Data acquisition system and vehicle

Abstract

The application relates to a data acquisition system and a vehicle and belongs to the technical field of data interaction. The lower computer unit of the data acquisition system takes power from a vehicle battery: a remote control switch is connected with a positive electrode of the battery and a negative electrode of the battery; a positive electrode and a negative electrode of an electromagnetic switch are respectively connected with output ends of the remote control switch; and an output end of the electromagnetic switch is connected with the negative electrode of the battery. The remote control switch can control the on-off of the circuit of the battery and the lower computer unit, and solves the problem of vehicle hibernation power-off. Data acquisition boards are used to collect and acquire data, and the problem of data expansibility is solved. The application is particularly suitable for vehicle data acquisition tasks with strong persistence and large data volume, such as road test data acquisition of automatic driving vehicles.

Description

Technical Field

[0001] This application relates to the field of data interaction technology, and in particular to a data acquisition system and vehicle. Background Technology

[0002] Data collection from road test vehicles is a crucial step in the research and optimization of intelligent driving technology. By collecting vehicle data in different scenarios, it is possible to optimize the perception, decision-making, and control algorithms of the intelligent driving system, thereby improving the generalization and adaptability of the vehicle's autonomous driving system.

[0003] To address the diverse operational needs of each country and region, targeted road tests are necessary to collect sufficient operational data to assist in the training of the intelligent driving system.

[0004] The road test data acquisition system draws power from the vehicle battery. In existing technology, vehicle batteries have a problem where power cannot be cut off after they enter a dormant state; they continue to consume power even in dormant mode, affecting power supply reliability. Utility Model Content

[0005] This application addresses, to at least some extent, one of the technical problems in the related art.

[0006] To achieve the above objectives, in a first aspect, this application provides a data acquisition system, comprising:

[0007] Battery:

[0008] Remote control switch: Its input terminals are connected to the positive and negative terminals of the battery;

[0009] Electromagnetic switch: Its positive and negative terminals are connected to the output terminals of the remote control switch, respectively; its output terminal is connected to the negative terminal of the battery.

[0010] Sensing system: includes sensors;

[0011] Lower-level unit: includes a lower-level machine, which is connected to the sensor to acquire the sensing data collected by the sensor;

[0012] The battery is connected to the lower-level computer unit.

[0013] In this embodiment, a remote control switch and an electromagnetic switch are added to the vehicle power supply system. The vehicle power supply system supplies power to the electrical units of the vehicle operation and data acquisition system. Road test equipment requires a significant power supply to ensure continuous power and maximize equipment performance, typically requiring an additional battery. However, when an external battery is used, the generator power is sometimes insufficient to simultaneously power both the vehicle battery and the external battery. This can lead to situations where the vehicle's electrical equipment cannot be disconnected from the battery when the vehicle is powered off, preventing the vehicle from entering sleep mode. Adding the remote control switch and electromagnetic switch allows for the disconnection of power between the vehicle battery and the electrical equipment, ensuring the reliability of the vehicle system.

[0014] In conjunction with the first aspect, the data acquisition system also includes an on-board diagnostic system;

[0015] Data acquisition board, the data acquisition board being configured as follows:

[0016] Connect to the on-board diagnostic system to obtain on-board diagnostic system data;

[0017] Connect the sensor and communicate bidirectionally with it;

[0018] Connect to the lower-level machine and transmit data to it.

[0019] This application proposes a high-efficiency data acquisition system, particularly suitable for continuous, high-volume vehicle data acquisition tasks, such as road test data acquisition for autonomous vehicles. Data transmission between multiple devices, including data sensors and lower-level systems, often relies on data signal lines, which can easily become excessively long and numerous. As the number of vehicle sensors increases, so does the number and length of these signal lines. This not only increases system complexity but can also lead to mutual interference between signal lines. Excessively long signal lines can cause signal reflection, further affecting the stability and integrity of data transmission and reducing its reliability. Therefore, a data acquisition board is designed as the central hub of the entire data acquisition system, undertaking the crucial tasks of data aggregation, transmission, and management. The data acquisition board is designed with system flexibility and scalability in mind, allowing for easy integration of more sensors or expansion of new functional modules. Simultaneously, it supports high-speed data transmission, meeting the real-time data acquisition needs of scenarios such as autonomous vehicle road tests. The data acquisition system provided in this application fully considers the integrity, accuracy, and real-time nature of data acquisition, meeting the comprehensive monitoring and recording needs of vehicle data in various scenarios.

