Hybrid ultrasonic data acquisition system of vehicle

Abstract

The utility model provides a hybrid ultrasonic data acquisition system of a vehicle, which relates to the technical field of automotive electronics and comprises a vehicle body and a microcontroller, a plurality of ultrasonic probes are arranged on the vehicle body, and the microcontroller is provided with a processor, an ultrasonic probe control module, a UDMA module and a timer module. The ultrasonic probe control module is connected with a first ultrasonic signal detection module and a second ultrasonic signal detection module, the first ultrasonic signal detection module is connected with a first I < O > interface group of the microcontroller, and a UDMA module is configured to capture echo signals; the second ultrasonic signal detection module is connected with the second I O interface group of the microcontroller and captures echo signals through the timer module. According to the utility model, the ultrasonic sensor can be prevented from occupying too many interfaces of the same type at a time, and the flexibility and convenience of extension design of other peripherals or functional modules are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of automobile electronic technology especially relates to a hybrid ultrasonic data acquisition system of vehicle. BACKGROUND

[0002] With the rapid development of vehicle intelligence and automatic driving technology, ultrasonic sensor technology has become an important part of vehicle auxiliary driving system with its high reliability, cost effectiveness and other characteristics, and is widely used in automatic parking, blind area monitoring, obstacle identification and anti-collision system and other technical fields.

[0003] With the continuous expansion of the function of the vehicle auxiliary driving system, the demand of the vehicle for sensors and external devices is increasing. Modern vehicles not only need to integrate ultrasonic probes, but also set up radar, camera and other sensor systems, among which the number of ultrasonic probes is large, usually more than eight, which will occupy a large number of the same type of IO interface of the controller, forming a huge pressure on the pin resources, limiting the expansion of other external devices or functional modules, reducing the flexibility of system design, and some controllers with multiple expansion functions usually have high cost, also increasing the production and maintenance cost. UTILITY MODEL CONTENT

[0004] In order to overcome the defects of the prior art, the technical problem to be solved by the utility model is to provide a hybrid ultrasonic data acquisition system of vehicle, which adopts the following technical scheme:

[0005] A hybrid ultrasonic data acquisition system of vehicle, comprising a vehicle body and a microcontroller, the vehicle body is provided with a plurality of ultrasonic probes, the microcontroller comprises a processor, an ultrasonic probe control module, a UDMA module and a timer module, the ultrasonic probe control module is connected with a first ultrasonic signal detection module and a second ultrasonic signal detection module, wherein

[0006] The first ultrasonic signal detection module is arranged on the front side and the rear side of the vehicle body, the first ultrasonic signal detection module is connected with the first IO interface group of the microcontroller, and the UDMA module is configured to capture the echo signal of the first ultrasonic signal detection module;

[0007] The second ultrasonic signal detection module is arranged on the left front side, the right front side, the left rear side and the right rear side of the vehicle body, the second ultrasonic signal detection module is connected with the second IO interface group of the microcontroller, and the echo signal of the second ultrasonic signal detection module is captured through the timer module.

[0008] Further improved, the first ultrasonic signal detection module comprises eight first ultrasonic probes, and the front side and the rear side of the vehicle body are respectively provided with four first ultrasonic probes; the second ultrasonic signal detection module comprises four second ultrasonic probes, and the left front side, the right front side, the left rear side and the right rear side of the vehicle body are respectively provided with one second ultrasonic probe.

[0009] Further improved, the working frequency of the first ultrasonic probe is 58KHz, and the working frequency of the second ultrasonic probe is 40KHz.

[0010] Further improved, the microcontroller further comprises a clock synchronization acquisition module and a memory, the UDMA module and the timer module are connected to the memory, and the clock synchronization acquisition module is connected to the memory and is used for acquiring and synchronizing the echo signals of the UDMA module and the timer module.

[0011] Further improved, the memory comprises a first cache area, a second cache area and a main cache area, the UDMA module is connected to the first cache area, the timer module is connected to the second cache area, the first cache area and the second cache area deliver signals to the clock synchronization acquisition module, and the clock synchronization acquisition module synchronizes and integrates the signals and delivers the signals to the main cache area.

[0012] Further improved, the microcontroller is a TDA4 series chip.

[0013] Further improved, the first IO interface group is a GPIO interface, and the second IO interface group is a capture interface of the timer module.

