CN113348421B

CN113348421B - Camera equipment, data acquisition system and method

Info

Publication number: CN113348421B
Application number: CN202180001569.8A
Authority: CN
Inventors: 唐治
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-04-28
Filing date: 2021-04-28
Publication date: 2023-02-28
Anticipated expiration: 2041-04-28
Also published as: WO2022226848A1; CN113348421A

Abstract

The application provides a camera device, a data acquisition system and a method, relates to the technical field of automobiles, and is used for solving the problem that the test cost is high due to the fact that special acquisition equipment is needed by the data acquisition equipment applied to the drive test process of an ADAS system at present, and improving the efficiency of testing the ADAS system. The image pickup apparatus includes a camera assembly, a first ECU apparatus, and a second ECU apparatus. The second ECU device may be used as a data acquisition device, and the first interface of the second ECU device is connected to the camera assembly and is configured to acquire original image data of the camera assembly. The second interface of the second ECU device is connected to the second interface of the first ECU device, and is configured to acquire the first signal data output by the first ECU device, so that the second ECU device can acquire the original image data from the camera assembly and also acquire the internal analysis data from the first ECU device.

Description

Camera equipment, data acquisition system and method

Technical Field

The application relates to the technical field of automobiles, in particular to a camera device, a data acquisition system and a data acquisition method.

Background

To meet the reliability of the system, an Advanced Driving Assistance System (ADAS) is tested and verified before the ADAS is formed into a product. In the system testing and verifying stage, a drive test process and a data recharging process are generally carried out. In the process of the drive test, communication data, sensor data and measurement data in the process of the drive test can be collected and stored. In the data recharging process after the drive test is finished, communication data, sensor data and measurement data collected in the drive test process are recharged to the ADAS system, and the ADAS system is subjected to data excitation so as to verify the reliability of various Electronic Control Units (ECU) in the ADAS system.

At present, in order to collect various types of data (such as sensor data, communication data and measurement data) in a drive test process and enable the collected various types of data to be directly used for a data recharging process to perform data excitation test on an ADAS (adaptive data analysis) system, special collection equipment generally needs to be developed, and the problem of high test cost is caused.

Disclosure of Invention

The application provides a camera device, a data acquisition system and a method, which are used for solving the problem of high test cost caused by the fact that special acquisition equipment is needed by the data acquisition equipment applied to the drive test process of an ADAS system at present, and improving the efficiency of ADAS system test.

In a first aspect, the present application provides an image pickup apparatus. The image pickup apparatus is applied to an ADAS system. The image pickup apparatus includes a camera assembly and an ECU apparatus. The ECU device includes a first interface and a second interface. The first interface is connected with the camera assembly and used for acquiring original image data of the camera assembly. The second interface is used for transmitting internal analysis data of the ECU device.

Based on the camera device, the camera device can acquire original image data of the camera assembly through the first interface of the ECU device, perform data analysis according to the original image data and output internal analysis data. The camera shooting device can also transmit internal analysis data through a second interface of the ECU device, so that when the second interface of the ECU device is connected with the data acquisition device, the acquisition device can acquire the internal analysis data of the ECU device, and the camera shooting device can be used in a data recharging test.

Optionally, the ECU device may further include a third interface. The third interface is used for connecting the radar ECU. The third interface is a CAN-FD interface. Thus, the analysis data of the radar ECU and the acquisition data of the radar can be acquired.

Optionally, the ECU device may further include a fourth interface. The fourth interface is used for connecting the vehicle-mounted gateway. The fourth interface is a CAN interface. When the fourth interface is connected with the vehicle-mounted network, the ECU device is enabled to communicate with the vehicle-mounted gateway or the T-BOX to acquire vehicle data, and the vehicle data can be acceleration, accelerator and the like of the vehicle.

Optionally, the first interface is a MIPI interface. The second interface is an ETH interface.

In a second aspect, the present application provides another image pickup apparatus. The image pickup apparatus is applied to an ADAS system. The image pickup apparatus includes a camera assembly, a first ECU apparatus, and a second ECU apparatus. The first ECU device and the second ECU device each include a first interface and a second interface. And the first interface of the first ECU equipment and the first interface of the second ECU equipment are both connected with the camera assembly. And the second interface of the second ECU device is connected with the second interface of the first ECU device.

Based on the camera device in the second aspect, in the camera device, the second ECU device may serve as a data acquisition device, and the first interface of the second ECU device is connected to the camera assembly and is used for acquiring original image data of the camera assembly. The second interface of the second ECU device is connected with the first interface of the first ECU device and used for acquiring the first signal data output by the first ECU device. In this way, when the second ECU device is used as a data acquisition device, the second ECU device is connected to the first ECU device, and the second ECU device is connected to the camera assembly, so that the second ECU device can acquire original image data from the camera assembly, and can also acquire internal analysis data from the first ECU device (i.e., the camera ECU).

It is to be understood that the first ECU device and the second ECU device may be existing ECU devices in the ADAS system, such as camera ECUs. The first ECU device and the second ECU device may be the same ECU, and for example, the first ECU device and the second ECU device are both camera ECUs, and adopt the same hardware structure. The first ECU device and the second ECU device may also be different ECU devices, such as the first ECU device being a camera ECU and the second ECU device being a radar ECU. Therefore, special acquisition equipment does not need to be designed, so that the development cost of hardware is reduced, and the development period is shortened. In addition, based on the same hardware structure, the data acquisition equipment can also directly follow the software architecture of the camera ECU, so that the software development cost is reduced.

With reference to the second aspect, in one possible implementation manner, the image capturing apparatus may further include a first debug interface board and a second debug interface board. The first debugging interface board is provided with a first data transfer interface. And a second data transfer interface is arranged on the second debugging interface board. The camera assembly is connected with the first data transfer interface. The first data transfer interface is connected with the second data transfer interface. The second data transfer interface is connected with the first interface of the second ECU device. Therefore, after the data acquisition process is finished, the first debugging interface board, the second debugging interface board and the second ECU device can be detached, normal operation and use of the ADAS system are guaranteed, and safety of the ADAS system is improved.

Optionally, the first debug interface board may further be provided with a first CPLD interface. And a second CPLD interface is also arranged on the second debugging interface board. The first data transfer interface is connected with the camera assembly through the first CPLD interface. The second data transfer interface is connected with the first interface of the second ECU device through a second CPLD interface.

It should be understood that, if the first ECU device is a camera ECU in the ADAS system and the second ECU device is a data acquisition device, the transmission direction of the first CPLD interface may be configured by software to be transmitted from the camera assembly to the first data transfer interface, and the transmission direction of the second CPLD interface is transmitted from the second data transfer interface to the first interface of the second ECU device. Conversely, if the second ECU device is a camera ECU in the ADAS system and the first ECU device is a data acquisition device, the camera assembly may be connected to the first interface of the second ECU device, and then the transmission direction of the first CPLD interface may be configured by software to be transmitted from the first data transfer interface to the first interface of the first ECU device, and the transmission direction of the second CPLD interface is transmitted from the camera assembly to the second data transfer interface.

In this way, since the second ECU apparatus may adopt the same hardware structure and software architecture as the first ECU apparatus (i.e., the camera ECU), the first ECU apparatus (i.e., the camera ECU) and the second ECU apparatus may be redundant to each other. That is, during data acquisition, the first ECU device and the second ECU device in the image pickup apparatus may exchange roles. For example, when a non-communication failure occurs in a first ECU device (i.e., camera ECU), such as an internal functional failure of the first ECU device (i.e., camera ECU), the second ECU device may be used as the camera ECU to construct a running environment of the vehicle and output the first signal data.

Optionally, the first ECU apparatus may further include a third interface. The third interface is used for connecting the radar ECU to obtain the analysis data of the radar ECU.

Optionally, the second ECU apparatus may further include a third interface. The third interface is used for connecting the radar ECU to obtain the analysis data of the radar ECU.

It should be understood that in the ADAS system, a radar and a radar ECU may also be included, and the radar is connected to the radar ECU. In order to acquire the collected data of the radar and the analysis data of the radar ECU, and use the analysis data of the radar ECU and the original image data together as a data source for the first ECU device to construct a road running environment, a third interface may be provided in the first ECU device. The third interface may be a CAN-FD interface.

Optionally, the first ECU device and the second ECU device may each include a fourth interface. And the fourth interface of the first ECU device and the fourth interface of the second ECU are both used for connecting the vehicle-mounted gateway. In this manner, the first ECU apparatus or the second ECU apparatus can be made to acquire the vehicle data.

Optionally, the second ECU apparatus may further include a fifth interface. The fifth interface is used for connecting the storage device.

Optionally, the first ECU apparatus may further include a fifth interface. The fifth interface is used for connecting a storage device.

In this manner, it is possible to make it possible to store the acquired raw image data, the first signal data, and the acquired data of the radar, the analysis data of the radar ECU into the storage device when the first ECU device functions as the data acquisition device, or when the second ECU device functions as the data acquisition device.