[0020] In conjunction with the first aspect, the data acquisition board is a CAN board, which connects a public CAN signal line and a private CAN signal line. The CAN board is connected to the sensor via the public CAN signal line and the private CAN signal line, respectively, and the CAN board is connected to the lower-level machine via the public CAN signal line and the private CAN signal line, respectively.

[0021] In this embodiment, considering that the on-board diagnostic system uses CAN bus for data transmission, the data acquisition board is designed to use a CAN board to facilitate data fusion between the data acquisition system and the vehicle system. This makes the data acquisition system more suitable for communication protocols based on the vehicle controller area network (VLAN). Furthermore, considering that CAN data between different vehicle subsystems can be divided into public CAN data and private CAN data depending on the specific nature of the data, dividing vehicle data transmission into two independent channels—public CAN signal lines and private CAN signal lines—effectively improves data transmission reliability. This design provides both strong data transmission capabilities and high reliability, meeting the complex communication needs of vehicles.

[0022] In conjunction with the first aspect, a first data conversion module is provided between the data acquisition board and the lower-level machine, which is used to convert the data output by the data acquisition board into the data type required by the lower-level machine.

[0023] In this embodiment, considering the diverse data types acquired by the data acquisition board, there may be data incompatibility issues between it and the lower-level machine. To further address this problem, a first data conversion module is specifically provided between the data acquisition board and the lower-level machine. The main function of this module is to convert the data from the data acquisition board into the specific data type required by the lower-level machine, thereby resolving the signal compatibility issue between the data acquisition board and the lower-level machine.

[0024] In conjunction with the first aspect, in some implementations of the first aspect, a second data conversion module is provided between the sensor and the lower-level machine to convert the sensor data into the data type required by the lower-level machine.

[0025] In this embodiment, considering the different data types of various sensors, a second data conversion module is specially set up between the sensor and the lower-level machine to further optimize the compatibility and flexibility of the data acquisition system. The main function of this module is to convert the raw data collected by the sensor into the specific data type required by the lower-level machine, thereby solving the signal compatibility problem between different sensors and the lower-level machine.

[0026] In conjunction with the first aspect, in some implementations of the first aspect, the sensing system includes at least one type of sensor, the lower-level unit includes a lower-level machine corresponding to the type of sensor; each type of sensor is connected to a corresponding lower-level machine; and the data acquisition board is connected to each lower-level machine.

[0027] In this embodiment, since different types of sensors acquire different types of data, formats, and transmission protocols, a dedicated lower-level machine is required for each type of sensor. To better meet the diverse data requirements of the vehicle data acquisition system, the sensing system is designed to include at least one type, and possibly multiple types, of sensor, while the lower-level machine unit includes a lower-level machine corresponding to the sensor type. This design fully considers the specific needs of different types of sensors in data acquisition, processing, and transmission, thereby improving the flexibility, compatibility, and data processing efficiency of the entire system.

[0028] In conjunction with the first aspect, in some implementations of the first aspect, the sensing system includes a radar sensor and a camera, the lower-level machine unit includes a radar lower-level machine and an image processing lower-level machine, the radar sensor is connected to the radar lower-level machine, and the camera is connected to the image processing lower-level machine.

[0029] In this embodiment, considering road test requirements, the sensing system specifically includes a radar sensor and a camera, while the lower-level unit correspondingly includes a radar lower-level machine and an image processing lower-level machine. The radar sensor is connected to the radar lower-level machine, and the camera is connected to the image processing lower-level machine. This targeted design fully considers the needs for perception of the vehicle's surrounding environment and acquisition of visual information during road tests, providing efficient and reliable data support for the testing and optimization of autonomous vehicles.

[0030] In conjunction with the first aspect, some implementations of the first aspect also include an interactive device connected to the lower-level machine unit, the interactive device including but not limited to a keyboard and a display.

[0031] In this embodiment, to better meet human-computer interaction needs, especially the requirements for sending data processing commands and displaying test results during autonomous vehicle road tests, the system also includes an interactive device connected to the lower-level unit. The interactive device includes, but is not limited to, a keyboard and a display, used to achieve efficient interaction between the operator and the data acquisition system.

[0032] A second aspect of this application provides a vehicle that includes the data acquisition system provided in the first aspect of this application.

