In-vehicle network system

Abstract

Provided is an in-vehicle network system that can suppress an increase in the weight of a wire harness due to the provision of redundancy while maintaining transmission reliability. [Solution] An in-vehicle network system 10 includes a first sensor hub 200a connected to a first camera 300a via a first high-speed communication line and connected to a second millimeter-wave radar 400b via a second low-speed communication line. The in-vehicle network system 10 includes a second sensor hub 200b connected to the second camera 300b via a second high-speed communication line and connected to the first millimeter-wave radar 400a via a first low-speed communication line. The first and second high-speed communication lines are shorter than the first and second low-speed communication lines. The first camera 300a and the first millimeter-wave radar 400a are located near the first sensor hub 200a, and the second camera 300b and the second millimeter-wave radar 400b are located near the second sensor hub 200b.

Description

[Technical Field]

[0001] The present invention relates to an in-vehicle network system. [Background technology]

[0002] Conventionally, techniques for improving transmission reliability in in-vehicle network systems have been proposed. Patent Document 1 discloses an in-vehicle control system that controls the vehicle based on data received from a sensor (in-vehicle sensor) mounted on the automobile. The in-vehicle control system disclosed in Patent Document 1 improves transmission reliability by transmitting the data received from the sensor via normal wiring and redundant wiring. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-104528 Summary of the Invention [Problem to be solved by the invention]

[0004] In the in-vehicle control system disclosed in Patent Document 1, in order to increase the redundancy of the sensor signal, the same signal is output from the sensor terminal twice and transmitted to the control unit via different paths. Therefore, increasing the number of high-speed signal lines not only increases costs but also increases the weight of the entire wire harness.

[0005] The present invention has been made in view of the problems inherent in the conventional technology, and an object of the present invention is to provide an in-vehicle network system that can suppress an increase in the weight of a wire harness due to the provision of redundancy while maintaining transmission reliability. [Means for solving the problem]

[0006] An in-vehicle network system according to an embodiment of the present invention is an in-vehicle network system that is mounted on a vehicle and detects objects present around the vehicle, and includes a first camera and a second camera that acquire image data for identifying the objects, a first millimeter wave radar and a second millimeter wave radar that acquire measurement data for measuring the distance and direction to the objects, a first sensor hub that is connected to the first camera via a first high-speed communication line capable of transmitting data at high speed and connected to the second millimeter wave radar via a second low-speed communication line capable of transmitting data at low speed, and a first low-speed communication line that is connected to the second camera via the second high-speed communication line capable of transmitting data at high speed and connected to the second millimeter wave radar via a second low-speed communication line capable of transmitting data at low speed. The vehicle comprises a second sensor hub connected to the first millimeter wave radar via a line, and an autonomous driving ECU connected to the first sensor hub and the second sensor hub, receiving image data acquired by the first camera and the second camera and measurement data acquired by the first millimeter wave radar and the second millimeter wave radar, and performing object detection processing, wherein the first high-speed communication line and the second high-speed communication line are arranged within the vehicle with communication lines of shorter length than the first low-speed communication line and the second low-speed communication line, the first camera and the first millimeter wave radar are arranged in a first area closer to the first sensor hub than the second sensor hub, and the second camera and the second millimeter wave radar are arranged in a second area closer to the second sensor hub than the first sensor hub. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide an in-vehicle network system that can suppress an increase in the weight of a wire harness due to the provision of redundancy while maintaining transmission reliability. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing a configuration of an in-vehicle network system according to an embodiment of the present invention; [Figure 2] 1 is a block diagram showing a configuration of an in-vehicle network system according to an embodiment of the present invention; [Figure 3] FIG. 10 is a block diagram showing a configuration of an in-vehicle network system according to another embodiment. [Figure 4]FIG. 10 is a block diagram showing a configuration of an in-vehicle network system according to another embodiment. [Figure 5] FIG. 10 is a diagram showing a configuration of an in-vehicle network system according to another embodiment. [Figure 6] FIG. 10 is a block diagram showing a configuration of an in-vehicle network system according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] The in-vehicle network system 10 according to this embodiment will be described in detail below with reference to the drawings. Note that the dimensional proportions in the drawings are exaggerated for the sake of explanation and may differ from the actual proportions. In addition, in the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals.