In a third aspect, the present application provides a data acquisition system. The data acquisition system is applied to an ADAS system. The data acquisition system comprises a camera assembly, a first ECU device, a second ECU device and a storage device; the first ECU device and the second ECU device each include a first interface and a second interface. The first interface of the first ECU equipment is connected with the camera assembly and used for acquiring original image data of the camera assembly and outputting first signal data according to the original image data of the camera assembly; the first signal data includes a first vehicle sensing signal and a first vehicle regulation signal. And a first interface of the second ECU device is connected with the camera assembly and is used for acquiring original image data of the camera assembly. And the second interface of the second ECU device is connected with the second interface of the first ECU device and is used for acquiring the first signal data output by the first ECU device. The storage device is connected with the second ECU device and used for storing the acquired data acquired by the second ECU device; the acquisition data includes raw image data of the camera assembly, and first signal data.

It should be understood that the first vehicle sensing signal data may be related data obtained by the camera ECU based on the sensing of the sensor assembly, such as information about the real-time speed of the vehicle, whether an obstacle exists, and the like. The first vehicle regulation and control signal data can be first sensing signal data obtained by the camera ECU based on the induction of the sensor assembly, and data which are used for controlling the vehicle running state and are output after analysis, such as controlling the vehicle to slow down, controlling the vehicle to brake and the like.

Based on the data acquisition system, the first ECU device may construct a vehicle running environment from the raw image data from the camera assembly, and output first signal data. The second ECU apparatus may acquire the raw image data from the camera assembly, and may also acquire the first signal data from the first ECU apparatus, and store the acquired raw image data and the first signal data in the storage apparatus. Therefore, the data acquisition system can directly acquire data in each data source through the first ECU equipment, the second ECU equipment acquires the internal analysis data of the first ECU equipment from the first ECU equipment, the acquired acquisition data can be used for constructing a real vehicle driving environment in a recharge test scene, an additional data processing process is avoided, the test efficiency is improved, and the test cost is reduced.

With reference to the third aspect, in a possible implementation manner, the data acquisition system may further include a first debug interface board and a second debug interface board. The first debugging interface board is provided with a first data transfer interface. And a second data transfer interface is arranged on the second debugging interface board. The camera assembly is connected with the first data transfer interface. The first data transfer interface is connected with the second data transfer interface. The second data transfer interface is connected with the first interface of the second ECU device.

Further, a first CPLD interface may be further disposed on the first debug interface board; the second debugging interface board can also be provided with a second CPLD interface. The first data transfer interface is connected with the camera assembly through the first CPLD interface. And the second data transfer interface is connected with the first interface of the second ECU device through a second CPLD interface.

Optionally, the data acquisition system may further comprise a radar and a radar ECU. The radar ECU is connected with the radar and used for outputting analysis data of the radar ECU according to the collected data of the radar. The first ECU device further includes a third interface; and the third interface of the first ECU equipment is connected with the radar ECU and used for acquiring the collected data of the radar and the analyzed data of the radar ECU. Therefore, the first ECU equipment can construct a real vehicle running environment according to various data such as analysis data, original image data and the like of the radar ECU, and output vehicle sensing signal data and vehicle regulation signal data.

It should be understood that the radar may include one or more of a laser radar (lidar), a millimeter-wave radar (millimeter-wave radar), and an ultrasonic radar (ultrasonic radar). The laser radar is a radar working in an infrared spectrum section to an ultraviolet spectrum section, and can be applied to obstacle detection, acquisition of environment three-dimensional information, vehicle distance keeping, vehicle obstacle avoidance and the like. The millimeter wave radar is a radar which works in a millimeter wave band for detection and can be applied to distance measurement, speed measurement, azimuth angle measurement and the like. An ultrasonic radar is a radar for detecting an object by using ultrasonic waves, and is applicable to detection of a short-distance obstacle and the like. The radar detection data may be a set of all data detected by a laser radar, a millimeter wave radar, and an ultrasonic radar.

Optionally, the data acquisition system may further comprise an in-vehicle gateway. The first ECU device and the second ECU device each include a fourth interface. And the fourth interface of the first ECU device and the fourth interface of the second ECU device are both connected with the vehicle-mounted gateway. In this way, the second ECU device can be made to acquire the interaction information between the first ECU device and the vehicle gateway, such as vehicle information, time, vehicle data, and the like. The vehicle data may be acceleration, accelerator, and the like of the vehicle itself.

Optionally, the second ECU apparatus may further include a fifth interface. The storage device is connected with the fifth interface of the second ECU device. Therefore, the storage device is also in communication connection with the second ECU device through the fifth interface in the second ECU device, so that various data collected in the second ECU device can be stored in the storage device.

Optionally, the data acquisition system may further include a control device, connected to the second interface of the second ECU device, for controlling the second ECU device to acquire data or stop acquiring data. When data acquisition is required, the control device (such as an upper computer) can send a data acquisition instruction to the second ECU device to start data acquisition. When data acquisition needs to be finished, the control device (such as the upper computer) can send an acquisition stopping instruction to the second ECU device so as to stop data acquisition.

In a fourth aspect, the present application provides a data acquisition method. The data acquisition method is applied to the data acquisition system in any one of the possible implementation manners of the third aspect. The method comprises the following steps: the second ECU device receives raw image data from the camera assembly. The second ECU device receives the first signal data from the first ECU device; the first signal data is vehicle sensing signal data and/or vehicle regulation signal data output by the first ECU device. The second ECU device transmits the original image data and the first signal data to the storage device.

Optionally, the method may further comprise: the second ECU device executes the time synchronization request from the first ECU device; the time synchronization request is for instructing the first ECU apparatus and the second ECU apparatus to time-synchronize.

Optionally, the raw image data and the first signal data may each comprise an acquisition time.

It should be understood that, when the data acquisition method provided in the fourth aspect is applied to the data acquisition system described in the third aspect, please refer to the data acquisition system described in the third aspect for technical effects, which will not be described herein again.

In a fifth aspect, the present application provides another data acquisition system. The data acquisition system is applied to an ADAS system. The data acquisition system comprises a camera assembly, first ECU equipment and storage equipment; the camera assembly and the storage device are both communicatively coupled to the first ECU device. And the first ECU equipment is used for acquiring the original image data of the camera assembly and outputting first signal data according to the original image data of the camera assembly. Wherein the first signal data comprises first vehicle perception signal data and/or first vehicle regulation signal data. The first ECU device is also configured to transmit the original image data and the first signal data to the storage device.

Optionally, the data acquisition system may further comprise a radar and a radar ECU; the radar ECU is connected with the radar and used for outputting analysis data of the radar ECU according to the collected data of the radar. The first ECU device further includes a third interface; and the third interface of the first ECU equipment is connected with the radar ECU and used for acquiring the collected data of the radar and the analyzed data of the radar ECU. Therefore, the first ECU equipment can construct a real vehicle running environment according to various data such as analysis data, original image data and the like of the radar ECU, and output vehicle sensing signal data and vehicle regulation signal data.

Optionally, the data acquisition system may further include a vehicle-mounted gateway; the first ECU device may include a fourth interface. The fourth interface is connected with the vehicle-mounted gateway. In this way, the first ECU device can be made to acquire interaction information such as vehicle information, time, vehicle data, and the like with the in-vehicle gateway. The vehicle data may be acceleration, accelerator, and the like of the vehicle itself.

Optionally, the first ECU apparatus may further include a fifth interface; the storage device is connected with the fifth interface. Therefore, the storage device is also in communication connection with the first ECU device through the fifth interface, so that various data collected in the first ECU device can be stored in the storage device.

Optionally, the data acquisition system may further include a control device, connected to the second interface of the first ECU device, for controlling the first ECU device to acquire data or stop acquiring data. When data acquisition is required, the control device (such as an upper computer) can send a data acquisition instruction to the first ECU device to start data acquisition. When data acquisition needs to be finished, the control device (such as the upper computer) can send an acquisition stopping instruction to the first ECU device so as to stop data acquisition.

It should be understood that, in comparison with the data acquisition system provided by the third aspect, the data acquisition system provided by the fifth aspect provides the first ECU device (i.e. the camera ECU) as an electronic control unit in the ADAS system, which is used for receiving the raw image data of the camera assembly, constructing the driving environment of the vehicle, and analyzing the data, so as to output the vehicle sensing signal and the vehicle regulation signal; the system is also used as a data acquisition device in a data acquisition system and is used for acquiring original image data output by the camera assembly, environment data output by other sensors (such as radar) and vehicle sensing signals and vehicle regulation signals output by the camera ECU. In the data acquisition system, the service operation flow of the camera ECU needs to be reasonably planned, and software resources in the camera ECU need to be reasonably planned.

