Simulation test system and interface board of integrated inertial navigation

Abstract

This application discloses a simulation test system and interface board for a combined inertial navigation system (INS), relating to the field of vehicle simulation test technology. The system includes a simulation platform, an interface board, and an intelligent driving domain controller. The intelligent driving domain controller includes a system-on-a-chip (SoC), a microprocessor unit (MSU), and a combined INS. The communication line between the combined INS and the SoC and MSU is disconnected. The simulation platform is connected to the interface board and transmits simulation data from the combined INS to the interface board. The interface board is equipped with a communication protocol interface adapted to the combined INS, and the communication protocol interface is connected to the SoC and MSU via a communication line to transmit simulation data to the SoC and MSU. The SoC and MSU receive the simulation data and output control results. The simulation platform is also connected to the intelligent driving domain controller and obtains control results from the intelligent driving domain controller to output the simulation test results of the combined INS. Therefore, end-to-end systematic testing of the combined INS can be achieved.

Description

Technical Field

[0001] This application relates to the field of vehicle simulation testing technology, and in particular to a simulation testing system and interface board for a combined inertial navigation system. Background Technology

[0002] Most current mainstream intelligent driver assistance system solutions integrate the combined inertial navigation module onto the internal hardware motherboard of the intelligent driving domain controller. With the rapid development of vehicle intelligent driver assistance technology, simulation has become widely used as a fast and effective testing method. As a key component of intelligent driver assistance systems, the combined inertial navigation system needs to be simulated in a simulation testing system.

[0003] The current approach involves developing a debugging channel at the algorithm level to receive simulation data and disconnecting the data from the combined inertial navigation module on the intelligent driving domain controller circuit board. However, this method modifies the original data link of the intelligent assisted driving system, making it impossible to perform end-to-end system verification and comprehensively cover various tests. Utility Model Content

[0004] The purpose of this application is to provide a simulation test system and interface board for integrated inertial navigation systems, in order to solve the problem that simulation tests of integrated inertial navigation systems cannot perform end-to-end system verification across the entire link.

[0005] To solve the above-mentioned technical problems, this specification is implemented as follows: Firstly, a simulation test system for integrated inertial navigation is provided, including a simulation platform, an interface board, and an intelligent driving domain controller; The intelligent driving domain controller includes a system-on-a-chip, a microprocessor unit, and a combined inertial navigation system. The combined inertial navigation system includes a global satellite navigation system module and an inertial measurement unit module. The communication line between the combined inertial navigation system and the system-on-a-chip and the microprocessor unit is disconnected. The simulation platform is connected to the interface board and transmits the simulation data of the combined inertial navigation system to the interface board; The interface board is provided with a communication protocol interface adapted to the combined inertial navigation system. The communication protocol interface is connected to the system-on-chip and the microprocessor unit by a communication line to transmit the simulation data to the system-on-chip and the microprocessor unit. The on-chip system and microprocessor unit receive the simulation data to output control results; The simulation platform is also connected to the intelligent driving domain controller, and the simulation platform obtains the control results from the intelligent driving domain controller to output the simulation test results of the combined inertial navigation system.

[0006] Optionally, the communication protocol interface includes a first interface; The first interface is connected to the system-on-chip and the microprocessor unit via a communication line to transmit simulation data of the original measurement data of the combined inertial navigation system to the system-on-chip and the microprocessor unit.

[0007] Optionally, the simulation platform also transmits simulation data simulating the state detection data of the combined inertial navigation system to the interface board, and the communication protocol interface further includes a second interface; The second interface is connected to the system-on-chip and the microprocessor unit via a communication line to transmit simulation data simulating the state detection data of the combined inertial navigation system to the system-on-chip and the microprocessor unit.

[0008] Optionally, the first interface is connected to one of the system-on-chip and the microprocessor unit via a communication line; The second interface is connected to another of the system-on-chip and the microprocessor unit via a communication line; The system-on-a-chip is connected to the microprocessor unit to transmit simulation data of the original measurement data and simulation data of the state detection data to each other.

[0009] Optionally, the interface board is further provided with general-purpose input / output pins, and the general-purpose input / output pins are respectively connected to the system-on-a-chip and the microprocessor unit with wires; The simulation platform also transmits trigger commands to the interface board; The interface board also receives the trigger command to trigger the general-purpose input / output pins to send pulses per second to the system-on-a-chip and the microprocessor unit respectively through the wires.