[0014] Compared with the prior art, the utility model has the beneficial effects that:

[0015] Firstly, the utility model combines the first ultrasonic signal detection module and the second ultrasonic signal detection module, the first ultrasonic signal detection module is connected to the GPIO interface, the UDMA module captures echo data, the second ultrasonic signal detection module captures echo signals through the timer module, and through the above connection mode, the ultrasonic sensor can avoid occupying too many same type interfaces at a time, and the flexibility and convenience of the expansion design of other peripherals or functional modules are improved.

[0016] Secondly, the utility model discloses a first ultrasonic probe is arranged on the front side and rear side of the vehicle body, and the signal is transmitted from the GPIO interface to the memory by UDMA module, does not need the participation of CPU, reduces the CPU resource occupation, and also can reduce the occupation of timer capture function.Further, the first ultrasonic probe with the working frequency of 58KHz has high sensitivity, accurate short-distance ranging, sensitive response and is suitable for low-speed short-distance obstacle avoidance, parking assistance, automatic parking and other functions.

[0017] Thirdly, the utility model discloses a second ultrasonic probe on the left front side, right front side, left rear side and right rear side of the vehicle body, and the echo signal is received through the capture pin of timer module, the connection mode is based on hardware counter capture signal, and the second ultrasonic probe with the working frequency of 40KHz has narrower horizontal and vertical detection angle and farther detection distance and is suitable for direction detection in automatic parking application, such as finding parking space.

[0018] Fourthly, the utility model discloses a clock synchronous acquisition module, and the signals collected by UDMA module and timer module are stored in the first buffer area and second buffer area of the memory respectively, are transported to the main buffer area after being collected and integrated by clock synchronous acquisition module and are used for the post-processing of CPU.Through the setting of clock synchronous acquisition module, the reliability of two kinds of acquisition modes is improved, the separate work and combined work of first ultrasonic signal acquisition module and second ultrasonic acquisition module can be realized based on this, the efficiency and accuracy of data acquisition, transmission, integration and post-processing are ensured, the data acquisition processing difficulty is reduced by the memory buffer area, and the processing burden of CPU is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme of the embodiment of the utility model, the following will briefly introduce the drawing used in the embodiment, and it should be understood that the following drawing only shows some embodiments of the utility model, and should not be regarded as the limitation to the scope, and the related drawings can also be obtained by the drawings for the ordinary skilled person in the art without the creative labor.

[0020] Figure 1 It is the frame structure schematic diagram of the utility model;

[0021] Figure 2 It is the ultrasonic probe connection schematic diagram of the utility model;

[0022] Figure 3 It is the ultrasonic probe vehicle body layout drawing of one embodiment of the utility model;

[0023] Figure 4 It is the synchronous acquisition module frame connection schematic diagram of the utility model.

[0024] Reference signs:

[0025] 100 - vehicle body;

[0026] 1 - microcontroller; 2 - first ultrasonic signal detection module; 3 - second ultrasonic signal detection module;

[0027] 11 - processor; 12 - ultrasonic probe control module; 13 - UDMA module; 14 - timer module; 15 - first IO interface group; 16 - second IO interface group; 17 - clock synchronization acquisition module; 18 - memory; 180 - main cache area; 181 - first cache area; 182 - second cache area;

[0028] 21 - first ultrasonic probe;

[0029] 31 - second ultrasonic probe. DETAILED DESCRIPTION

[0030] For the convenience of those skilled in the art to understand, the structure of the utility model will be further described in detail in combination with the drawings:

[0031] In the description of the utility model, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. The terms "part", "side", "end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as limiting the utility model.

[0032] The utility model provides a kind of hybrid ultrasonic data acquisition system of vehicle, as shown in figure Figures 1-3 It includes vehicle body 100 and microcontroller 1, wherein several ultrasonic probes are installed on vehicle body 100, and microcontroller 1 cooperates with ultrasonic probe to complete data acquisition and processing by the processor 11, ultrasonic probe control module 12, UDMA module 13 and timer module 14 integrated in it.

[0033] As shown in figure Figures 1-2 The above ultrasonic probe control module 12 is connected with first ultrasonic signal detection module 2 and second ultrasonic signal detection module 3, wherein first ultrasonic signal detection module 2 is connected with the first IO interface group 15 (including several first IO interfaces) of microcontroller 1, and UDMA module 13 is configured to capture echo signal of first ultrasonic signal detection module 2;Second ultrasonic signal detection module 3 is connected with the second IO interface group 16 (including several second IO interfaces) of microcontroller 1, and echo signal of second ultrasonic signal detection module 3 is captured by timer module 14.