In a sixth aspect, the present application provides a data-recharging system. The data recharging system is applied to an ADAS system. The data recharging system comprises a camera ECU and a storage device; the camera ECU is in communication connection with the storage device. And the camera ECU is used for acquiring the acquired data from the storage equipment, constructing a vehicle running environment according to the acquired data and outputting second signal data. The collected data is original image data stored in the storage device, collected data of a radar or analysis data of an ECU of the radar; the second signal data includes second vehicle perception signal data and/or second vehicle regulation signal data.

Optionally, the data recharging system may further include a control device, and the control device is connected to the camera ECU and configured to send a recharging instruction to the camera ECU. The recharge instruction includes a start-stop time for recharging the data. The collected data is the collected data in the storage device, and the collection time is between the start time and the end time of the recharge data.

Further, the control device may be further configured to retrieve expected data from the memory device and compare the second signal data with the expected data. The expected data is first signal data in the stored equipment, and the acquisition time of the first signal data is between the start time and the stop time of the recharge data; the first signal data includes first vehicle sensing signal data and/or first vehicle regulation signal data.

In a seventh aspect, the present application provides a data recharging method. The data-recharging method is applied to any one of the possible data-recharging systems of the third aspect above. The data recharging method comprises the following steps: the camera ECU acquires collected data from the storage equipment; the collected data is original image data stored in the storage device, collected data of the radar or analysis data of the radar ECU. The camera ECU constructs a vehicle running environment according to the acquired data and outputs second signal data; the second signal data includes vehicle sensing signals and/or vehicle regulatory signals.

Optionally, the data recharging method may further include: and the camera ECU receives a recharging instruction. The recharge instruction includes a start-stop time for recharging the data. The collected data is data in the storage device, wherein the collection time of the original image data, the radar collected data or the analysis data of the radar ECU is between the start time and the end time of the recharge data.

It should be understood that, for technical effects of the data recharging method provided in the seventh aspect, reference may be made to technical effects of the data recharging system provided in the third aspect, and details are not described here.

In an eighth aspect, the present application provides a data acquisition device. The data acquisition device includes: a processor coupled to a memory, the memory for storing a program or instructions that, when executed by the processor, cause the apparatus to perform any of the possible methods of the fourth aspect as described above.

In a ninth aspect, the present application provides a data backfilling device. This data recharge device includes: a processor coupled to a memory, the memory being configured to store a program or instructions that, when executed by the processor, cause the apparatus to perform any one of the possible methods of the seventh aspect as described above.

In a tenth aspect, the present application provides a computer readable medium having a computer program or instructions stored thereon, wherein the computer program or instructions, when executed, cause a computer to perform any one of the possible methods of the fourth aspect above, or perform any one of the possible methods of the seventh aspect above.

Drawings

Fig. 1 is a schematic view of an application scenario of an ADAS system according to an embodiment of the present application;

fig. 2 is a schematic diagram of a drive test scenario of an ADAS system according to an embodiment of the present application;

fig. 3 is a first schematic structural diagram of an image capturing apparatus according to an embodiment of the present application;

fig. 4 is a second schematic structural diagram of an image capturing apparatus provided in an embodiment of the present application;

fig. 5 is a third schematic structural diagram of an image pickup apparatus provided in an embodiment of the present application;

fig. 6 is a first schematic structural diagram of a data acquisition system according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a data acquisition system according to an embodiment of the present application;

fig. 8 is a first flowchart of a data acquisition method according to an embodiment of the present disclosure;

fig. 9 is a second flowchart of a data acquisition method according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a data acquisition system provided in an embodiment of the present application;

fig. 11 is a schematic structural diagram of a data acquisition system according to an embodiment of the present application;

fig. 12 is a schematic structural diagram of a data recharging system according to an embodiment of the present application;

fig. 13 is a schematic structural diagram of another data recharging system according to an embodiment of the present application;

fig. 14 is a flowchart of a data recharging method according to an embodiment of the present application;

FIG. 15 is a flowchart of another data recharging method provided in an embodiment of the present application;

FIG. 16 is a schematic structural diagram of a data acquisition device according to an embodiment of the present application;

fig. 17 is a schematic structural diagram of a data backfilling device according to an embodiment of the present application.

Detailed Description

In the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c or a-b-c, wherein a, b and c can be single or multiple. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. In addition, in the embodiments of the present application, the words "first", "second", and the like do not limit the number and the execution order.

It is noted that, in the present application, words such as "exemplary" or "for example" are used to mean exemplary, illustrative, or descriptive. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.

In the present application, unless expressly stated or limited otherwise, the term "coupled" is to be construed broadly, e.g., "coupled" may be a fixed connection, a removable connection, or an integral part; may be directly connected or indirectly connected through an intermediate. In addition, the term "electrically connected" may be directly electrically connected or indirectly electrically connected through an intermediate.

To meet the reliability of the system, the Advanced Driving Assistance System (ADAS) of the automobile is verified before being formed into a product. In the system verification stage, a drive test process (i.e., a data acquisition process) and a data recharging process are generally performed. In the process of the drive test, the communication data, the sensor data and the measurement data of the ADAS system in the process of the drive test can be collected and stored. After the road test process is finished, communication data, sensor data and measurement data collected in the road test process are back-filled into the ADAS system so as to restore various Electronic Control Units (ECU) in the ADAS system, and problems occur in the road test process, so that the ADAS system can reproduce and locate problems in a targeted manner in a laboratory environment, and the reliability of the ADAS system is improved.

Fig. 1 is a schematic view of an application scenario of an ADAS system according to an embodiment of the present application. As shown in fig. 1, the ADAS system includes sensors (e.g., camera assembly, radar) and an ECU. The sensor is used for collecting external road environment data, such as raw image data, collected data of a radar or analysis data of a radar ECU. The ECU is used for receiving the sensor data, constructing a vehicle running environment based on the sensor data, and analyzing the data so as to output a vehicle sensing signal and a vehicle regulation signal. The ECU may include a camera ECU, a radar ECU, and the like, and between the camera ECU and the radar ECU, data transmission may be implemented through Controller Area Network (CAN) or vehicle Ethernet (ETH) communication.

The ADAS system is a multi-sensor system. In order to facilitate a developer to perform offline simulation and analysis on the ADAS system in the system development and test stages, information and original image data of each sensor need to be synchronously acquired, and a data acquisition file is used for recording. One data acquisition file can record a plurality of engineering parameters (such as electrical parameters, images, time, postures and the like), and each engineering parameter can comprise a parameter name, a parameter value, timestamp information and the like. When data in the ADAS system is analyzed, a data environment in which the vehicle runs is generally constructed by data of a plurality of data sources so as to accurately analyze the data.

Fig. 2 is a schematic view of a drive test scenario of an ADAS system according to an embodiment of the present application. As shown in fig. 2, in the ADAS system drive test scenario, at least one vehicle installed with an ADAS system, a real road environment, and a collection device are required. The ADAS system may be the ADAS system shown in fig. 1, when the vehicle runs in a real road environment, sensors in the ADAS system, such as a camera and a radar, may acquire corresponding data, and communicate with a remote information processing BOX (T-BOX) or a gateway through a CAN bus, and the acquisition device may access the ADAS system through the CAN bus or an ETH bus, and acquire internal analysis data of an ECU in the ADAS system and raw data of the sensors, so as to store the data in a storage device (such as a hard disk).

It should be noted that, the conventional data acquisition device generally can only acquire a single data source, so that a data environment in which the vehicle runs cannot be established, and the conventional data acquisition device cannot acquire data inside the ECU, so that the data acquired by the conventional data acquisition device cannot be directly used for data excitation of the ADAS system in the data recharging process. In order to collect various data (such as sensor data, communication data and ECU internal data) in the process of a drive test and enable the collected various data to be directly used for data excitation test on an ADAS system in the process of data recharging, special collection equipment generally needs to be developed, and the problem of high test cost is caused.

Fig. 3 is a first schematic structural diagram of an image capturing apparatus according to an embodiment of the present application. As shown in fig. 3, the image pickup apparatus can be applied to the ADAS system described above. The image pickup apparatus includes a camera assembly and an ECU apparatus (i.e., a camera ECU). The ECU device includes a first interface 110 and a second interface 120. The first interface 110 of the ECU device may be a Mobile Industry Processor Interface (MIPI) interface, and the second interface 120 may be an ETH interface. The first interface 110 is connected to the camera assembly for obtaining raw image data of the camera assembly. After the ECU device acquires the raw image data of the camera assembly, the ECU device may analyze the raw image data and output internal analysis data of the ECU device. At this time, the second interface 120 of the ECU device may be used to connect with the data collecting device and transmit the internal analysis data of the ECU device.

In the ADAS system, a radar and a radar ECU may be further included, and the radar is connected to the radar ECU. When the radar ECU acquires the collected data of the radar, the collected data of the radar can be analyzed, and therefore the analyzed data of the radar ECU is output. The camera ECU can also communicate with the radar ECU to acquire analysis data of the radar ECU and acquisition data of the radar, and the camera ECU can also construct a vehicle running environment according to the original image data and the analysis data of the radar ECU, so that internal analysis data of the camera ECU are output.