[0010] Optionally, the communication protocol interface includes a first interface and a second interface. The first interface is connected to the system-on-chip via a communication line to transmit simulation data of the original measurement data of the combined inertial navigation system to the system-on-chip. The second interface is connected to the microprocessor unit via a communication line to transmit simulation data of the original measurement data of the combined inertial navigation system to the microprocessor unit.

[0011] Optionally, the simulation platform transmits simulation data encapsulated in the original measurement data format and simulation data encapsulated in the state detection data format to the communication protocol interface.

[0012] Optionally, the interface board includes an embedded controller, which is connected to the simulation platform and the communication protocol interface respectively; The embedded controller receives the target simulation data transmitted by the simulation platform and encapsulates it into simulation data in the original measurement data format of the combined inertial navigation system for transmission to the communication protocol interface.

[0013] Optionally, the communication protocol interface is a universal asynchronous transceiver interface, a serial peripheral interface, a controller area network bus interface, or an Ethernet interface.

[0014] Secondly, an interface board is provided, which is equipped with a communication protocol interface adapted to the combined inertial navigation system. The interface board is connected to the simulation platform to receive the simulation data of the combined inertial navigation system transmitted by the simulation platform; A communication line connects the communication protocol interface to the intelligent driving domain controller to transmit the simulation data of the combined inertial navigation system received by the interface board to the intelligent driving domain controller.

[0015] In this embodiment, the simulation test system includes a simulation platform, an interface board, and an intelligent driving domain controller. The intelligent driving domain controller includes a system-on-a-chip (SOC), a microprocessor unit (MCU), and a combined inertial navigation system (INS). The communication lines between the combined INS and the SOC and MCU are disconnected. The simulation platform is connected to the interface board and transmits the simulation data of the combined INS to the interface board. By setting up a communication protocol interface adapted to the integrated inertial navigation system (INS) on the interface board, and connecting communication lines between the communication protocol interface and the SOC and MCU, simulation data can be transmitted to the SOC and MCU. This allows for direct modification of the integrated INS communication protocol interface at the hardware level. The connection between the integrated INS on the intelligent driving domain controller circuit board and the SOC / MCU can be disconnected, and the communication lines originally connecting the SOC / MCU and the integrated INS can be externally connected to the interface board, enabling direct connection between the SOC / MCU and the interface board. By bypassing the corresponding module of the integrated INS on the circuit board, the underlying raw data of the integrated INS received by the SOC / MCU comes from the simulation data transmitted by the interface board. Through simple circuit modifications at the physical level of the intelligent driving system, without altering the original communication architecture of the intelligent driving system, simulation and fault testing of the integrated INS can be achieved. It can control the transmission and simulation of the raw measurement data and state detection data at the underlying level of the integrated INS, supporting systematic testing and verification from the integrated INS end to the SOC and MCU end, comprehensively covering tests such as fault simulation and system functional safety. Furthermore, it allows for accurate identification of problems in the combined inertial navigation module and / or the intelligent driving domain controller, thereby improving the safety and reliability of intelligent driving in vehicles. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a block diagram of the overall structure of the simulation test system of the combined inertial navigation system according to an embodiment of this application.

[0017] Figure 2 This is a structural block diagram of a simulation test system for a combined inertial navigation system according to a specific embodiment of this application. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. The drawing numbers in this application are only used to distinguish the various steps in the solution and are not used to limit the execution order of the various steps. The specific execution order is subject to the description in the specification.

[0019] Most current mainstream intelligent driver assistance system solutions integrate the combined inertial navigation module onto the internal hardware motherboard of the intelligent driving domain controller. With the rapid development of vehicle intelligent driver assistance technology, simulation has become widely used as a fast and effective testing method. As a key component of intelligent driver assistance systems, the combined inertial navigation system needs to be simulated in a simulation testing system.

[0020] The current approach involves developing a debugging channel at the algorithm level to receive simulation data while disconnecting data from the integrated inertial navigation module on the intelligent driving domain controller circuit board. However, this method modifies the original data link of the intelligent assisted driving system, making it impossible to perform end-to-end system verification from the raw physical measurement data of the integrated inertial navigation system (i.e., from the integrated inertial navigation system to the intelligent driving domain controller). This approach fails to comprehensively cover tests such as fault simulation and system functional safety. Consequently, it cannot accurately locate problems in the integrated inertial navigation module and / or the corresponding intelligent driving domain controller, posing a potential threat to the vehicle's intelligent driving safety.