[0034] As shown in the drawings, Figures 2-3 Specifically, the first ultrasonic signal detection module 2 includes eight first ultrasonic probes 21, and the front side and the rear side of the vehicle body 100 are respectively provided with four first ultrasonic probes 21; the second ultrasonic signal detection module 3 includes four second ultrasonic probes 31, and the front left side, the front right side, the rear left side and the rear right side of the vehicle body 100 are respectively provided with one second ultrasonic probe 31.

[0035] In addition, those skilled in the art can adjust the number or position of the first ultrasonic probe 21 and the second ultrasonic probe 31 according to actual needs and hardware support, such as setting nine first ultrasonic probes 21 and three second ultrasonic probes 31.

[0036] As shown in the drawings, Figures 2-3 The connection mode of the ultrasonic probe is divided into two types as described above, the first ultrasonic probe 21 is connected to the first IO interface group 15 of the microcontroller 1, and the second ultrasonic probe 31 is connected to the capture interface of the timer module 14.

[0037] In one embodiment, the microcontroller 1 described above is a TDA4 series chip, eight first ultrasonic probes 21 are connected to the GPIO interface of the microcontroller 1, four second ultrasonic probes 31 are connected to the capture pin of the timer of the microcontroller 1, and the echo signal of the second ultrasonic signal detection module 3 is captured through the timer module 14.

[0038] In the following, the microcontroller 1 with model number TDA4VL will be taken as an example to explain the above connection relationship and working process.

[0039] As shown in the drawings, Figures 1-4 Eight first ultrasonic probes 21 are connected to the GPIO interface of the microcontroller 1, the GPIO interface is configured as an edge-triggered interrupt, and is used to detect the arrival of the echo signal. Each GPIO input signal channel shares a GTC timer, which records the timestamp after capturing the echo signal when transmitting the signal, and is stored in the corresponding each UDMA module 13 channel at the same time. After collection, the echo signal is transported to the first cache area 181. Since the UDMA module 13 adopts the form of direct memory access, its collection and transportation process occupies very few system resources, and at the same time can efficiently process large-scale data flow, ensuring the real-time and integrity of the signal data.

[0040] In the above embodiment, the UDMA module 13 can complete the reading and transportation of the echo signal without occupying the processor 11 resources, greatly reducing the load of the processor 11, and the echo signal capture realizes a completely hardware processing from event triggering to data storage, significantly improving the efficiency of the capture process.

[0041] Further, the first ultrasonic probe 21 has a working frequency of 58KHz, high sensitivity, accurate short-distance ranging, sensitive response, and is suitable for low-speed short-distance obstacle avoidance, parking assistance, automatic parking and other functions.

[0042] On the other hand, as shown in FIG. 2, the second IO interface group 16 is a capture interface of the timer module 14, and the second ultrasonic probe 31 is connected to the capture interface. Specifically, the echo signals of the four second ultrasonic probes 31 are connected to the capture pins of the timer, such as the CAPTURE pin (as shown in FIG. 3). Figures 1-4 Figure 2 Each timer module 14 has an independent input channel and can receive the echo signal of the corresponding second ultrasonic probe 31. When the second ultrasonic probe 31 transmits a signal, the timer module 14 is initialized and starts timing, and records the reference time at the time of transmission. When the probe receives the echo signal and inputs through the capture pin, the timer capture unit triggers an event, and stores the current timing value as a timestamp in the capture register. By calculating the difference between the timestamp in the capture register and the reference time, the propagation time of the signal can be obtained, thereby realizing accurate measurement of the distance of the obstacle.

[0043] The above embodiment utilizes the dedicated capture hardware of the timer module 14 in the TDA4 chip to realize the efficiency and accuracy of the capture process. The way of capturing the echo signal through the capture pin of the timer has higher hardware integration, can quickly respond to the edge change of the input signal, realize the instant capture of the signal jump, realize the efficient capture and accurate time measurement of the ultrasonic signal echo, and has significant advantages in various scenes such as front and rear obstacle avoidance. In this embodiment, one second ultrasonic probe 31 is arranged at each of the left front side, right front side, left rear side and right rear side of the vehicle body 100, and a second ultrasonic probe 31 with a working frequency of 40KHz is selected, which has narrower horizontal and vertical detection angles and longer detection distance, and is suitable for orientation detection in automatic parking applications, such as finding a parking space.

[0044] By mixed use of GPIO+UDMA capture and timer capture, the use of too many same type interfaces by the ultrasonic sensor can be avoided, and the flexibility and convenience of the design of the expansion of other peripheral or functional modules can be increased.