In this regard, the ECU apparatus in the above-described image pickup apparatus may further include a third interface 130, and the third interface 130 may be a controller area network (CAN-FD) interface having a flexible data rate. The third interface 130 is used for connecting the radar ECU, so as to obtain the analysis data of the radar ECU and the acquisition data of the radar.

Further, in the image pickup apparatus shown in fig. 3, the ECU apparatus may further include a fourth interface 140. The fourth interface 140 may be a CAN interface, and may be configured to communicate with a vehicle gateway (vehicle network) or a T-BOX to obtain vehicle data, where the vehicle data may be acceleration, throttle, and the like of the vehicle itself.

Optionally, the ECU arrangement may further comprise a fifth interface 150. The fifth interface 150 may be a USB interface. The fifth interface 150 is used to connect a storage device. This makes it possible to store the acquired raw image data, the first signal data, and the acquired data of the radar, the analysis data of the radar ECU in the storage device when the ECU device functions as a data acquisition device.

It should be noted that the ECU device (i.e., the camera ECU) in the image pickup apparatus shown in fig. 3 may include a system on a chip (SoC) and a Micro Controller Unit (MCU) chip. The SoC chip is mainly used for performing algorithm processing on original image data acquired from a camera module (namely, a camera), so that a tester can understand the data. The MCU chip is mainly used for fusing and analyzing various data (such as raw image data and analysis data of the radar ECU) acquired from the sensor to output corresponding control data, and the corresponding control data may be regarded as internal analysis data of the ECU device in the image capturing apparatus.

Based on the image pickup apparatus shown in fig. 3, in the image pickup apparatus, the internal analysis data of the ECU apparatus can be transmitted to the corresponding capture apparatus through the second interface 120 to be used in the data-recharging test.

Fig. 4 is a schematic structural diagram of an image capturing apparatus according to an embodiment of the present application. As shown in fig. 4, the image pickup apparatus can be applied to the ADAS system described above. The image pickup apparatus includes a camera assembly, a first ECU apparatus, and a second ECU apparatus. Wherein the first ECU device and the second ECU device each include a first interface 110 and a second interface 120.

The first interface 110 of the first ECU device and the first interface 110 of the second ECU device may be MIPI interfaces for transmitting image data. The first interface 110 of the first ECU device and the first interface 110 of the second ECU device are both connected to the camera assembly, so that both the first ECU device and the second ECU device can acquire original image data from the camera assembly.

The second interface 120 of the first ECU device and the second interface 120 of the second ECU device may each be an ETH interface. The second interface 120 of the second ECU device is connected to the second interface 120 of the first ECU device so that the internal analysis data of the first ECU device can be transmitted to the second ECU device through the second interface 120, or so that the internal analysis data of the second ECU device can be transmitted to the first ECU device through the second interface 120.

It should be noted that, in the image pickup apparatus shown in fig. 4, the first ECU apparatus may be used as a camera ECU in the ADAS system, and is configured to acquire raw image data of the camera assembly and output the first signal data according to the raw image data of the camera assembly. The first signal data includes a vehicle sensing signal and a vehicle regulation signal, and the first signal data is internal analysis data of the first ECU device. The vehicle sensing signal data may be related data acquired by the camera ECU based on the sensing of the sensor assembly, such as information about the real-time speed of the vehicle, whether an obstacle exists, and the like. The vehicle regulation and control signal data can be first sensing signal data obtained by the camera ECU based on the induction of the sensor assembly, and data which are used for controlling the vehicle running state and are output after analysis, such as controlling the vehicle to decelerate, controlling the vehicle to brake and the like.

In the camera device shown in fig. 4, the second ECU device may be used as a data acquisition device, and the first interface 110 of the second ECU device is connected to the camera assembly for acquiring raw image data of the camera assembly. The second interface 120 of the second ECU device is connected to the first interface 110 of the first ECU device, and is configured to obtain the first signal data output by the first ECU device. In this way, when the second ECU device is used as a data acquisition device, the second ECU device is connected to the first ECU device, and the second ECU device is connected to the camera assembly, so that the second ECU device can acquire original image data from the camera assembly, and can also acquire internal analysis data from the first ECU device (i.e., the camera ECU).

It should be understood that the first ECU device and the second ECU device may be existing ECU devices in the ADAS system, such as a camera ECU. The first ECU device and the second ECU device may be the same ECU, and for example, the first ECU device and the second ECU device are both camera ECUs, and adopt the same hardware structure. The first ECU device and the second ECU device may also be different ECU devices, such as the first ECU device being a camera ECU and the second ECU device being a radar ECU. Therefore, special acquisition equipment does not need to be designed, so that the development cost of hardware is reduced, and the development period is shortened. In addition, based on the same hardware structure, the data acquisition equipment can also directly follow the software architecture of the camera ECU, so that the software development cost is reduced.

It is worth noting that in a normally used ADAS system, a data acquisition device, i.e. the second ECU device shown in fig. 4, is not required. That is, in the image pickup apparatus shown in fig. 4, the second ECU apparatus is an additionally connected apparatus for achieving acquisition of data. Therefore, in order to ensure the safety of the ADAS system and facilitate the normal use of the ADAS system after the test, the first ECU device and the second ECU device may be connected through a data transfer interface.

In some embodiments, to facilitate installation of the data transfer interface, the first ECU device and the second ECU device may be embedded in a debug interface board. Fig. 5 is a third schematic structural diagram of an image capturing apparatus according to an embodiment of the present application. As shown in fig. 5, in addition to the image pickup apparatus shown in fig. 4, the image pickup apparatus may further include a first debug interface board and a second debug interface board. The first debugging interface board is provided with a first data transfer interface. The second debug interface board is provided with a second data transfer interface 170. The first data forwarding interface 160 and the second data forwarding interface 170 may be Gigabit Multimedia Serial Link (GMSL) interfaces.

In order to enable the second ECU device to acquire the original image data of the camera assembly, the camera assembly is connected to the first data transfer interface 160 on the first debug interface board. The first data forwarding interface 160 on the first debug interface board is connected with the second data forwarding interface 170 on the second debug interface board. The second data transfer interface 170 on the second debug interface board is connected to the first interface 110 of the second ECU device. In this way, in the case where the camera assembly is not directly connected to the first interface 110 of the second ECU apparatus, the second ECU apparatus can be made to acquire the original image data of the camera assembly.

Optionally, a first CPLD interface 180 is further disposed on the first debug interface board. And a second CPLD interface 190 is further disposed on the second debug interface board. The first CPLD interface 180 and the second CPLD interface 190 are Complex Programmable Logic Device (CPLD) interfaces, and the CPLD interfaces mainly include a logic block, a programmable interconnection channel, and an I/O channel, and can change a logic function in an operating circuit through software. The first data transfer interface 160 is connected to the camera assembly through the first CPLD interface 180, and the second data transfer interface 170 is connected to the first interface 110 of the second ECU device through the second CPLD interface 190.

In fig. 5, if the first ECU device is a camera ECU in the ADAS system and the second ECU device is a data acquisition device, the transmission direction of the first CPLD interface 180 may be configured by software to be transmitted from the camera assembly to the first data transfer interface 160, and the transmission direction of the second CPLD interface 190 is transmitted from the second data transfer interface 170 to the first interface 110 of the second ECU device. Conversely, if the second ECU device is a camera ECU in the ADAS system and the first ECU device is a data acquisition device, the camera assembly may be connected to the first interface 110 of the second ECU device, and then the transmission direction of the first CPLD interface 180 may be configured by software to be transmitted from the first data transfer interface 160 to the first interface 110 of the first ECU device, and the transmission direction of the second CPLD interface 190 is transmitted from the camera assembly to the second data transfer interface 170.

As described above, the second ECU device may employ the same hardware structure and software architecture as the first ECU device (i.e., the camera ECU), and the first ECU device (i.e., the camera ECU) and the second ECU device may be redundant with each other. That is, during data acquisition, the first ECU apparatus and the second ECU apparatus in the image pickup apparatus shown in fig. 5 may exchange roles. For example, when a non-communication failure occurs in a first ECU device (i.e., camera ECU), such as an internal functional failure of the first ECU device (i.e., camera ECU), the second ECU device may be used as the camera ECU to construct a running environment of the vehicle and output the first signal data.

Optionally, the first ECU apparatus may further include a third interface 130. The third interface 130 is used for connecting the radar ECU to obtain the analysis data of the radar ECU. As described above, in the ADAS system, a radar and a radar ECU may be further included, and the radar is connected to the radar ECU. In order to acquire the collected data of the radar and the analysis data of the radar ECU, and use the analysis data of the radar ECU and the original image data together as a data source for the first ECU to construct a road running environment, a third interface 130 may be provided in the first ECU, and the analysis data of the radar ECU may be acquired through the third interface 130. The third interface 130 may be a CAN-FD interface.