[0021] To address the problems existing in the prior art, this application provides a simulation test scheme for a combined inertial navigation system (INS), including a simulation platform, an interface board, and an intelligent driving domain controller. The intelligent driving domain controller includes a System-on-Chip (SOC), a Microprocessor Unit (MCU), and a combined INS. The combined INS includes a Global Navigation Satellite System (GNSS) module and an Inertial Measurement Unit (IMU) module. The communication line between the combined INS and the SOC and MCU is disconnected. The simulation platform is connected to the interface board and transmits simulation data of the combined INS to the interface board. The interface board is equipped with a communication protocol interface adapted to the combined INS. The communication protocol interface is connected to the SOC and MCU via a communication line to transmit the simulation data to the SOC and MCU. The SOC and MCU receive the simulation data and output control results. The simulation platform is also connected to the intelligent driving domain controller, and the simulation platform receives data from the intelligent driving domain controller. The controller acquires the control results to output the simulation test results of the combined inertial navigation system (INS). This allows for direct modification of the INS communication protocol interface at the hardware level. The connection between the INS on the intelligent driving domain controller circuit board and the SOC / MCU is disconnected, and the original communication line between the SOC / MCU and the INS is externally connected to the interface board, enabling direct connection between the SOC / MCU and the interface board. This bypasses the corresponding INS module on the circuit board. The underlying raw data received by the SOC / MCU from the INS comes from the simulation data transmitted by the interface board. By making simple circuit modifications at the physical level of the intelligent driving system without altering the original communication architecture, simulation and fault testing of the INS can be achieved. This allows control over the transmission and simulation of the underlying raw measurement and state detection data of the INS, supporting systematic testing and verification from the INS end to the SOC and MCU ends, comprehensively covering fault simulation, system functional safety, and other types of testing. Furthermore, it accurately locates problems in the INS module and / or the corresponding intelligent driving domain controller, improving the safety and reliability of intelligent driving vehicles.

[0022] Specifically, the simulation test scheme embodiment of the combined inertial navigation system of this application includes a simulation test system and an interface board for the combined inertial navigation system. The embodiments are described in detail below.

[0023] One embodiment of this application provides a simulation test system for a combined inertial navigation system. Figure 1 This is a block diagram of the overall structure of the simulation test system of the combined inertial navigation system according to an embodiment of this application.

[0024] like Figure 1 and Figure 2As shown, the simulation test system 1000 for the integrated inertial navigation system includes a simulation platform 1200, an interface board 1400, and an intelligent driving domain controller 1600. The intelligent driving domain controller 1600 includes a system-on-a-chip (SOC) 1620, a microprocessor unit (MCU) 1640, and an integrated inertial navigation system (INS) 1660. The INS 1660 includes a Global Navigation Satellite System (GNSS) module 1642 and an inertial measurement unit (IMU) module 1664. The communication line between the INS 1660 and the SOC 1620 and MCU 1640 is disconnected. The simulation platform 1200 is connected to the interface board 1400 and transmits simulation data of the INS 1660 to the interface board 1400. The interface board 1400 is equipped with a communication protocol interface adapted to the INS 1660. A communication line connects the communication protocol interface to the SOC 1620 and MCU 1640 to transmit the simulation data to the SOC. The SOC 1620 and MCU 1640 receive the simulation data to output control results; the simulation platform 1200 is also connected to the intelligent driving domain controller 1600, and the simulation platform 1200 obtains the control results from the intelligent driving domain controller 1600 to output the simulation test results of the combined inertial navigation system 1660.

[0025] The Intelligent Driving Domain Controller 1600 is a core component of intelligent vehicles, used for intelligent assisted driving control. When controlling the vehicle for intelligent assisted driving, the Intelligent Driving Domain Controller 1600 needs to combine data collected by the inertial navigation system to achieve intelligent cruise control.

[0026] Typical combined inertial navigation modes in the field of intelligent vehicles include Global Navigation Satellite System (GNSS) modules and Inertial Measurement Unit (IMU) modules.