[0010] (Configuration of in-vehicle network system 10) 1 is a diagram showing the configuration of an in-vehicle network system 10 according to this embodiment. The in-vehicle network system 10 is a system that is mounted on a vehicle and detects objects present around the vehicle.

[0011] The in-vehicle network system 10 includes an autonomous driving ECU 100 (ADECU), a plurality of sensor hubs 200, a plurality of cameras 300, and a plurality of millimeter wave radars 400.

[0012] The autonomous driving ECU 100 is connected to the sensor hub 200, receives image data acquired by the camera 300 and measurement data acquired by the millimeter wave radar 400, and performs object detection processing.

[0013] The sensor hub 200 is connected to multiple cameras 300 and multiple millimeter-wave radars 400, receives image data acquired by the cameras 300 and measurement data acquired by the millimeter-wave radar 400, and transmits them to the autonomous driving ECU 100.

[0014] Multiple cameras 300 are arranged around the vehicle to acquire image data for identifying objects near the vehicle, and millimeter-wave radar 400 is also installed around the vehicle to acquire data for measuring the distance and direction to objects near the vehicle.

[0015] For example, the camera 300 can distinguish the colors of other vehicles, pedestrians, traffic lights, etc., but it may have difficulty recognizing objects at night or in bad weather such as backlighting. The millimeter-wave radar 400 measures the distance and direction to an object, and can make measurements at night or in bad weather, but it may have difficulty detecting small objects or objects with low reflectivity.

[0016] Therefore, the in-vehicle network system 10 can compensate for the disadvantages of both the camera 300 and the millimeter-wave radar 400. This enables the in-vehicle network system 10 to more accurately detect surrounding objects in an autonomous vehicle.

[0017] 2 is a block diagram showing the configuration of the in-vehicle network system 10 according to this embodiment. Fig. 2 is a schematic diagram showing a part of the configuration of the in-vehicle network system 10 in order to explain the relationship between the autonomous driving ECU 100, the sensor hub 200, the camera 300, and the millimeter-wave radar 400.

[0018] In the example shown in Fig. 2, the in-vehicle network system 10 includes a first camera 300a and a second camera 300b that acquire image data for identifying an object. The in-vehicle network system 10 also includes a first millimeter-wave radar 400a and a second millimeter-wave radar 400b that acquire measurement data for measuring the distance and direction to the object. Hereinafter, when there is no need to distinguish between the first camera 300a and the second camera 300b, they will simply be referred to as "camera 300." When there is no need to distinguish between the first millimeter-wave radar 400a and the second millimeter-wave radar 400b, they will simply be referred to as "millimeter-wave radar 400."

[0019] The in-vehicle network system 10 includes a first sensor hub 200a connected to a first camera 300a via a first high-speed communication line HSL1 capable of transmitting data at high speed, and connected to a second millimeter-wave radar 400b via a second low-speed communication line LSL2 capable of transmitting data at low speed.

[0020] The in-vehicle network system 10 includes a second sensor hub 200b connected to a second camera 300b via a second high-speed communication line HSL2 capable of transmitting data at high speed, and connected to a first millimeter-wave radar 400a via a first low-speed communication line LSL1 capable of transmitting data at low speed. Hereinafter, when there is no need to distinguish between the first sensor hub 200a and the second sensor hub 200b, they will be simply referred to as "sensor hub 200."

[0021] In the in-vehicle network system 10 according to this embodiment, the first high-speed communication line HSL1 and the second high-speed communication line HSL2 are made of high-speed communication cables capable of transmitting large amounts of data at high speeds. The first low-speed communication line LSL1 and the second low-speed communication line LSL2 are made of low-speed communication cables that are lighter than the high-speed communication cables because they transmit small amounts of data at low speeds.

[0022] The in-vehicle network system 10 also includes an autonomous driving ECU 100 connected to the first sensor hub 200a and the second sensor hub 200b. The autonomous driving ECU 100 receives image data acquired by the first camera 300a and the second camera 300b and measurement data acquired by the first millimeter wave radar 400a and the second millimeter wave radar 400b, and performs object detection processing.

[0023] In the example shown in FIG. 2, the first high-speed communication line HSL1 and the second high-speed communication line HSL2 are arranged in the vehicle as communication lines having shorter lengths than the first low-speed communication line LSL1 and the second low-speed communication line LSL2.