[0033] In conjunction with the second aspect, in some implementations of the second aspect, the data acquisition board is located in the vehicle's trunk.

[0034] In this embodiment, installing the data acquisition board in the trunk space avoids interference with other functional areas of the vehicle (such as the driver's cabin). Simultaneously, the trunk location facilitates wiring and data transmission, promoting connection and communication between the data acquisition board and other relevant vehicle systems (such as the onboard computer and communication modules), ensuring efficient and stable data transmission and processing, and improving the reliability and practicality of the entire vehicle data acquisition system.

[0035] The above description is merely an overview of the technical solution disclosed herein. In order to better understand the technical means of this disclosure and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure are described below. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the logical structure of a prior art data acquisition system according to the embodiments of this application;

[0038] Figure 2 This is a schematic diagram of the logical structure of a data acquisition system according to an embodiment of this application;

[0039] Figure 3 This is a schematic diagram of the power supply unit structure according to an embodiment of this application.

[0040] In the above figures:

[0041] 100. CAN board;

[0042] 200. Manual switch. Detailed Implementation

[0043] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0044] The prefixes such as "first" and "second" used in this application embodiment are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not constitute unnecessary restrictions due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0045] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; the term "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0046] In the embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0047] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0048] The main electrical component of the road test equipment is the lower-level computer, which is powered by the vehicle's onboard battery.

[0049] Road test equipment requires a significant power supply to ensure continuous power and maximize its operational performance. Typically, to ensure stable operation, road test vehicles are equipped with additional batteries to meet power needs, including onboard batteries and backup batteries.

[0050] However, depending on the wire diameter and power requirements of each vehicle, when equipped with an external battery, the generator power is sometimes insufficient to supply power to both the car battery and the external battery simultaneously. Therefore, it is necessary to ensure that the entire vehicle battery is disconnected when the vehicle is powered off to avoid the consumption of battery power by non-dormant vehicle components, which could lead to the vehicle failing to start or cause instability in the operation of the data acquisition equipment.

[0051] To address the above issues, this application embodiment improves the structure of the power supply system for road test equipment, resolving the problem of vehicle system power outage during sleep mode.

[0052] The data acquisition system includes:

[0053] The battery connects to the load, which can include conventional electrical components of the vehicle system, as well as the lower-level computer of the road test vehicle data acquisition system; the positive and negative terminals of the battery are connected to the load.

[0054] Remote control switch: Its input terminals are connected to the positive and negative terminals of the battery; the remote control switch can be turned on and off by a remote control, and also has a manual switch 200, which can be controlled manually;

[0055] Electromagnetic switch: Its positive and negative terminals are connected to the output terminals of the remote control switch, respectively; its output terminals are connected to the negative terminal of the battery and the vehicle ground, respectively.

[0056] refer to Figure 3 This is a diagram of the improved power supply system. A remote control switch and an electromagnetic switch are added. The electromagnetic main power switch is fixed to a suitable position using dovetail bolts according to the engine compartment layout, taking care to avoid contact with pipes and wiring within the engine compartment. The red and black wires at both ends of the remote control switch box output are connected to the positive and negative terminals of the electromagnetic main power switch, respectively. Remove the vehicle battery clamps from the battery terminals. Connect one end of the negative wire to ground to one contact of the electromagnetic main power switch; then select a length of wire, connect one end to the other contact of the main power switch, and secure the other end to the original negative ground location with a bolt. High-safety-grade power cables are used during wiring; for example, a 16 square millimeter power cable (length depending on engine compartment space) can be selected. Cold-press terminals are crimped to both ends of the power cable, and insulation is applied using black heat-shrink tubing.

[0057] The red wire at the input end of the remote control switch box is connected to the positive terminal of the vehicle battery, and the black wire is connected to the negative terminal clamp of the vehicle battery cable.

[0058] In this embodiment, a remote control switch and an electromagnetic switch are added to the vehicle power supply system. The vehicle power supply system supplies power to the vehicle's operating and data acquisition system's electrical units. After the vehicle is turned off, the power supply line is controlled by the remote control switch. When a cut-off command is issued remotely or manually, the remote control switch controls the electromagnetic switch to open, disconnecting the power supply circuit between the battery and the vehicle's electrical units. At this time, the data acquisition system also stops working. Adding the remote control switch allows for control of its on / off state via remote commands, solving the problem in existing technologies where manual control of the vehicle's circuit closure is required.