[0027] GNSS module 1662 refers to all satellite navigation systems, including global, regional and augmented satellite navigation systems. IMU module 1664 is mainly used to measure its own attitude (including position and orientation) and is integrated with inertial sensors such as gyroscopes and accelerometers and navigation calculation systems.

[0028] The intelligent driving domain controller 1600 includes a system-on-chip (SOC) 1620 and a microcontroller unit (MCU) 1640. Under normal circumstances, the vehicle's integrated inertial navigation system (INS) 1660 is connected to the intelligent driving domain controller 1600 to transmit the collected INS data. Specifically, the GNSS module 1662 and the IMU module 1664 are connected to the SOC 1620 and MCU 1640 via communication lines. The position coordinate data collected by the GNSS module 1662 and the position and attitude data collected by the IMU module 1664 can be transmitted to the SOC 1620 and MCU 1640 respectively.

[0029] In the simulation test system 1000 of the integrated inertial navigation system according to this application embodiment, a simulation program is run through the simulation platform 1200 to generate simulation data to simulate the raw physical layer measurement data collected by the GNSS module 1662 and the IMU module 1664. Therefore, the communication line between the integrated inertial navigation system 1660, including the GNSS module 1662 and the IMU module 1664, and the SOC 1620 and MCU 1640 is disconnected, and the SOC 1620 and MCU 1640 only receive simulation data.

[0030] In this embodiment, the simulation platform 1200 can be connected to the interface board 1400 via a Universal Serial Bus (USB) interface, thereby enabling communication with the SOC 1620 and MCU 1640 through the interface board 1400. The interface board 1400 is equipped with a communication protocol interface adapted to the combined inertial navigation system 1660, that is, a communication protocol interface adapted to the GNSS module 1662 and IMU module 1664. This communication protocol interface is connected to the SOC 1620 and MCU 1640 via a communication line. The type of the communication protocol interface is the same as the communication protocol used by the GNSS module 1662 and IMU module 1664 to transmit data to the SOC 1620 and MCU 1640. The communication protocol for transmitting data is related to the equipment manufacturer or model of the GNSS module 1662 and IMU module 1664, and can be specifically determined according to the equipment manufacturer or model of the GNSS module 1662 and IMU module 1664 to be simulated.

[0031] The interface board 1400 is a printed circuit board (PCB), which can be used to set or integrate the required communication protocol interfaces.

[0032] In one embodiment, the communication protocol interface is a Universal Asynchronous Receiver / Transmitter (UART) interface, a Serial Peripheral Interface (SPI) interface, a Controller Area Network (CAN) interface, or an Ethernet interface.

[0033] The interface board 1400 can be configured with any of the above-mentioned communication protocol interfaces. The specific interface type used should be compatible with the communication protocol type of the combined inertial navigation system to be tested.

[0034] Therefore, after the simulation platform 1200 sends simulation data to the interface board 1400, the interface board 1400 can transmit the simulation data of the physical underlying raw measurement data of the combined inertial navigation system 1660 to the SOC 1620 and MCU 1640 through the communication protocol interface adapted to the combined inertial navigation system 1660.

[0035] Specifically, the simulation platform 1200 encapsulates the simulation data into the original measurement data format of the corresponding module of the integrated inertial navigation system 1660, and then transmits it to the communication protocol interface.

[0036] Therefore, the data link of the original intelligent assisted driving system can be simulated to obtain the original physical underlying measurement data of the simulated integrated inertial navigation system, so as to carry out end-to-end system verification of the entire link and perform a variety of tests with comprehensive coverage.

[0037] The simulation data for the physical underlying raw measurement data of the GNSS module 1662 and IMU module 1664 is shared by the SOC1620 and MCU1640. The SOC1620 performs sensing based on the received simulation data to obtain the sensing results, while the MCU1640 performs control based on the simulation data. The specific working principles of both can be found in the mainstream intelligent driving domain controllers, and will not be elaborated here.

[0038] The intelligent driving domain controller 1600 outputs control results based on simulation data. The simulation platform 1200 is connected to the intelligent driving domain controller 1600, so the simulation platform 1200 can obtain control results from the intelligent driving domain controller 1600 and output simulation test results of the combined inertial navigation system based on the control results.