Optionally, the second ECU apparatus may further include a third interface 130. The third interface 130 is used for connecting the radar ECU to obtain the analysis data of the radar ECU. As described above, the first ECU device and the second ECU device may be redundant with each other, and thus the second ECU device may be the same in configuration as the first ECU device.

Optionally, the first ECU device and the second ECU device each comprise a fourth interface 140. The fourth interface 140 of the first ECU device and the fourth interface 140 of the second ECU device are both used for connecting the onboard gateway. In this manner, it is possible to make the first ECU apparatus or the second ECU apparatus possible to acquire the vehicle data.

Optionally, the first ECU device and the second ECU device may further include a fifth interface 150. The fifth interface 150 is used to connect a storage device. In this way, when the first ECU device functions as a data acquisition device or when the second ECU device functions as a data acquisition device, the acquired raw image data, the first signal data, and the acquired data of the radar and the analysis data of the radar ECU can be stored in the storage device.

In order to synchronously acquire data of each data source, an embodiment of the present application provides a data acquisition system, which is suitable for the ADAS system shown in fig. 1. Fig. 6 is a first schematic structural diagram of a data acquisition system according to an embodiment of the present application. As shown in fig. 6, the data acquisition system includes a camera assembly, a first ECU device, a second ECU device, and a storage device. In the data acquisition system, the connection relationship between the camera assembly, the first ECU device, and the second ECU device may refer to the connection relationship between the camera devices shown in fig. 4 and 5, and details thereof are not repeated here.

In fig. 6, the first ECU device, which is a camera ECU in the ADAS system, is configured to acquire raw image data of the camera assembly and output first signal data according to the raw image data of the camera assembly. Wherein the first signal data comprises first vehicle perception signal data and/or first vehicle regulation signal data.

The second ECU device is used as a data acquisition device for acquiring original image data of the camera assembly and acquiring first signal data output by the first ECU device.

The storage device is connected with the second ECU device and used for storing the acquired data acquired by the second ECU device. The collected data includes raw image data from the camera assembly, and first signal data from the first ECU device.

In order to construct a real driving environment, analysis data of the radar ECU and acquisition data of the radar are required to be acquired in a drive test stage. The data acquisition system shown in fig. 6 may therefore also include a radar and a radar ECU. The radar ECU is connected with the radar and used for outputting analysis data of the radar ECU according to the collected data of the radar.

Referring to fig. 4 or 5, for the first ECU device, the third interface 130 of the first ECU device is connected to the radar ECU for acquiring the collected data of the radar and the analyzed data of the radar ECU.

It should be understood that the radar may include one or more of a laser radar (lidar), a millimeter-wave radar (millimeter-wave radar), and an ultrasonic radar (ultrasonic radar). The laser radar works in an infrared spectrum band to an ultraviolet spectrum band, and can be applied to obstacle detection, acquisition of environment three-dimensional information, vehicle distance keeping, vehicle obstacle avoidance and the like. The millimeter wave radar is a radar which works in a millimeter wave band for detection and can be applied to distance measurement, speed measurement, azimuth angle measurement and the like. The ultrasonic radar is a radar for detecting an object by using ultrasonic waves, and can be applied to detection of a short-distance obstacle and the like. The radar detection data may be a set of all data detected by a laser radar, a millimeter wave radar, and an ultrasonic radar.

It should be understood that the first ECU device and the second ECU device may be the same ECU, as if both the first ECU device and the second ECU device were camera ECUs. The first ECU device and the second ECU device may also be different ECU devices, such as the first ECU device being a camera ECU and the second ECU device being a radar ECU. Therefore, special acquisition equipment does not need to be designed, so that the development cost of hardware is reduced, and the development period is shortened. In addition, based on the same hardware structure, the acquisition equipment can directly follow the software architecture of the camera ECU, so that the software development cost is reduced.

The first ECU equipment and the second ECU equipment are in communication connection with the vehicle-mounted gateway through the CAN interfaces, so that the second ECU equipment CAN acquire interactive information between the first ECU equipment and the vehicle gateway, such as vehicle information, time and the like.

In addition, the storage device also realizes communication connection with the second ECU device through a USB interface (i.e., the fifth interface 150) in the second ECU device, so that various data collected in the second ECU device can be stored in the storage device.

Optionally, the first ECU device may also be used to synchronize the system time of the radar ECU, the first ECU device and the second ECU device. In the data acquisition process, the acquired data of the radar, the analysis data of the radar ECU, the original image data and the first signal data can be stamped to record the acquisition time. Therefore, the time consistency of the data of different data sources acquired by the second ECU equipment can be kept, and when the ECU module in the ADAS system is subjected to the recharge test, all the data acquired by the second ECU equipment can be directly used for the data recharge test to construct the vehicle driving environment without additional time compensation, so that the operation is simplified, and the recharge test efficiency is improved; and also reduces the likelihood of inaccurate test results due to timing errors in the data sources.

Optionally, the data acquisition system shown in fig. 6 may further include a control device, which is communicatively connected to the second interface 120 of the second ECU device, and is used for controlling the second ECU device to start data acquisition and stop data acquisition. When data acquisition is needed, the control equipment (such as an upper computer) can send a data acquisition instruction to the second ECU equipment to start data acquisition; when data acquisition is required to be finished, the control device (such as the upper computer) can send an acquisition stopping instruction to the second ECU device to stop data acquisition.

It is worth noting that in a normally used ADAS system, no second ECU device is required. That is, the second ECU device is a device that is additionally connected to achieve data acquisition during testing of the ADAS system. Therefore, in order to ensure the safety of the ADAS system and facilitate the normal use of the ADAS system after the test, the connection between the second ECU device and the camera ECU may be implemented through the data transfer interface.

In some embodiments, to facilitate installation of the data transfer interface, the first ECU device (i.e., the camera ECU) and the second ECU device may each be embedded with a debug interface board, which is a first debug interface board and a second debug interface board, respectively. Fig. 7 is a schematic structural diagram of a second acquisition system according to an embodiment of the present application. It should be understood that please refer to the image capturing apparatus shown in fig. 5 for the connection relationship among the first ECU apparatus, the second ECU apparatus, the first debug interface board, and the second debug interface board, which is not described herein again.

In addition, since the data collected by the second ECU device needs to be stored in the storage device, a USB interface may be further provided on the second debug interface board connected to the second ECU device, and the USB interface may be connected to a USB interface (i.e., the fifth interface 150) reserved in the second ECU device, so that the second ECU device is connected to the storage device (e.g., a hard disk) through the USB interface, so as to store various types of data of various data sources collected by the second ECU device in the storage device.

The embodiment of the present application further provides a data acquisition method corresponding to the data acquisition system shown in fig. 6 or fig. 7. Fig. 8 is a first flowchart of a data acquisition method according to an embodiment of the present application. Referring to fig. 8, the data acquisition method includes:

s801, the first ECU apparatus acquires original image data from the camera assembly.

In this process, the first ECU device may be connected to a radar ECU as a camera ECU, and the radar ECU may be connected to a radar for detecting data such as a distance, a speed, an azimuth, and an obstacle. After the radar ECU acquires the collected data of the radar, the radar detection data can be analyzed and processed, so that the analysis data of the radar ECU is output.

Therefore, in this step, the first ECU apparatus can acquire not only raw image data from the camera assembly but also collected data of the radar and analysis data of the radar ECU.

S802, the second ECU apparatus acquires original image data from the camera assembly.

According to the data acquisition system shown in fig. 6 and 7, the second ECU device can acquire raw image data directly from the camera assembly. That is, when the first ECU apparatus receives the original image data output from the camera assembly, the second ECU apparatus also receives the original image data output from the camera assembly. Steps S801 and S802 may be performed simultaneously.

S803, the first ECU apparatus outputs first signal data based on the original image data.

As described in step S801, the first ECU device may acquire raw image data, collected data of the radar, and analyzed data of the radar ECU as the collected data of the first ECU device. After the raw image data, the collected data of the radar and the analysis data of the radar ECU are obtained, the first ECU device may establish a driving environment of the vehicle according to the collected data of the first ECU device, analyze the driving environment of the vehicle, and output a sensing signal of the vehicle, such as information of a real-time speed of the vehicle, presence or absence of an obstacle, and the like. Based on the sensing signal of the vehicle, the vehicle can be controlled in real time, such as controlling the running state of the vehicle through a vehicle regulation control signal, for example, controlling the vehicle to slow down, controlling the vehicle to brake, and the like.

It is to be understood that the first signal data is output by the first ECU device from the collected data of the first ECU device, which is the internal observation data of the first ECU device, constructing the vehicle running environment and analyzing the data. Thus, the first signal data may comprise first vehicle perceptual signal data representing a perceptual signal of the vehicle, such as information of real-time speed of the vehicle, presence or absence of an obstacle, etc. The first signal data may further include first vehicle regulation signal data indicating a control manner that can be adopted for the vehicle, such as controlling the vehicle to decelerate, controlling the vehicle to brake, and the like, based on the vehicle sensing signal.