[0059] When vehicles operate in different countries and scenarios, it is necessary to consider the issues of scenario adaptability and localization requirements.

[0060] For example, the EU mandates that basic intelligent driving functions in new cars must meet the requirements of relevant EU automotive regulations and standards, while advanced intelligent driving functions must pass R171-DCAS certification. Furthermore, ENCAP ratings for new cars require localized testing and verification. Regarding data privacy and security, the EU GDPR also imposes strict requirements on local data storage and anonymization.

[0061] To validate and optimize intelligent driving functions, road data collection and training are required in the local areas where the vehicle operates. Furthermore, to mitigate the risks of cross-border data transmission, data centers need to be established overseas, employing technologies such as federated learning. Significant differences exist between countries and regions in terms of traffic signs, driving habits, and climate conditions, placing extremely high demands on the data collection and calibration of intelligent driving systems.

[0062] For example, traffic signs vary in design and specifications across different countries and regions. Some regions use graphic signs, while others use text descriptions, and signs in different languages ​​also increase the difficulty of recognition. Intelligent driving systems need to be recalibrated to address these differences to ensure accurate recognition and correct responses. Furthermore, driving habits differ significantly across regions. In some countries, driving styles may be more aggressive, with drivers tending towards rapid overtaking and frequent lane changes; while in other regions, driving habits are relatively conservative, with a greater emphasis on adhering to traffic rules and maintaining a safe following distance. Intelligent driving systems need to be optimized to accommodate these different driving habits to better adapt to local driving environments and reduce potential risks arising from differences in driving styles.

[0063] Overseas road testing is the primary method for collecting local vehicle operation data. Through localized testing and data accumulation, vehicle technology adaptability can be optimized and regional compliance risks can be reduced.

[0064] Road test data acquisition relies on a road test data acquisition system. This system collects data through sensors mounted on the test vehicle, and during the data acquisition process, it combines this data with vehicle operating data fed back from the on-board diagnostic system, processing the data through a lower-level computer.

[0065] refer to Figure 1 The on-board diagnostic system signals are led out via the vehicle chassis signal lines. The signal line lead-out scheme uses the vehicle chassis controller local area network bus (CAN) signal line, which is cut open but not severed from the terminal ends. Two sets of pre-prepared high CAN signal lines and low CAN signal lines are connected in parallel, and the connections are secured with a soldering gun and wrapped with insulating tape. However, the ISO11898 CAN bus protocol specifies a maximum signal transmission rate of approximately 1Mb, a bus length of 40 meters, a maximum of 32 nodes, a maximum unterminated branch length of 0.3 meters, and the cable should be shielded or unshielded twisted pair. Due to the use of the CAN bus connection, the long line and data transmission line often result in signal reflection. Typically, a characteristic impedance R can be added. L To address this problem to some extent, R L A 120Ω resistor can be selected and placed between the high CAN signal line and the low CAN signal line.

[0066] The data acquisition process faces the enormous demand for data from overseas road tests. Besides requiring continuous, long-term data collection, it also necessitates ensuring data validity. Existing data acquisition systems for road test vehicles struggle to meet the demands for stability, real-time performance, and accuracy.

[0067] To address the above problems, this application proposes a data acquisition system. This data acquisition system includes a data acquisition board, an on-board diagnostic system, a sensing system, and a lower-level computer unit, with a structural reference [reference needed]. Figure 2 .

[0068] On-Board Diagnostics (OBD) is a self-testing and diagnostic system built into a vehicle. It can monitor the operating status of various vehicle subsystems in real time and generate relevant diagnostic data. This data is crucial for vehicle performance evaluation, fault diagnosis, and subsequent data analysis. OBD systems can provide key data such as engine parameters, transmission status, emissions information, vehicle attitude information, and operating speed information.

[0069] The sensing system comprises sensors. It is the foundation of data acquisition and includes various types of sensors, such as vehicle speed sensors, accelerometers, cameras, LiDAR, and millimeter-wave radar. These sensors are distributed throughout the vehicle to collect real-time data on the vehicle's operating status, environmental perception, and internal operating conditions. The data collected by these sensors is crucial for the decision-making and control of autonomous vehicles.

[0070] The lower-level unit includes a lower-level machine, which is connected to a sensor to acquire the sensing data collected by the sensor.