[0039] In one embodiment, the simulation platform 1200 may include a diagnostic device that reads fault codes from control results and identifies the faults generated in the simulation data based on the fault codes.

[0040] The simulation platform 1200 can simulate various faults that may occur in the integrated inertial navigation system and provide simulation data corresponding to different faults. For example, it can simulate faults such as abnormal data transmission frame rate of any module in the manufacturing of the integrated inertial navigation system, communication link disconnection, and abnormal data acquisition (such as abnormal latitude and longitude values ​​acquired by GNSS module 1662, and abnormal angular velocity and / or acceleration values ​​acquired by IMU module 1664).

[0041] Thus, the simulation platform 1200 can comprehensively cover fault simulation and system functional safety tests for any module in the integrated inertial navigation system. This allows for accurate location of various faults in the modules of the integrated inertial navigation system 1660 and / or the intelligent driving domain controller 1600, enabling timely handling and resolution, and improving the safety and reliability of the vehicle's intelligent assisted driving functions.

[0042] In one embodiment, the communication protocol interface includes a first interface; the first interface is connected to the SOC1620 and MCU1640 via a communication line to transmit simulation data simulating the original measurement data of the combined inertial navigation system 1660 to the SOC1620 and MCU1640.

[0043] Combination Figure 2 , Figure 2 This is a structural block diagram of a simulation test system for a combined inertial navigation system according to a specific embodiment of this application.

[0044] like Figure 2 As shown, the communication protocol interface provided on the interface board 1440 includes a first interface, UART1 1420, meaning that the communication protocol used by the combined inertial navigation system 1660 in this embodiment is the UART serial communication protocol. In this embodiment, the first interface can be connected to both the SOC 1620 and the MCU 1640 via communication lines, or the first interface can be connected to only one of them via a communication line, allowing communication between the SOC 1620 and the MCU 1640.

[0045] exist Figure 2 In this embodiment, UART1 1420 is connected to SOC 1620 via a communication line, and SOC 1620 is connected to MCU 1640. Thus, UART1 1420 can transmit the simulation data received by interface board 1400 to SOC 1620, and then SOC 1620 transmits it to MCU 1640.

[0046] like Figure 2As shown, the integrated inertial navigation system 1660, including the GNSS module 1662 and the IMU module 1664, is mounted on the circuit board of the intelligent driving domain controller 1600. However, during simulation testing, the communication lines between the integrated inertial navigation system 1660 and the SOC 1620 and MCU 1640 are disconnected, i.e., the communication connection between the integrated inertial navigation system 1660 on the intelligent driving domain controller 1600 circuit board and the SOC 1620 and MCU 1640 is broken. When the GNSS module 1662 is working normally, it is connected to the GNSS antenna 1720 through the antenna interface 1740, and the GNSS module 1662 generates positioning data internally.

[0047] In one embodiment, the simulation platform 1200 also transmits simulation data simulating the state detection data of the integrated inertial navigation system 1660 to the interface board 1400. The communication protocol interface further includes a second interface. The second interface is connected to the SOC 1620 and MCU 1640 via a communication line to transmit the simulation data simulating the state detection data of the integrated inertial navigation system to the SOC 1620 and MCU 1640.

[0048] like Figure 2 As shown, the second interface among the communication protocol interfaces provided on the interface board 1440 is UART2 1440. Multiple communication protocol interfaces can be provided on the interface board 1440, and all of these interfaces must conform to the communication protocol adopted by the integrated inertial navigation system 1660. That is, Figure 2 In the example, the UART2 1440 also uses the UART serial communication protocol.

[0049] The second interface in this embodiment can be connected to the SOC 1620 and the MCU 1640 via communication lines, or the second interface can be connected to only one of them via a communication line, allowing the SOC 1620 and the MCU 1640 to communicate with each other.

[0050] Based on the working principle of the intelligent driving domain controller 1600, some systems execute subsequent operations immediately after the SOC 1620 and MCU 1640 receive the raw measurement data from the combined inertial navigation system 1660; others require checking the status of the combined inertial navigation system 1660 before the SOC 1620 and MCU 1640 receive the raw measurement data from the combined inertial navigation system 1660. Only if the status is normal will subsequent operations be executed based on the raw measurement data from the combined inertial navigation system 1660.