S804, the first ECU apparatus transmits the first signal data to the second ECU apparatus, and the second ECU apparatus receives the first signal data from the first ECU apparatus.

It should be understood that in this process, the first ECU device may also send the collected data of the radar and the analyzed data of the radar ECU to the second ECU device.

S805, the second ECU apparatus transmits the original image data and the first signal data to the storage device.

In this method, the second ECU device also sends the raw image data to the storage device, since the second ECU device acquires the raw image data directly from the camera assembly.

Optionally, before the whole acquisition method is executed, the first ECU device may further send a time synchronization request to the second ECU device for requesting synchronization of the first ECU device, the second ECU device, and the system time of the radar ECU. When the second ECU device receives the time synchronization request from the first ECU device, the second ECU device executes the time synchronization request from the first ECU device. After the time synchronization request is executed. When the first ECU device obtains the first signal data from the second ECU device and the second ECU device obtains the original image data, time stamps may be stamped in the obtained data files to record the acquisition time of various types of data.

In this way, the collected data of the first ECU device (such as the collected data of the radar and the analyzed data of the radar ECU), the first signal data output by the first ECU device, and the raw image data collected by the second ECU device can be kept consistent in time. When the ECU module in the ADAS system is subjected to the recharge test, all data acquired by the second ECU device can be directly used for the data recharge test to construct a vehicle driving environment without additional time compensation, so that the operation is simplified, and the recharge test efficiency is improved; and also reduces the likelihood of inaccurate test results due to timing errors in the data sources.

The data acquisition method shown in fig. 8 is described in detail below in conjunction with the data acquisition system shown in fig. 7.

As shown in fig. 9, a second flowchart of a data acquisition method provided in the embodiment of the present application is shown, where the method may include:

and S901, the control device sends a data acquisition instruction to the second ECU device.

It should be understood that before the step S901 starts, the data acquisition system needs to be powered on and initialized, and the drive test process of the ADAS system is started. Specifically, the data acquisition system shown in fig. 7 employs two camera ECUs, one of the camera ECUs serves as a camera ECU that operates normal services, that is, serves as a first ECU device, and the other camera ECU serves as a second ECU device that operates acquisition services.

In the initialization stage, if the camera ECU can recognize the signal of the camera module, the camera ECU can be used as a camera ECU running a normal service, that is, a first ECU device, and the data transmission direction of the CPLD interface is configured as an output direction. Correspondingly, if the camera ECU cannot recognize the signal of the camera module, the camera ECU can be used as a second ECU device for running the acquisition service, and the data transmission direction of the CPLD interface is configured as the input direction.

When the initialization stage is finished and the whole data acquisition system normally operates, the control equipment (such as an upper computer) can send a data acquisition instruction to the second ECU equipment through the ETH interface so as to start data acquisition.

And S902, mounting the storage device by the second ECU device, and creating a collection file.

And after the second ECU equipment receives the data acquisition instruction, mounting the storage equipment and creating an acquisition file. The subsequently acquired data may be stored in the created acquisition file.

And S903, the second ECU equipment sends a data acquisition instruction to the first ECU equipment.

After the second ECU equipment receives the data acquisition instruction, the second ECU equipment also can send the data acquisition instruction to the first ECU equipment so that the first ECU equipment can start normal data acquisition and analysis, and the second ECU equipment can acquire internal observation data output by the first ECU equipment, radar detection data and analysis data of the radar ECU.

It should be understood that step S902 and step S903 may be performed in no sequential order.

And S904, the first ECU equipment acquires the universal time from the vehicle-mounted gateway.

After the first ECU device receives the data acquisition instruction, the acquired universal time can be used as the global time of the data acquisition system, so that the time of the whole data acquisition system uniformly adopts the acquired universal time, and the various data acquired by the data acquisition system can keep time consistency.

S905, the first ECU device synchronizes the times of the second ECU device, the first ECU device, and the radar ECU.

Before data acquisition, the first ECU equipment synchronizes the time of the second ECU equipment, the first ECU equipment and the radar ECU, so that various types of subsequently acquired data can keep time consistency, the subsequent data recharge test on the ADAS system is facilitated, in the data recharge test process, the data of the data acquisition system can be directly used, the vehicle running environment is constructed, the ADAS system is tested, the problem of inaccurate test results caused by too large time errors of various types of data is avoided, and the test accuracy is improved. In addition, time compensation can be avoided for various data, so that the process is simplified, and the testing efficiency is improved.

S906, the radar ECU sends the radar detection data and the radar ECU analysis data to the first ECU device.

In the data acquisition process, as shown in the data acquisition system shown in fig. 6 or 7, radar detection data obtained by radar detection is transmitted to the radar ECU, and the radar ECU performs data analysis according to the radar detection data to obtain radar ECU analysis data. For example, the radar may detect the speed and distance of the vehicle ahead, and the radar ECU may analyze whether the distance between the current vehicle and the vehicle ahead is within a safe distance range, and if not, may indicate that the vehicle should decelerate, etc. For example, when the radar detects an obstacle, a signal indicating that the obstacle is detected is sent to the radar ECU, and the radar ECU analyzes the signal to obtain analysis data of the radar ECU, for example, an obstacle exists 50 meters ahead.

And S907, the first ECU device outputs the ECU internal observation data, the radar detection data and the radar ECU analysis data to the second ECU device, and time stamping is carried out when the data are output.

In this process, the first ECU device may acquire raw image data from the camera assembly, and may also receive radar detection data and radar ECU analysis data from the radar ECU. The first ECU device can construct the running environment of the vehicle according to the original image data, the radar detection data and the radar ECU analysis data, and can output ECU internal observation data such as vehicle perception signal data and vehicle regulation signal data through software analysis in the first ECU device. For example, if the radar detection data and the radar ECU analysis data indicate that an obstacle is present 50 meters ahead, then from the raw image data analysis, an obstacle is indeed present 50 meters ahead. If the current speed per hour detected by the radar is 60 kilometers per hour, vehicle sensing signal data output by the first ECU device can be used for indicating that an obstacle exists 50 meters ahead, and the current speed is 60 kilometers per hour; the vehicle regulation signal data output by the first ECU device may be used to indicate vehicle deceleration, braking, etc.

In addition, when the first ECU device outputs the ECU internal observation data, the radar detection data and the radar ECU analysis data to the second ECU device, a timestamp can be marked, so that when the ADAS system is subjected to a recharge test by using the data, a corresponding data file (such as a data file at a time point or a time period) can be accurately found, and the consistency of the data is ensured.

And S908, the second ECU equipment stamps a timestamp on the received original image data of the camera and stores the data into a collection file specified by the hard disk.

As shown in the data acquisition system shown in fig. 6 or 7, when the camera assembly outputs the original image data to the first ECU device, the original image data may also be output to the second ECU device, so that the original image data is stored in the storage device through the second ECU device, so that when the ADAS system is subjected to the data recharging test, a complete vehicle driving environment can be constructed, and when the data recharging test is performed, the road environment in the road testing process can be reproduced to the greatest extent through the data acquired by the data acquisition system shown in fig. 6 or 7, so as to improve the accuracy of the ADAS system test.

S909, the second ECU apparatus acquires the vehicle data from the in-vehicle gateway.

The vehicle data refers to acceleration, accelerator, and the like of the vehicle itself.

S910, the second ECU device stores the received ECU internal observation data, radar sensor data and radar ECU analysis data into a collection file designated by the hard disk.

And S911, the second ECU equipment stamps a time stamp on the input vehicle data and stores the vehicle data into a collection file appointed by the hard disk.

It should be noted that, in step S910 and step S911, during the data storage process, if the second ECU device finds that the collected file exceeds a certain size, for example, exceeds the size of each preset collected file, the second ECU device may recreate the collected file to store new collected data, so as to prevent data loss.

And S912, the control device sends a collection stopping instruction to the second ECU device.

When the drive test process of the ADAS system needs to be finished, the control device (such as the upper computer) may send a stop acquisition instruction to the second ECU device through the ETH interface, so as to indicate that the whole data acquisition process is finished.

And S913, stopping storing the data by the second ECU device, and sending a collection stopping instruction to the first ECU device.

When the second ECU device receives the instruction to stop collecting of the control device, the second ECU device may stop storing the collected data, and the first ECU device sends the instruction to stop collecting, so that the first ECU device stops data analysis, and ends input and output of data.

It is to be understood that, when the second ECU device monitors that the storage space of the storage device is insufficient, the second ECU device may also stop storing the collected data and send a collection stop instruction to the first ECU device to end data collection.