[0071] The lower-level computer unit is the core processing component of the data acquisition system. Through its connection with the sensors, the lower-level computer can acquire the raw data collected by the sensors in real time and perform preliminary processing and analysis. For example, it can perform operations such as filtering, calibration, and format conversion on the sensor data for subsequent advanced processing and analysis.

[0072] The data acquisition board, acting as a data relay between the on-board diagnostic system and the lower-level computer system and sensor system, is configured as follows:

[0073] Connect to the on-board diagnostic system to obtain data from the on-board diagnostic system;

[0074] Connect to the sensor and communicate bidirectionally with it;

[0075] Connect to the lower-level machine and transmit data to it.

[0076] It should be understood that if multiple slave devices are included, the data acquisition board is connected to each slave device. If multiple sensors are included, the data acquisition board is connected to each sensor. After acquiring data from the on-board diagnostic system, the data acquisition board can send the data to the sensors or the corresponding slave devices according to data transmission requirements.

[0077] This application proposes a high-efficiency data acquisition system, particularly suitable for continuous, high-volume vehicle data acquisition tasks, especially for road test data acquisition of autonomous vehicles. For example, data acquisition for autonomous vehicle road tests. A data acquisition board, acting as the central hub of the entire system, aggregates, transmits, and manages data. The data acquisition board supports flexible expansion as vehicle functions increase or data acquisition needs change. For instance, if new sensors are added or more data types need to be collected, the data acquisition board can be expanded to meet these new requirements without requiring large-scale modifications to the entire system. This scalability gives the data acquisition system better adaptability and flexibility, enabling it to meet data acquisition needs at different stages and in different scenarios.

[0078] It should be understood that, to ensure the stability of data signal transmission, the wiring harness connectors between the signal lines and the data acquisition board should preferably use surface contact, such as male and female pins, with a wrap-around contact, and soldering is preferable to mechanical connections. A characteristic impedance R can be added to the side of the signal line that inserts into the data acquisition board. L .

[0079] In some embodiments, the data acquisition board is a CAN board 100. The CAN board 100 connects to a public CAN signal line and a private CAN signal line. The CAN board 100 is connected to the sensor via the public CAN signal line and the private CAN signal line, respectively, and is also connected to the lower-level computer via the public CAN signal line and the private CAN signal line, respectively. To solve the signal anti-reflection problem, a 120Ω resistor is installed at the connection between the public CAN signal line and the CAN board. Due to the characteristics of data transmission via the private CAN signal line, a resistor is usually installed on the private CAN signal line section.

[0080] It should be understood that data from the on-board diagnostic system is transmitted via the vehicle-level bus. The vehicle-level bus is a communication network used to connect the various electronic control units (ECUs) in a vehicle, enabling data sharing and interaction throughout the vehicle. The vehicle-level bus is a core component of the automotive electronic control system and is crucial for the normal operation, functional implementation, and intelligent development of the vehicle.

[0081] For example, the CAN bus is a widely used vehicle-grade bus standard, characterized by high reliability, strong anti-interference capabilities, and a flexible communication protocol. It is primarily used for communication between control units within a vehicle, such as data exchange between the engine control unit, transmission control unit, and body control unit.

[0082] Typically, data from on-board diagnostic systems can also be located as vehicle chassis signals, which include Public CAN and Private CAN, two different CAN bus systems for different purposes. Public CAN is a shared communication bus used to connect multiple electronic control units (ECUs) in a vehicle, enabling data sharing and communication between them. It typically has a high transmission rate and strong real-time performance. Private CAN is a dedicated communication bus, usually used for communication within a specific system or module, and is not shared with other systems.

[0083] Based on this, the data acquisition board is designed to use CAN board 100, making the data acquisition system more suitable for vehicle controller area network communication protocols.

[0084] In some embodiments, a first data conversion module is provided between the data acquisition board and the lower-level machine to convert the data output by the data acquisition board into the data type required by the lower-level machine. This first data conversion module solves the signal compatibility problem between the data acquisition board and the lower-level machine.

[0085] It should be understood that the type of the first data conversion module is designed according to the data type requirements between the data acquisition board and the lower-level device. For example, in this embodiment of the application, the data acquisition board is a CAN board 100, and the lower-level device supports USB data transmission. The first data conversion module uses a converter that can convert CAN data into USB data.

[0086] It should be understood that if the lower-level unit includes multiple lower-level machines, a first data conversion module can be set up for each lower-level machine.