[0051] To simulate the situation where the combined inertial navigation system 1660 is first checked to see if its state is normal, the simulation platform 1200 can also generate simulation data of the combined inertial navigation system 1660's state detection data through the simulation program and transmit it to the interface board 1400. Then, the interface board 1400 transmits it to the SOC 1620 and MCU 1640 through the second interface.

[0052] In one specific embodiment, optionally, the first interface is connected to one of the SOC 1620 and the MCU 1640 via a communication line; the second interface is connected to the other of the SOC 1620 and the MCU 1640 via a communication line; the SOC 1620 and the MCU 1640 are connected to each other to transmit simulation data of the original measurement data and simulation data of the state detection data.

[0053] exist Figure 2 In this embodiment, UART1 1420, serving as the first interface, is connected to SOC 1620 via a communication line, and UART2 1440, serving as the second interface, is connected to MCU 1640 via a communication line. SOC 1620 is also connected to MCU 1640. Thus, through UART1 1420, the simulated data of the corresponding raw measurement data received by interface board 1400 can be transmitted to SOC 1620, and then from SOC 1620 to MCU 1640. Similarly, through UART2 1440, the simulated data of the corresponding state detection data received by interface board 1400 can be transmitted to MCU 1640, and then from MCU 1640 to SOC 1620.

[0054] Based on the operating principle of the intelligent driving domain controller 1600, the raw measurement data received by the SOC 1620 and MCU 1640 from the combined inertial navigation system 1660 needs to be synchronized with their own system time. Simultaneously, time synchronization is required between the SOC 1620 and MCU 1640. Therefore, time synchronization and clock calibration need to be performed using pulses per second (PPS).

[0055] To simulate the synchronization of the aforementioned PPS pulses, the interface board 1400 may optionally be provided with general purpose input / output (GPIO) pins, which are connected to the SOC 1620 and the MCU 1640 via wires. The simulation platform 1200 also transmits trigger commands to the interface board 1400. The interface board 1400 also receives the trigger commands to trigger the GPIO pins to send pulses of a certain number of pulses per second to the SOC 1620 and the MCU 1640 via the wires.

[0056] exist Figure 2In the example, the general-purpose input / output (GPIO) pin of the interface board 1400 is GPIO 1460, which is connected to the SOC 1620 and MCU 1640 respectively via wires.

[0057] The simulation platform 1200, combined with the time synchronization logic of the SOC 1620 and MCU 1640, controls the transmission of trigger commands to the interface board 1400. Therefore, upon receiving the trigger command, the interface board 1400 triggers GPIO 1460 to send PPS pulses to both the SOC 1620 and MCU 1640 via wires.

[0058] In another specific embodiment of this application, the communication protocol interface includes a first interface and a second interface. The first interface is connected to the SOC 1620 via a communication line to transmit simulation data simulating the original measurement data of the combined inertial navigation system to the SOC 1620. The second interface is connected to the MCU 1640 via a communication line to transmit simulation data simulating the original measurement data of the combined inertial navigation system to the MCU 1640.

[0059] Combination Figure 2 The UART1 1420 is connected to the SOC 1620 as the first interface to transmit simulation data corresponding to the original measurement data to the SOC 1620. The UART2 1440 is connected to the MCU 1640 as the second interface to transmit simulation data corresponding to the original measurement data to the MCU 1640. In other words, simulation data of the original measurement data from the simulated inertial navigation system 1660 is transmitted one-to-one to the SOC 1620 and the MCU 1640 through two separate interfaces.

[0060] Based on this embodiment, if it is necessary to transmit simulation data of the state detection data of the simulated inertial navigation system 1660, a communication protocol interface adapted to the combined inertial navigation system can be further added to the interface board 1400 to transmit the simulation data of the corresponding state detection data.

[0061] To reduce the burden on the simulation platform 1200 for simulation testing of the integrated inertial navigation system, the interface board 1400 may optionally include an embedded controller (not shown in the figure). The embedded controller is connected to the simulation platform 1200 and the communication protocol interface respectively. The embedded controller receives the target simulation data transmitted by the simulation platform 1200 and encapsulates it into simulation data in the original measurement data format of the integrated inertial navigation system 1660 for transmission to the communication protocol interface.