[0024] 2, the first camera 300a and the first millimeter-wave radar 400a are arranged in a first area A1 that is closer to the first sensor hub 200a than the second sensor hub 200b. Furthermore, the second camera 300b and the second millimeter-wave radar 400b are arranged in a second area A2 that is closer to the second sensor hub 200b than the first sensor hub 200a.

[0025] 2, for example, even if the first camera 300a in the first area A1 fails, the first millimeter-wave radar 400a in the first area A1 can supplement the data and prevent the system from becoming disabled. Also, even if the first sensor hub 200a located near the first area A1 fails, the signal from the first millimeter-wave radar 400a in the first area A1 is transmitted to the autonomous driving ECU 100 via the second sensor hub 200b, so it is possible to prevent the system from becoming disabled.

[0026] 2, the in-vehicle network system 10 can be configured as a network system with redundancy in the communication lines for low-speed communication. This allows the in-vehicle network system 10 to reduce the weight of the wire harness used in the in-vehicle network system 10 compared to when redundancy is provided in the high-speed communication lines. In other words, the in-vehicle network system 10 can suppress an increase in the weight of the wire harness due to the provision of redundancy while maintaining transmission reliability.

[0027] For example, the first high-speed communication line HSL1 and the second high-speed communication line HSL2 are configured as high-speed communication cables capable of transmitting large amounts of data at high speed in order to transmit raw data detected by the camera 300. The high-speed communication cables are configured as, for example, shielded coaxial cables.

[0028] On the other hand, since the first low-speed communication line LSL1 and the second low-speed communication line LSL2 transmit small amounts of data acquired by the millimeter-wave radar 400, low-cost unshielded cables such as twisted pair cables are used.

[0029] That is, the first low-speed communication line LSL1 and the second low-speed communication line LSL2 use cables that are lighter in weight per unit length than the first high-speed communication line HSL1 and the second high-speed communication line HSL2.

[0030] This allows the in-vehicle network system 10 to maintain transmission reliability while further suppressing an increase in the weight of the wire harness due to the provision of redundancy.

[0031] (Other embodiments) Although the embodiments have been described in detail with reference to the drawings, the present embodiments are not limited to the contents described in the above embodiments. Furthermore, the components described above include those that can be easily imagined by a person skilled in the art and those that are substantially the same. Furthermore, the configurations described above can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the configurations can be made without departing from the spirit of the embodiments.

[0032] 3 is a block diagram showing the configuration of an in-vehicle network system 10 according to another embodiment. In the example shown in FIG. 3, the in-vehicle network system 10 includes a first radar generation processing unit 310a in a first area A1 and a second radar generation processing unit 310b in a second area A2. The first radar generation processing unit 310a and the second radar generation processing unit 310b generate radar signals used for object detection based on image data acquired by the first camera 300a and the second camera 300b, respectively. For example, the first radar generation processing unit 310a and the second radar generation processing unit 310b generate measurement data (radar signals) that calculate the distance and direction to an object based on the image data acquired by the first camera 300a and the second camera 300b, respectively.

[0033] The generated measurement data is sent to the second sensor hub 200b and the first sensor hub 200a via the first low-speed communication line LSL1 and the second low-speed communication line LSL2, respectively. With the configuration shown in Fig. 3, the in-vehicle network system 10 maintains transmission reliability while suppressing an increase in the weight of the wire harness due to the provision of redundancy, and further, since the millimeter-wave radar 400 is not provided, a simple and low-cost system can be realized.

[0034] FIG. 4 is a block diagram illustrating a configuration of an in-vehicle network system 10 according to another embodiment. In the example illustrated in FIG. 4, the in-vehicle network system 10 includes a sensor hub 200, a data combiner 210, a data processor 220, and communication interfaces 230a and 230b. The data combiner 210 combines image data acquired by multiple cameras 300. The data processor 220 compresses and stores the combined data. The communication interface 230a transmits the large amount of data combined by the data combiner 210 over a third high-speed communication line HSL3. The communication interface 230b transmits the small amount of data compressed and stored by the data processor 220 over a third low-speed communication line LSL3. The small amount of data compressed and stored by the data processor 220 corresponds to compressed image data. As a result, the in-vehicle network system 10 in the configuration illustrated in FIG. 4 maintains transmission reliability while suppressing an increase in the weight of the wire harness due to the addition of redundancy, thereby achieving a simple and low-cost system.