In some embodiments, the first ECU device may be directly used as an electronic control unit in the ADAS system, configured to receive the sensor data, construct a vehicle driving environment based on the sensor data, and analyze the data, thereby outputting a vehicle sensing signal and a vehicle regulation signal; the electronic control unit is also used as a second ECU device in the data acquisition system and is used for acquiring the original image data output by the camera assembly, the environment data output by other sensors (such as radar) and the vehicle sensing signal and the vehicle regulation signal output by the first ECU device. In the data acquisition system, the service operation process of the first ECU equipment needs to be reasonably planned, and the software resources in the first ECU equipment need to be reasonably planned.

Fig. 10 is a schematic structural diagram of a data acquisition system provided in the embodiment of the present application. As shown in fig. 10, the data acquisition system includes a camera assembly, a first ECU device, and a storage device. The camera assembly and the storage device are both in communication connection with the first ECU device. At this time, the first ECU device functions as both the camera ECU in the ADAS system and the second ECU device in the data acquisition system. The connection relationship between the first ECU device and the camera ECU may refer to the image pickup device shown in fig. 3, and details thereof are not repeated here.

Specifically, the first ECU device is configured to acquire raw image data of the camera assembly and output first signal data according to the raw image data of the camera assembly. Wherein the first signal data comprises first vehicle perception signal data and/or first vehicle regulation signal data. The first ECU device is used to transmit the original image data and the first signal data to the storage device through the USB interface.

It should be understood that the first vehicle sensing signal data may be related data acquired by the camera ECU based on the sensing of the sensor assembly, such as information about the real-time speed of the vehicle, whether an obstacle exists, and the like. The first vehicle regulation and control signal data can be first sensing signal data obtained by the camera ECU based on the induction of the sensor assembly, and data which are used for controlling the vehicle running state and are output after analysis, such as controlling the vehicle to slow down, controlling the vehicle to brake and the like.

Optionally, as shown in fig. 10, the first ECU device is also connected to a radar through a radar ECU. The first ECU device may also be used to obtain collected data of the radar and analyzed data of the radar ECU. The analysis data of the radar ECU is obtained by analyzing the radar detection data by the radar ECU. The description of the radar can refer to the description of the radar in the data acquisition system shown in fig. 4, and the description is omitted here.

Optionally, the first ECU device may also be used to synchronize the system time of the radar ECU with the first ECU device. In the data acquisition process, the acquired data of the radar and the analysis data of the radar ECU and the first signal data can be stamped to record the acquisition time. Therefore, the data of different data sources acquired by the first ECU equipment can keep time consistency, when the ECU module in the ADAS system is subjected to the recharge test, all the data acquired by the camera ECU can be directly used for the data recharge test to construct the vehicle driving environment without additionally performing time compensation, so that the operation is simplified, the recharge test efficiency is improved, and the possibility of inaccurate test results caused by time errors in all the data sources can be reduced.

Optionally, the data acquisition system shown in fig. 10 may further include a control device, which is in communication connection with the second interface 120 of the first ECU device, and is used for controlling the first ECU device to start data acquisition and stop data acquisition. When data acquisition is needed, the control equipment (such as an upper computer) can send a data acquisition instruction to the first ECU equipment to start data acquisition; when data acquisition is required to be finished, the control equipment (such as an upper computer) can send an acquisition stopping instruction to the camera ECU so as to stop data acquisition.

It should be noted that, compared with the data acquisition system shown in fig. 6 and 7, the data acquisition system shown in fig. 10 uses the camera ECU as an electronic control unit in the ADAS system, and is used for receiving the raw image data of the camera assembly, constructing the vehicle driving environment, and analyzing the data, so as to output the vehicle sensing signal and the vehicle regulation signal; the Electronic Control Unit (ECU) is also used as a second ECU device in the data acquisition system and is used for acquiring raw image data output by the camera assembly, environment data output by other sensors (such as radar) and vehicle sensing signals and vehicle regulation signals output by the camera ECU. In the data acquisition system, the service operation flow of the camera ECU needs to be reasonably planned, and software resources in the camera ECU need to be reasonably planned.

Fig. 11 is a schematic structural diagram of a data acquisition system according to a fourth embodiment of the present application. As shown in fig. 11, in the data acquisition system, the camera ECU may also be connected to a debug interface board, and the storage device is connected to the USB in the camera ECU through the USB on the debug interface board, so as to store the acquired data into the storage device.

On the other hand, fig. 12 is a schematic structural diagram of a data recharging system according to an embodiment of the present disclosure. The data-recharging system can be applied to the ADAS system shown in fig. 1. Referring to fig. 12, the data recharging system includes a camera ECU and a storage device. The camera ECU is in communication connection with the storage device.

The camera ECU is used for acquiring the acquired data from the storage device, constructing a vehicle running environment according to the acquired data and outputting second signal data. The collected data is original image data stored in the storage device, collected data of the radar or analysis data of the radar ECU. The second signal data includes second vehicle perception signal data and/or second vehicle regulation signal data.

It should be noted that the acquired data in the storage device may be obtained by the data acquisition system of fig. 6 or fig. 7 executing the data acquisition method of fig. 8 or fig. 9, or may be obtained by the data acquisition system of fig. 10 and fig. 11.

Optionally, the data recharging system may further include a control device. The control equipment is connected with the camera ECU and used for sending a recharging instruction to the camera ECU. The recharging instruction comprises the starting and ending time of recharging data. Therefore, the collected data is all the raw image data, the collected data of the radar or the analysis data of the radar ECU in the storage device, and the collection time is between the start and stop times of the recharge data indicated in the recharge instruction. Therefore, when the data recharging system executes data recharging, the corresponding collected data can be accurately found according to the starting and stopping time of the set recharging data, the real vehicle driving environment is constructed, additional data processing is not needed, the data recharging process is simplified, and the efficiency of the data recharging test is improved.

The control device may be further adapted to retrieve expected data from the memory device and to compare the difference between the second signal data and the expected data. Wherein the expected data is located in the storage device and the first signal data is acquired at a time between a start and a stop time of the recharge data. The first signal data includes first vehicle sensing signal data and/or vehicle regulation signal data. By comparing the difference between the second signal data and the first signal data, whether the problem of the object to be tested (such as a camera ECU) is solved or not can be analyzed and determined, and the purpose of recharging test is achieved.

Fig. 13 is a schematic structural diagram of another data recharging system according to an embodiment of the present application. As shown in fig. 13, in the data recharging system, the camera ECU may also be connected to a debug interface board, and the storage device is connected to the USB in the camera ECU through the USB on the debug interface board, so as to obtain the collected data from the storage device.

Corresponding to the data recharging system shown in fig. 12, an embodiment of the present application further provides a data recharging method. The data recharging method of the present application is described below by taking the measured object as the camera ECU as an example.

Fig. 14 is a flowchart of a data recharging method according to an embodiment of the present application. Referring to fig. 14, the data refilling method includes:

and S1401, the camera ECU acquires collected data from the storage device.

The collected data is original image data stored in the storage device, collected data of a radar or analysis data of a radar ECU. It should be understood that the raw image data, the collected data of the radar, or the analyzed data of the radar ECU stored in the storage device may be acquired by performing the data collecting method of fig. 8 or 9 by the data collecting system shown in fig. 6 or 7.

And S1402, the camera ECU constructs a vehicle running environment according to the collected data and outputs second signal data.

Wherein the second signal data comprises a second vehicle perception signal and/or a second vehicle regulation signal. For the description of the second vehicle sensing signal and the second vehicle regulating signal, please refer to the related description in the data collecting system shown in fig. 4, and the description thereof is omitted here.

Optionally, the data recharging method shown in fig. 14 may further include:

s1401-1, the camera ECU receives a data recharging instruction from the control equipment.

When the camera ECU receives the data recharging instruction sent by the control equipment, the camera ECU can acquire the collected data from the storage equipment according to the starting and stopping time of the recharging data indicated in the data recharging instruction. The acquired collected data are data in the storage device, wherein the collection time of the original image data, the radar collected data or the analysis data of the radar ECU is between the start time and the end time of the recharge data.

In the data recharging process, the second signal data output by the camera ECU in step S1402 is obtained based on the collected data whose collection time is between the start and end times of the recharging data. The second signal data output by the camera ECU can be transmitted to the control device, and the control device can also acquire the first signal data with the acquisition time between the start and stop time of the recharge data from the storage device. The control equipment can test whether the camera ECU is normal or not by comparing the second signal data with the first signal data.

The data-recharging method shown in fig. 14 will be described in detail below in conjunction with the data-recharging systems shown in fig. 12 and 13.

As shown in fig. 15, another data recharging method provided in this embodiment of the present application may include:

and S1501, the control equipment sends a data recharging instruction to the camera ECU.

Wherein, the data-recharging instruction comprises the start-stop time of recharging data. Before the data recharging process is started, the object to be tested (such as a camera ECU) can be powered on and initialized. After the power-on initialization, the control equipment can send a data recharging instruction to the camera ECU through the ETH interface, and the starting and ending time of recharging data is determined in the data recharging instruction, so that a road environment scene in a drive test data acquisition process can be restored in the data recharging process.