[0087] In some embodiments, a second data conversion module is provided between the sensor and the lower-level machine to convert sensor data into the data type required by the lower-level machine. This second data conversion module solves the signal compatibility problem between the sensor and the lower-level machine.

[0088] It should be understood that, for different sensors, some sensors may have data incompatibility with the lower-level machine, while others may have data compatibility. Only the sensors requiring data conversion need to have a second data conversion module configured. In implementation, the necessary second data conversion module is configured according to the data type of the sensor.

[0089] In some embodiments, considering data acquisition requirements, the sensing system includes at least one type of sensor, and the lower-level unit includes a lower-level machine corresponding to the type of sensor; each type of sensor is connected to a corresponding lower-level machine; and the data acquisition board is connected to each lower-level machine.

[0090] It should be understood that multiple sensors of the same type can be set up and configured in different locations, but all sensors of the same type are connected to the corresponding lower-level machine. For example, multiple radar sensors can be set up, all connected to a single radar lower-level machine. This design fully considers the special needs of different types of sensors in terms of data acquisition, processing, and transmission, thereby improving the flexibility, compatibility, and data processing efficiency of the entire system.

[0091] In this embodiment of the application, the sensing system includes a radar sensor and a camera, and the lower-level machine unit includes a radar lower-level machine and an image processing lower-level machine. The radar sensor is connected to the radar lower-level machine, and the camera is connected to the image processing lower-level machine.

[0092] For example, the radar sensor includes three sensors, which, when applied to a vehicle, are respectively configured in the middle of the front of the vehicle and on both sides of the front of the vehicle. The one in the middle is defined as the main radar, and the two on the sides are defined as auxiliary radars.

[0093] Radar sensors: By emitting and receiving electromagnetic waves, they can measure the distance, speed, and angle between a vehicle and its surroundings in real time, providing high-precision environmental perception data. Radar sensors maintain good performance even in complex weather conditions (such as rain, fog, and snow), making them an indispensable sensor for autonomous vehicles.

[0094] Cameras: Provide visual information about the vehicle's surroundings, including road signs, traffic signals, pedestrians, and other vehicles. The image data captured by cameras is crucial for the vehicle's visual perception and decision-making, especially in scenarios requiring the identification of traffic signs, lane lines, and pedestrians.

[0095] Radar data is typically three-dimensional data in point cloud format, requiring processing such as target detection, tracking, and classification. Image data is two-dimensional image data, requiring processing such as image recognition, segmentation, and feature extraction. Therefore, to meet the processing needs of different types of data during road testing, this application specifically designed a radar lower-level machine and an image processing lower-level machine.

[0096] It should be understood that the radar lower-level computer is specifically designed to process data acquired by radar sensors. It receives raw point cloud data output from the radar sensors, performs target detection, tracking, and classification, and generates structured environmental perception information. The data output by the radar lower-level computer includes information such as the target's position, velocity, and size, which can be used for vehicle path planning and obstacle avoidance decisions.

[0097] The image processing lower-level computer is specifically designed to process image data captured by cameras. It receives raw images from the camera, performs image recognition, segmentation, and feature extraction, and generates structured visual information. The data output by the image processing lower-level computer includes lane line information, traffic sign information, and the positions of pedestrians and vehicles. This data can be used for vehicle navigation and decision-making, assisting in the development of intelligent driving systems.

[0098] Since format conversion is required between radar data and lower-level machine data, a second data conversion module is set up between the radar sensor and the lower-level machine to convert radar universal measurement and calibration protocol (XCP protocol) data into USB protocol data.

[0099] For example, the number of cameras can be set as needed, and no format conversion is required between the camera image data and the lower-level machine, nor is a second data conversion module required between them.

[0100] In this embodiment of the application, an interactive device connected to the lower-level machine unit is also included, including but not limited to a keyboard and a display.

[0101] It should be understood that interactive devices can be used to send data commands to lower-level machines, such as commands for data storage, acquisition, and processing. Various types of interactive devices can be configured according to system needs, and the number can also be selected as required. Interactive devices typically support a Universal Serial Bus (USB) interface; therefore, a data conversion module is not required between the interactive device and the lower-level machine.

[0102] It should be understood that if multiple types of slave devices are included, the interactive device is connected to each slave device.

[0103] The setup of interactive devices can meet the needs of human-computer interaction, especially the needs of sending data processing instructions and displaying test results during the road test of autonomous vehicles, enabling efficient interaction between operators and the data acquisition system.