[0062] In this embodiment, the simulation platform 1200 can use a simulation program to generate simulation data. The simulation data is encapsulated in the original measurement data format of the integrated inertial navigation system 1660, and the simulation data communication is handled by the embedded controller integrated on the interface board 1400. Therefore, the workload of the simulation platform 1200 can be reduced, facilitating the distributed expansion of the interface board 1400.

[0063] In the simulation test system of the integrated inertial navigation system of this application, a simulation program runs on the simulation platform to generate simulation data, and performs adaptation and encapsulation of raw measurement data from, for example, the IMU module and the GNSS module, as well as PPS timing. The interface board is adapted to communicate with the integrated inertial navigation system, connects to the simulation platform, and is used to send simulation data based on the communication protocol interface of the integrated inertial navigation system and to send PPS pulses through GPIO pins.

[0064] In this embodiment, the simulation test system includes a simulation platform, an interface board, and an intelligent driving domain controller. The intelligent driving domain controller includes a system-on-a-chip (SOC), a microprocessor unit (MCU), and a combined inertial navigation system (INS). The communication lines between the combined INS and the SOC and MCU are disconnected. The simulation platform is connected to the interface board and transmits the simulation data of the combined INS to the interface board. By setting up a communication protocol interface adapted to the integrated inertial navigation system (INS) on the interface board, and connecting communication lines between the communication protocol interface and the SOC and MCU, simulation data can be transmitted to the SOC and MCU. This allows for direct modification of the integrated INS communication protocol interface at the hardware level. The connection between the integrated INS on the intelligent driving domain controller circuit board and the SOC / MCU can be disconnected, and the communication lines originally connecting the SOC / MCU and the integrated INS can be externally connected to the interface board, enabling direct connection between the SOC / MCU and the interface board. By bypassing the corresponding module of the integrated INS on the circuit board, the underlying raw data of the integrated INS received by the SOC / MCU comes from the simulation data transmitted by the interface board. Through simple circuit modifications at the physical level of the intelligent driving system, without altering the original communication architecture of the intelligent driving system, simulation and fault testing of the integrated INS can be achieved. It can control the transmission and simulation of the raw measurement data and state detection data at the underlying level of the integrated INS, supporting systematic testing and verification from the integrated INS end to the SOC and MCU end, comprehensively covering tests such as fault simulation and system functional safety. Furthermore, it allows for accurate identification of problems in the combined inertial navigation module and / or the intelligent driving domain controller, thereby improving the safety and reliability of intelligent driving in vehicles.

[0065] Corresponding to the above Figures 1 to 2In the embodiment of the simulation test system 1000 for the integrated inertial navigation system, optionally, another embodiment of this application also provides an interface board, which is provided with a communication protocol interface adapted to the integrated inertial navigation system. The interface board is connected to the simulation platform to receive the simulation data of the integrated inertial navigation system transmitted by the simulation platform. A communication line is connected between the communication protocol interface and the intelligent driving domain controller to transmit the simulation data of the integrated inertial navigation system received by the interface board to the intelligent driving domain controller.

[0066] In this embodiment, the interface board is the interface board 1400 in the integrated inertial navigation system simulation test system 1000. As described above, the interface board 1400 is equipped with a communication protocol interface adapted to the integrated inertial navigation system 1660. The interface board 1400 is connected to the simulation platform 1200 to receive the simulation data of the integrated inertial navigation system 1660 transmitted by the simulation platform 1200. A communication line is connected between the communication protocol interface of the interface board 1400 and the intelligent driving domain controller 1600 to transmit the simulation data of the integrated inertial navigation system 1660 received by the interface board 1400 to the intelligent driving domain controller 1600 to perform simulation testing on the integrated inertial navigation system 1660.

[0067] The interface board provided in this embodiment can achieve... Figures 1 to 2 The various processes implemented by the interface board 1400 in the simulation test system of the combined inertial navigation system will not be described in detail here to avoid repetition.

[0068] Therefore, by introducing an interface board, the communication protocol interface of the integrated inertial navigation system (INS) can be directly modified at the hardware level. The connection between the integrated INS on the intelligent driving domain controller circuit board and the SOC / MCU can be disconnected, and the communication line originally connecting the SOC / MCU and the integrated INS can be externally connected to the interface board, realizing a direct connection between the SOC / MCU and the interface board. By bypassing the corresponding module of the integrated INS on the circuit board, the underlying raw data of the integrated INS received by the SOC / MCU comes from the simulation data transmitted by the interface board. By making simple circuit modifications at the physical bottom layer of the intelligent driving system without changing the original communication architecture of the intelligent driving system, the simulation and fault testing of the integrated INS can be realized. It can control the transmission and simulation of the raw measurement data and state detection data at the bottom layer of the integrated INS, and support the systematic testing and verification of the entire link from the integrated INS end to the SOC and MCU ends, comprehensively covering fault simulation, system functional safety and other types of tests.

