is the unit for establishing network communication between the internal units of the domain control device and between the domain control device and external devices.
[0030] The computing power unit of the present utility model and the coprocessing unit establish a communication connection through the communication unit for data transmission. The computing power unit is no longer directly connected to the functional unit, but the coprocessing unit is connected to the functional unit. The coprocessing unit receives the data collected by the functional unit and then forwards it to the computing power unit for subsequent processing, thereby saving the interface resources of the computing power unit.
[0031] The present utility model sets a coprocessing unit in the domain control device, and through the coprocessing unit, it assists the core computing power unit in forwarding and controlling data with low computing power requirements, thereby saving the interface resources of the computing power unit.
[0032] In some embodiments of the present utility model, a plurality of transmission interfaces are provided on the coprocessing unit, the functional unit includes a plurality of sensor units, and the coprocessing unit is respectively connected to the plurality of sensor units through the plurality of transmission interfaces for respectively receiving sensor data sent by each sensor unit.
[0033] In an autonomous driving domain control device, a variety of sensor units are usually provided, such as cameras, millimeter-wave radars, lidars, etc. The coprocessing unit of the present utility model is provided with a plurality of transmission interfaces for multiple sensor units to be connected. Different sensor units can be connected to the coprocessing unit through different transmission interfaces, so as to transmit the sensor data collected by themselves to the coprocessing unit.
[0034] In some embodiments of the present utility model, a plurality of first CAN interfaces are provided on the coprocessing unit, the sensor unit includes a plurality of millimeter-wave radars, and the coprocessing unit is connected to the plurality of millimeter-wave radars through the plurality of first CAN interfaces for receiving radar data collected by the plurality of millimeter-wave radars.
[0035] The sensor unit of the present utility model may include a plurality of millimeter-wave radars. The coprocessing unit uses a plurality of independent CAN interfaces to be respectively connected to the plurality of millimeter-wave radars, so as to realize the forwarding and control of millimeter-wave radar data. For example, when 3 millimeter-wave radars are adopted, the coprocessing unit can use 3 independent CAN interfaces to be respectively connected to 3 millimeter-wave radars.
[0036] In some embodiments of the present utility model, a second CAN interface is further provided on the coprocessing unit, the sensor unit further includes an ultrasonic radar, and the coprocessing unit is connected to the ultrasonic radar through the second CAN interface for receiving radar data collected by the ultrasonic radar.
[0037] The sensor unit of the present utility model may include an ultrasonic radar. The coprocessing unit uses 1 independent CAN interface to connect the ultrasonic radar, so as to realize the forwarding and control of ultrasonic radar data.
[0038] In some embodiments of the present utility model, a plurality of PWM interfaces are further provided on the coprocessing unit, the sensor unit further includes a plurality of cameras, and the coprocessing unit is connected to the plurality of cameras through the plurality of PWM interfaces for receiving camera data collected by the plurality of cameras.
[0039] The sensor unit of the present utility model may further include multiple cameras. The coprocessing unit is connected to the multiple cameras respectively using multiple independent PWM (Pulse-Width Modulation) interfaces as the trigger signals for the cameras. For example, when 16 cameras are adopted, the coprocessing unit may use 16 independent PWM interfaces to connect to 16 cameras.
[0040] In some embodiments of the present utility model, a first serial interface and a first IO interface are further provided on the coprocessing unit. The sensor unit further includes an RTK positioning unit. The coprocessing unit is connected to the RTK positioning unit through the first serial interface for receiving the positioning data of the RTK positioning unit, and is connected to the RTK positioning unit through the first IO interface for receiving the 1PPS signal of the RTK positioning unit.
[0041] The sensor unit of the present utility model may further include an RTK positioning device. The coprocessing unit uses one serial port to receive RTK positioning data and uses one IO interface to receive the 1PPS (One Pulse Per Second) signal.
[0042] In some embodiments of the present utility model, a second IO interface is further provided on the coprocessing unit. The coprocessing unit receives the heartbeat information of the computing power unit through the second IO interface. A third IO interface is further provided on the computing power unit. The computing power unit receives the heartbeat information of the coprocessing unit through the third IO interface.
[0043] The computing power unit of the present utility model may generate a heartbeat signal through an independently provided IO interface on the coprocessing unit and send it to the coprocessing unit, and at the same time receive the heartbeat signal sent by the coprocessing unit through the independently provided IO interface on the computing power unit. By mutually sending heartbeat signals, mutual monitoring and system operation diagnosis can be achieved between the computing power unit and the coprocessing unit.
[0044] In some embodiments of the present utility model, the communication unit is an Ethernet switch chip. Multiple network interfaces are provided on the Ethernet switch chip. The computing power unit and the coprocessing unit are connected to different network interfaces to access the computing power unit and the coprocessing unit into the Ethernet switching network.