[0045] It should be noted that, in order to ensure the consistency of different data collection methods in time, the microcontroller 1 further includes a clock synchronization collection module 17, as shown in FIG. 4. Figure 1 Figure 4 ​​As shown, the memory package 18 comprises a first cache area 181, a second cache area 182 and a main cache area 180, the UDMA module 13 is connected to the first cache area 181, the timer module 14 is connected to the second cache area 182, the first cache area 181 and the second cache area 182 deliver signals to the clock synchronization acquisition module 17, the clock synchronization acquisition module 17 synchronizes and integrates the signals and delivers them to the main cache area 180. Specifically, the clock synchronization acquisition module 17 receives two acquisition signals from the first cache area 181 and the second cache area 182, and performs unified timestamp calibration on the two signals, the clock synchronization acquisition module 17 carries the synchronized and integrated data to the main cache area 180, and the main cache area 180 is a direct access area of the CPU, thereby reducing the management and analysis burden of the CPU on the data.

[0046] It should be understood that the above configurations, such as the timer capture pin configuration, the UDMA module 13 capture GPIO interface configuration, the clock synchronization configuration, and the part of the program involved in the clock synchronization acquisition module, all belong to the reuse of existing programs, and those skilled in the art can fully understand and flexibly implement the above embodiments by referring to the configuration description in the specification and the related hardware specification book, and complete the configuration and application of the system according to the specific application requirements.

[0047] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Those skilled in the art can make various changes and modifications to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A hybrid ultrasonic data acquisition system for a vehicle, comprising a vehicle body (100) and a microcontroller (1), wherein a plurality of ultrasonic probes are disposed on the vehicle body (100), and the microcontroller (1) comprises a processor (11), an ultrasonic probe control module (12), a UDMA module (13), and a timer module (14), characterized in that: The ultrasonic probe control module (12) is connected to a first ultrasonic signal detection module (2) and a second ultrasonic signal detection module (3), wherein The first ultrasonic signal detection module (2) is disposed on the front and rear sides of the vehicle body (100). The first ultrasonic signal detection module (2) is connected to the first IO interface group (15) of the microcontroller and the UDMA module (13) is configured to capture the echo signal of the first ultrasonic signal detection module (2). The second ultrasonic signal detection module (3) is located on the left front side, right front side, left rear side and right rear side of the vehicle body (100). The second ultrasonic signal detection module (3) is connected to the second IO interface group (16) of the microcontroller and captures the echo signal of the second ultrasonic signal detection module (3) through the timer module (14).

2. The hybrid ultrasonic data acquisition system for a vehicle as described in claim 1, characterized in that: The first ultrasonic signal detection module (2) includes eight first ultrasonic probes (21), and four first ultrasonic probes are respectively provided on the front and rear sides of the vehicle body (100); the second ultrasonic signal detection module (3) includes four second ultrasonic probes (31), and one second ultrasonic probe (31) is respectively provided on the left front side, right front side, left rear side and right rear side of the vehicle body (100).

3. The hybrid ultrasonic data acquisition system for a vehicle as described in claim 2, characterized in that: The first ultrasonic probe (21) operates at a frequency of 58 kHz, and the second ultrasonic probe (31) operates at a frequency of 40 kHz.

4. The hybrid ultrasonic data acquisition system for a vehicle as described in claim 2, characterized in that: The microcontroller further includes a clock synchronization acquisition module (17) and a memory (18). The UDMA module (13) and the timer module (14) are connected to the memory (18). The clock synchronization acquisition module (17) is connected to the memory (18) and is used to acquire and synchronize the echo signals of the UDMA module (13) and the timer module (14).

5. The hybrid ultrasonic data acquisition system for a vehicle as described in claim 4, characterized in that: The memory (18) includes a first buffer (181), a second buffer (182), and a main buffer (180). The UDMA module (13) is connected to the first buffer (181), and the timer module (14) is connected to the second buffer (182). The first buffer (181) and the second buffer (182) transmit signals to the clock synchronization acquisition module (17), and the clock synchronization acquisition module (17) synchronizes and integrates the signals and transmits them to the main buffer (180).

6. The hybrid ultrasonic data acquisition system for a vehicle as described in claim 1, characterized in that: The microcontroller (1) is a TDA4 series chip.

7. A hybrid ultrasonic data acquisition system for a vehicle as described in claim 6, characterized in that: The first IO interface group (15) is a GPIO interface, and the second IO interface group (16) is the capture interface of the timer module (14).

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