[0035] 5 and 6 are diagrams illustrating the configuration of an in-vehicle network system 10 according to another embodiment. In the example illustrated in FIG. 5, communication lines for small amounts of data acquired by a millimeter-wave radar 400 are configured as a network capable of bus connection, rather than the point-to-point configuration used in the above-described embodiment. For example, in the example illustrated in FIGS. 5 and 6, measurement data and / or compressed image data acquired by the millimeter-wave radar 400 are relayed by a junction connector 500, enabling a branch structure at an optimal location. Note that the compressed image data corresponds to a small amount of data acquired by the above-described camera 300 that is compressed and stored by the data processing unit 220. This allows the in-vehicle network system 10 to build a simple and low-cost communication network.

[0036] The features of the in-vehicle network system 10 will be described below.

[0037] An in-vehicle network system 10 according to a first embodiment is mounted on a vehicle and detects objects present around the vehicle. The in-vehicle network system 10 includes a first camera 300a and a second camera 300b that acquire image data for identifying the object. The in-vehicle network system 10 also includes a first millimeter-wave radar 400a and a second millimeter-wave radar 400b that acquire measurement data for measuring the distance and direction to the object. The in-vehicle network system 10 includes a first sensor hub 200a that is connected to the first camera 300a via a first high-speed communication line HSL1 capable of transmitting data at high speed and that is connected to the second millimeter-wave radar 400b via a second low-speed communication line LSL2 capable of transmitting data at low speed. The in-vehicle network system 10 includes a second sensor hub 200b connected to a second camera 300b via a second high-speed communication line HSL2 capable of transmitting data at high speed, and connected to a first millimeter-wave radar 400a via a first low-speed communication line LSL1 capable of transmitting data at low speed. The in-vehicle network system 10 also includes an autonomous driving ECU 100 connected to the first sensor hub 200a and the second sensor hub 200b. The autonomous driving ECU 100 receives image data acquired by the first camera 300a and the second camera 300b and measurement data acquired by the first millimeter-wave radar 400a and the second millimeter-wave radar 400b, and performs object detection processing. The first high-speed communication line HSL1 and the second high-speed communication line HSL2 are arranged inside the vehicle as communication lines shorter in length than the first low-speed communication line LSL1 and the second low-speed communication line LSL2. The first camera 300a and the first millimeter-wave radar 400a are arranged in a first area A1 that is closer to the first sensor hub 200a than the second sensor hub 200b. The second camera 300b and the second millimeter-wave radar 400b are arranged in a second area A2 that is closer to the second sensor hub 200b than the first sensor hub 200a.

[0038] According to the above configuration, the in-vehicle network system 10 can be configured as a network system with redundancy in the communication lines for low-speed communication. As a result, the in-vehicle network system 10 can maintain transmission reliability while suppressing an increase in the weight of the wire harness due to the provision of redundancy.

[0039] The first low-speed communication line LSL1 and the second low-speed communication line LSL2 of the in-vehicle network system 10 according to the second embodiment may have a weight per unit length that is lighter than the first high-speed communication line HSL1 and the second high-speed communication line HSL2.

[0040] According to the above configuration, the in-vehicle network system 10 can maintain transmission reliability while further suppressing an increase in the weight of the wire harness due to the provision of redundancy.

[0041] The measurement data acquired by the first millimeter wave radar 400a and the second millimeter wave radar 400b of the in-vehicle network system 10 according to the third embodiment may be generated based on image data acquired by the first camera 300a or the second camera 300b.

[0042] According to the above configuration, the in-vehicle network system 10 maintains transmission reliability while suppressing an increase in the weight of the wire harness due to the provision of redundancy. Furthermore, since the in-vehicle network system 10 does not include the millimeter-wave radar 400, a simple and low-cost system can be realized.