[0045] The Ethernet switch chip of the present utility model can, for example, adopt the 88Q6113 chip developed by Marvell. The 88Q6113 chip is an Ethernet switch chip that meets the AEC-Q100 automotive grade and has multiple network interfaces. For example, it includes RGMII interfaces and UPHY interfaces. The coprocessor unit can access the Ethernet switching network through the RGMII interface, and the computing power unit can access the Ethernet switching network through the UPHY interface.
[0046] In some embodiments of the present utility model, a heat dissipation control interface is further provided on the coprocessor unit. The functional unit further includes a heat dissipation unit, and the coprocessor unit is connected to the heat dissipation unit through the heat dissipation control interface.
[0047] The functional unit of the present utility model further includes a heat dissipation unit. A heat dissipation control interface is provided on the coprocessor unit, which can be, for example, a UART interface. The heat dissipation system is controlled through the coprocessor unit, thereby being able to reduce the operating burden of the computing power unit.
[0048] In some embodiments of the present utility model, a debugging interface is further provided on the coprocessor unit, and the coprocessor unit is connected to an external debugging device through the debugging interface.
[0049] An independent debugging interface can also be reserved on the coprocessor unit of the present utility model, which can be, for example, a UART interface. It is connected to an external debugging device through the debugging interface, thereby realizing the debugging of the coprocessor unit.
[0050] For the convenience of understanding the above embodiments, as Figure 3 shown, a structural schematic diagram of another domain control device in the present utility model is provided.
[0051] In the existing method, the computing power unit directly controls and processes data of various sensors. This method occupies a large number of interface resources of the computing power unit, such as IO interfaces, CAN interfaces, UART interfaces, etc. The present utility model forwards data and controls through the connection of the coprocessor unit and the functional unit, which can greatly save the interface resources of the computing power unit. The coprocessor unit and the computing power unit monitor each other through the heartbeat signal transmitted and received through the IO interface, enabling the system to have a stronger self-diagnosis function. In addition, the heat dissipation system can also be controlled through the coprocessor unit, reducing the operating burden of the computing power unit.
[0052] The above is only the specific implementation manner of the present utility model. Under the above teachings of the present utility model, those skilled in the art can make other improvements or deformations based on the above embodiments. Those skilled in the art should understand that the above specific description is only to better explain the purpose of the present utility model, and the protection scope of the present utility model should be subject to the protection scope of the claims.
Claims
1. A domain control device, wherein: The domain control device includes: a computing unit, a co-processing unit, a functional unit and a communication unit. The computing unit and the co-processing unit establish a communication connection through the communication unit. The co-processing unit is also connected to the functional unit to receive data sent by the functional unit and send the data to the computing unit.
2. The domain control device according to claim 1, wherein: The co-processing unit is provided with a plurality of transmission interfaces, the functional unit includes a plurality of sensor units, and the co-processing unit is connected to the plurality of sensor units respectively through the plurality of transmission interfaces, so as to respectively receive sensor data sent by each sensor unit.
3. The domain control device according to claim 2, wherein: The co-processing unit is provided with a plurality of first CAN interfaces, the sensor unit includes a plurality of millimeter-wave radars, and the co-processing unit is connected to the plurality of millimeter-wave radars through the plurality of first CAN interfaces for receiving radar data collected by the plurality of millimeter-wave radars.
4. The domain control device according to claim 2, wherein: The co-processing unit is also provided with a second CAN interface, and the sensor unit also includes an ultrasonic radar. The co-processing unit is connected to the ultrasonic radar via the second CAN interface to receive radar data collected by the ultrasonic radar.
5. The domain control device according to claim 2, wherein: The co-processing unit is also provided with a multi-channel PWM interface, and the sensor unit also includes a multi-channel camera. The co-processing unit is connected to the multi-channel camera via the multi-channel PWM interface to receive camera data collected by the multi-channel camera.
6. The domain control device according to claim 2, wherein: The co-processing unit is also provided with a first serial interface and a first IO interface. The sensor unit also includes an RTK positioning unit. The co-processing unit is connected to the RTK positioning unit through the first serial interface to receive the positioning data of the RTK positioning unit, and is connected to the RTK positioning unit through the first IO interface to receive the 1PPS signal of the RTK positioning unit.
7. The domain control device according to claim 1, wherein: The co-processing unit is also provided with a second IO interface, and the co-processing unit receives the heartbeat information of the computing unit through the second IO interface; The computing unit is also provided with a third IO interface, and the computing unit receives the heartbeat information of the co-processing unit through the third IO interface.
8. The domain control device according to claim 1, wherein: The communication unit is an Ethernet switch chip, and multiple network interfaces are provided on the Ethernet switch chip. The computing unit and the coprocessing unit are connected to different network interfaces to connect the computing unit and the coprocessing unit to the Ethernet switching network.
9. The domain control device according to any one of claims 1 to 8, wherein: The co-processing unit is also provided with a heat dissipation control interface, the functional unit also includes a heat dissipation unit, and the co-processing unit is connected to the heat dissipation unit via the heat dissipation control interface.
10. The domain control device according to any one of claims 1 to 8, wherein: The co-processing unit is also provided with a debugging interface, and the co-processing unit is connected to an external debugging device through the debugging interface.