[0104] A second aspect of this application provides a vehicle including the data acquisition system provided in the first aspect of this application. When applied to a vehicle, the data acquisition system is configured in a road test vehicle. During road testing, the test vehicle travels in different countries and regions, under different road conditions and environments, generating a large amount of data, including vehicle driving status, sensor data, environmental information, traffic sign information, etc. The data acquisition system can collect this data in real time and perform preliminary processing and analysis, providing a basis for subsequent vehicle performance evaluation and improvement. This data acquisition system, applied to a road test vehicle, can meet the specific data acquisition needs during road testing.

[0105] In some embodiments, the data acquisition board is installed in the trunk of the vehicle.

[0106] It should be understood that the compact structure and numerous components of a vehicle's cab and chassis make it unsuitable for installing a data acquisition board. Utilizing the trunk space to install the data acquisition board avoids interference with other functional areas of the vehicle (such as the driver's cabin). Furthermore, the trunk location facilitates wiring and data transmission, promoting connectivity and communication between the data acquisition board and other relevant vehicle systems (such as the onboard computer and communication modules), ensuring efficient and stable data transmission and processing, and improving the overall reliability and usability of the vehicle data acquisition system.

[0107] It should be understood that road test equipment requires a substantial power supply to ensure continuous power and maximize its operational performance. Typically, an additional battery is provided to meet these power needs. However, when an external battery is used, the generator power is sometimes insufficient to simultaneously power both the car battery and the external battery. This can lead to situations where the vehicle's electrical equipment cannot be disconnected from the battery when the vehicle is powered off, preventing the vehicle from entering sleep mode. Adding a remote control switch and an electromagnetic switch allows for the disconnection of power between the vehicle battery and electrical equipment, ensuring the reliability of the vehicle system.

[0108] Those skilled in the art will recognize that the modules, units, and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0109] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A data acquisition system, characterized in that, include: Battery: Remote control switch: Its input terminals are connected to the positive and negative terminals of the battery; Electromagnetic switch: Its positive and negative terminals are respectively connected to the output terminals of the remote control switch; Its output terminal is connected to the negative terminal of the battery; Sensing system: includes sensors; Lower-level unit: includes a lower-level machine, which is connected to the sensor to acquire the sensing data collected by the sensor; The battery is connected to the lower-level computer unit.

2. The data acquisition system as described in claim 1, characterized in that, Also includes: On-board diagnostic system; Data acquisition board, the data acquisition board being configured as follows: Connect to the on-board diagnostic system to obtain on-board diagnostic system data; Connect the sensor and communicate bidirectionally with it; Connect to the lower-level machine and transmit data to it.

3. The data acquisition system as described in claim 2, characterized in that, The data acquisition board is a CAN board, which connects a public CAN signal line and a private CAN signal line. The CAN board is connected to the sensor via the public CAN signal line and the private CAN signal line, and the CAN board is connected to the lower-level machine via the public CAN signal line and the private CAN signal line, respectively.

4. The data acquisition system as described in claim 2 or 3, characterized in that, A first data conversion module is provided between the data acquisition board and the lower-level machine, which is used to convert the data output by the data acquisition board into the data type required by the lower-level machine.

5. The data acquisition system as described in claim 1, characterized in that, A second data conversion module is provided between the sensor and the lower-level machine to convert the sensor data into the data type required by the lower-level machine.

6. The data acquisition system as described in claim 2, characterized in that, The sensing system includes at least one type of sensor, and the lower-level machine unit includes a lower-level machine corresponding to the type of sensor; each type of sensor is connected to a corresponding lower-level machine; the data acquisition board is connected to each lower-level machine respectively.

7. The data acquisition system as described in claim 6, characterized in that, The sensing system includes a radar sensor and a camera. The lower-level unit includes a radar lower-level unit and an image processing lower-level unit. The radar sensor is connected to the radar lower-level unit, and the camera is connected to the image processing lower-level unit.

8. The data acquisition system as described in claim 1, characterized in that, It also includes an interactive device connected to the lower-level unit, including but not limited to a keyboard and a display.

9. A vehicle, characterized in that, Includes the data acquisition system according to any one of claims 1 to 8.

10. The vehicle as claimed in claim 9, characterized in that, The data acquisition board is located in the trunk of the vehicle.

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