[0043] The first sensor hub 200a and / or the second sensor hub 200b of the in-vehicle network system 10 according to the fourth aspect may further include a data processing unit 220 that compresses image data and stores it as compressed image data. Furthermore, the image data may be transmitted from the first sensor hub 200a and / or the second sensor hub 200b to the autonomous driving ECU 100 via a third high-speed communication line HSL3 capable of transmitting data at high speed. Furthermore, the compressed image data may be transmitted from the first sensor hub 200a and / or the second sensor hub 200b to the autonomous driving ECU 100 via a third low-speed communication line LSL3 capable of transmitting data at low speed.

[0044] According to the above configuration, the in-vehicle network system 10 can maintain transmission reliability while suppressing an increase in the weight of the wire harness due to the provision of redundancy, thereby realizing a simple and low-cost system.

[0045] The in-vehicle network system 10 according to the fifth aspect may include a junction connector 500 between the first sensor hub 200a and / or the second sensor hub 200b and the autonomous driving ECU 100. The measurement data and / or compressed image data may be transmitted to the autonomous driving ECU 100 via the junction connector 500.

[0046] According to the above configuration, the in-vehicle network system 10 can adopt a branching structure at an optimal location by relaying the measurement data and / or compressed image data acquired by the millimeter-wave radar 400 through the junction connector 500. This enables the in-vehicle network system 10 to build a simple, low-cost communication network. [Explanation of symbols]

[0047] 10 In-vehicle network system 100 Autonomous Driving ECU 200 Sensor Hub 200a 1st Sensor Hub 200b Secondary Sensor Hub 210 Data connection section 220 Data Processing Unit 230a, 230b Communication I / F 300 cameras 300a 1st camera 300b Second Camera 310a First radar generation processing unit 310b Second radar generation processing unit 400 mm wave radar 400a First millimeter wave radar 400b Second millimeter wave radar 500 Junction Connector HSL1 1st high speed communication line HSL2 2nd high speed communication line HSL3 3rd High-Speed ​​Communication Line LSL1 Low-speed communication line No. 1 LSL2 2nd low speed communication line LSL3 Third Low-Speed ​​Communication Line

Claims

1. An in-vehicle network system that is mounted on a vehicle and detects objects present around the vehicle, a first camera and a second camera for acquiring image data for identifying the object; a first millimeter wave radar and a second millimeter wave radar that acquire measurement data for measuring the distance and direction to the object; a first sensor hub connected to the first camera via a first high-speed communication line capable of transmitting data at a high speed and connected to the second millimeter wave radar via a second low-speed communication line capable of transmitting data at a low speed; a second sensor hub connected to the second camera via a second high-speed communication line capable of transmitting data at a high speed and connected to the first millimeter wave radar via a first low-speed communication line capable of transmitting data at a low speed; an autonomous driving ECU connected to the first sensor hub and the second sensor hub, receiving the image data acquired by the first camera and the second camera and the measurement data acquired by the first millimeter wave radar and the second millimeter wave radar, and performing object detection processing; the first high-speed communication line and the second high-speed communication line are arranged in the vehicle as communication lines having lengths shorter than those of the first low-speed communication line and the second low-speed communication line, the first camera and the first millimeter wave radar are disposed in a first area closer to the first sensor hub than the second sensor hub; An in-vehicle network system, wherein the second camera and the second millimeter-wave radar are arranged in a second area closer to the second sensor hub than the first sensor hub.

2. 2. The in-vehicle network system according to claim 1, wherein the first low-speed communication line and the second low-speed communication line have a weight per unit length that is lighter than the first high-speed communication line and the second high-speed communication line.

3. 3. The in-vehicle network system according to claim 1, wherein the measurement data acquired by the first millimeter wave radar and the second millimeter wave radar are generated based on the image data acquired by the first camera or the second camera.

4. The first sensor hub and / or the second sensor hub further includes a data processing unit that compresses the image data and stores it as compressed image data; the image data is transmitted from the first sensor hub and / or the second sensor hub to the autonomous driving ECU via a third high-speed communication line capable of transmitting data at high speed; 2. The in-vehicle network system of claim 1, wherein the compressed image data is transmitted from the first sensor hub and / or the second sensor hub to the autonomous driving ECU via a third low-speed communication line capable of transmitting data at a low speed.

5. a junction connector is provided between the first sensor hub and / or the second sensor hub and the autonomous driving ECU; The in-vehicle network system according to claim 4 , wherein the measurement data and / or the compressed image data are transmitted to the autonomous driving ECU via the junction connector.

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