[0069] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A simulation test system for a combined inertial navigation system, characterized in that, This includes a simulation platform, interface boards, and intelligent driving domain controllers; The intelligent driving domain controller includes a system-on-a-chip, a microprocessor unit, and a combined inertial navigation system. The combined inertial navigation system includes a global satellite navigation system module and an inertial measurement unit module. The communication line between the combined inertial navigation system and the system-on-a-chip and the microprocessor unit is disconnected. The simulation platform is connected to the interface board and transmits the simulation data of the combined inertial navigation system to the interface board; The interface board is provided with a communication protocol interface adapted to the combined inertial navigation system. The communication protocol interface is connected to the system-on-chip and the microprocessor unit by a communication line to transmit the simulation data to the system-on-chip and the microprocessor unit. The on-chip system and microprocessor unit receive the simulation data to output control results; The simulation platform is also connected to the intelligent driving domain controller, and the simulation platform obtains the control results from the intelligent driving domain controller to output the simulation test results of the combined inertial navigation system.

2. The system according to claim 1, characterized in that, The communication protocol interface includes a first interface; The first interface is connected to the system-on-chip and the microprocessor unit via a communication line to transmit simulation data of the original measurement data of the combined inertial navigation system to the system-on-chip and the microprocessor unit.

3. The system according to claim 2, characterized in that, The simulation platform also transmits simulation data to the interface board, simulating the state detection data of the combined inertial navigation system. The communication protocol interface also includes a second interface. The second interface is connected to the system-on-chip and the microprocessor unit via a communication line to transmit simulation data simulating the state detection data of the combined inertial navigation system to the system-on-chip and the microprocessor unit.

4. The system according to claim 3, characterized in that, The first interface is connected to one of the system-on-chip and the microprocessor unit via a communication line; The second interface is connected to another of the system-on-chip and the microprocessor unit via a communication line; The system-on-a-chip is connected to the microprocessor unit to transmit simulation data of the original measurement data and simulation data of the state detection data to each other.

5. The system according to claim 3 or 4, characterized in that, The simulation platform transmits simulation data encapsulated in the original measurement data format and simulation data encapsulated in the state detection data format to the communication protocol interface.

6. The system according to claim 1, characterized in that, The interface board is also provided with general-purpose input / output pins, and the general-purpose input / output pins are respectively connected to the on-chip system and the microprocessor unit with wires; The simulation platform also transmits trigger commands to the interface board; The interface board also receives the trigger command to trigger the general-purpose input / output pins to send pulses per second to the system-on-a-chip and the microprocessor unit respectively through the wires.

7. The system according to claim 1, characterized in that, The communication protocol interface includes a first interface and a second interface; The first interface is connected to the system-on-chip via a communication line to transmit simulation data of the original measurement data of the combined inertial navigation system to the system-on-chip. The second interface is connected to the microprocessor unit via a communication line to transmit simulation data of the original measurement data of the combined inertial navigation system to the microprocessor unit.

8. The system according to claim 1, characterized in that, The interface board includes an embedded controller, which is connected to the simulation platform and the communication protocol interface respectively. The embedded controller receives the target simulation data transmitted by the simulation platform and encapsulates it into simulation data in the original measurement data format of the combined inertial navigation system for transmission to the communication protocol interface.

9. The system according to claim 1, characterized in that, The communication protocol interface is a general asynchronous transceiver interface, a serial peripheral interface, a controller area network bus interface, or an Ethernet interface.

10. An interface board, characterized in that, It is equipped with a communication protocol interface adapted to the integrated inertial navigation system. The interface board is connected to the simulation platform to receive the simulation data of the combined inertial navigation system transmitted by the simulation platform; A communication line connects the communication protocol interface to the intelligent driving domain controller to transmit the simulation data of the combined inertial navigation system received by the interface board to the intelligent driving domain controller.

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