And S1502, mounting the camera ECU to a storage device, and retrieving corresponding acquired data according to the start-stop time of the recharge data.

In the data recharging process, the recharging data is sourced from the storage device, and the data in the storage device is acquired by the data acquisition system shown in fig. 6 or fig. 7 and the data acquisition method shown in fig. 8 or fig. 9. Since each kind of collected data in the data collection system and the data collection method is stamped, the data collection time is recorded. Therefore, the data required by the data recharging process can be found according to the starting and stopping time of the recharging data in the data recharging instruction.

After the corresponding acquired data is retrieved, the camera ECU can enter a recharging mode, and the system time of the whole data recharging system is adjusted to be the time corresponding to the current data frame.

And S1503, the camera ECU acquires corresponding acquired data from the storage device.

In this step, corresponding collected data, that is, the collected data retrieved according to the start-stop time of the recharge data in step S1502, is obtained. When the camera ECU acquires data, the data are sequentially acquired according to data frames of the acquired data, scheduling and operation are performed by taking a single frame as a period, and then analysis and processing of the data are performed according to the acquired corresponding acquired data.

S1504, the camera ECU constructs a vehicle running environment according to the collected data and outputs second signal data to the control equipment.

Please refer to the related description of step S1402, which is not described herein again.

S1505, the control device obtains the first signal data from the storage device.

And S1506, the control device compares the second signal data with the first signal data.

In step S1505 and step S1506, it can be determined whether the problem occurring in the camera ECU is solved by comparing the first signal data and the second signal data.

S1507, the camera ECU judges whether recharging is finished.

In this step, the camera ECU may determine the end time of the recharge data specified in the data recharge instruction according to whether the time of recharging data has been reached. If yes, the recharging is considered to be finished, and the step S1508 is directly executed; if not, continuing to search the collected data of the next time stamp, and re-executing the step S1503 and the subsequent steps.

And S1508, the camera ECU exits the recharging mode.

In this process, the camera ECU stops acquiring the collected data from the storage device.

It should be understood that if the measured object is the radar ECU, when the radar ECU is subjected to a recharging test, only the radar detection data are required to be recharged to the radar ECU, the radar ECU can output the analysis data of the radar ECU to the camera ECU according to the radar detection data, then the camera ECU acquires the collected data to construct a vehicle running environment, and second signal data are output. The subsequent processes are the same as those related to fig. 14 and fig. 15, and are not described again here.

Exemplarily, fig. 16 is a schematic structural diagram of a data acquisition device provided in an embodiment of the present application. The data acquisition device may be the second ECU apparatus in the data acquisition system shown in fig. 6 or fig. 7, or may be the camera ECU in the data acquisition system shown in fig. 10 and fig. 11. As shown in fig. 16, the data acquisition device 1600 may include a processor 1601. Optionally, the data acquisition device 1600 may also include a memory 1602 and/or a transceiver 1603. Where the processor 1601 is coupled with a memory 1602 and a transceiver 1603, such as may be connected via a communication bus.

The following specifically describes each component of the data acquisition device 1600 with reference to fig. 16:

the processor 1601 is a control center of the data acquisition device 1600, and may be a single processor or a combination of multiple processing elements. For example, the processor 1601 is one or more Central Processing Units (CPUs), or may be an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application, such as: one or more microprocessors (digital signal processors, DSPs), or one or more Field Programmable Gate Arrays (FPGAs).

Alternatively, the processor 1601 may perform various functions of the data acquisition apparatus 1600 by running or executing software programs stored in the memory 1602 and calling data stored in the memory 1602.

In a particular implementation, processor 1601 may include one or more CPUs, such as CPU0 and CPU1 shown in fig. 16, as one embodiment.

In one implementation, the data acquisition device 1600 may also include multiple processors, such as the processor 1601 and the processor 1604 shown in fig. 16, for example. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). A processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).

The memory 1602 is configured to store a software program for executing the scheme of the present application, and is controlled by the processor 1601 to execute the software program, and a specific implementation manner may refer to the data acquisition method in the foregoing method embodiment, which is not described herein again.

Alternatively, memory 1602 may be, but is not limited to, a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, optical disk storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 1602 may be integrated with the processor 1601 or may be separate and coupled to the processor 1601 through an interface circuit (not shown in fig. 16) of the data acquisition device 1600, which is not specifically limited in this embodiment of the application.

Optionally, the transceiver 1603 may include a receiver and a transmitter (not separately shown in fig. 16). Wherein the receiver is configured to implement a receive function and the transmitter is configured to implement a transmit function.

Alternatively, the transceiver 1603 may be integrated with the processor 1601 or may be independent and coupled to the processor 1601 via an interface circuit (not shown in fig. 16) of the data collection apparatus 1600, which is not specifically limited in this embodiment of the present application.

It should be noted that the structure of the data acquisition device 1600 shown in fig. 16 is not intended to limit the data acquisition device, and an actual data acquisition device may include more or less components than those shown, or some components may be combined, or a different arrangement of components may be used.

In addition, for technical effects of the data acquisition apparatus 1600, reference may be made to technical effects of the data acquisition method described in the foregoing method embodiment, and details are not repeated here.

Fig. 17 is a schematic structural diagram of a data recharging apparatus according to an embodiment of the present application. The data recharging device may be a camera ECU in the data recharging system shown in fig. 12 and 13. As shown in fig. 17, the data-recharging device 1700 may include a processor 1701. Optionally, the data-recharging device 1700 may further comprise a memory 1702 and/or a transceiver 1703. The processor 1701 is coupled to the memory 1702 and the transceiver 1703, such as may be connected by a communication bus.

The memory 1702 is configured to store a software program for executing the scheme of the present application, and the processor 1701 controls the execution of the software program.

In addition, each component of the data recharging device 1700 may refer to the data collecting device 1600, and the technical effect of the data recharging device 1700 may refer to the technical effect of the data recharging method described in the foregoing method embodiment, which is not described herein again.

It should be understood that the processor in the embodiments of the present application may be a Central Processing Unit (CPU), and the processor may also be other general purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It will also be appreciated that the memory in the embodiments of the subject application can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example, but not limitation, many forms of Random Access Memory (RAM) are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct bus RAM (DR RAM).

In the several embodiments provided in the present application, it should be understood that the disclosed circuits and methods may be implemented in other ways. For example, the circuit embodiments described above are merely illustrative, and for example, the division of the described modules or units is only one type of logical functional division, and there may be other division ways in actual implementation, for example, multiple units or components may be combined or integrated into another device, or some features may be omitted, or not executed.

The units described as separate parts may or may not be physically separate, and parts displayed as units may be one physical unit or a plurality of physical units, that is, may be located in one place, or may be distributed in a plurality of different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

Finally, it should be noted that: the above description is only an embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. The camera equipment is applied to an ADAS system and comprises a camera assembly, a first ECU (electronic control unit) equipment and a second ECU equipment; the first ECU device and the second ECU device each comprise a first interface and a second interface;

the first interface of the first ECU device and the first interface of the second ECU device are both connected with the camera assembly;

the second interface of the second ECU device is connected to the second interface of the first ECU device.

2. The image capturing apparatus according to claim 1, further comprising a first debug interface board and a second debug interface board; a first data transfer interface is arranged on the first debugging interface board; a second data transfer interface is arranged on the second debugging interface board;

the camera assembly is connected with the first data transfer interface;

the first data transfer interface is connected with the second data transfer interface;

the second data transfer interface is connected with the first interface of the second ECU device.

3. The image pickup apparatus according to claim 2, wherein a first CPLD interface is further provided on said first debug interface board; the second debugging interface board is also provided with a second CPLD interface;

the first data switching interface is connected with the camera assembly through the first CPLD interface;

the second data transfer interface is connected with the first interface of the second ECU device through the second CPLD interface.

4. The image capturing apparatus according to any one of claims 1 to 3, wherein the first ECU apparatus further includes a third interface; the third interface is used for being connected with a radar ECU so as to obtain analysis data of the radar ECU.

5. The image capturing apparatus according to any one of claims 1 to 3, wherein the second ECU apparatus further includes a third interface; the third interface is used for being connected with a radar ECU so as to obtain analysis data of the radar ECU.

6. The image capturing apparatus according to claim 4, wherein the third interface is a CAN-FD interface.

7. The image capturing apparatus according to any one of claims 1 to 3, wherein the first ECU apparatus and the second ECU apparatus each include a fourth interface; and the fourth interface of the first ECU device and the fourth interface of the second ECU are both used for connecting a vehicle-mounted gateway.

8. The image capturing apparatus according to claim 7, wherein the fourth interface is a CAN interface.

9. The image capturing apparatus according to any one of claims 1 to 3, wherein the second ECU apparatus further includes a fifth interface; the fifth interface is used for connecting a storage device.

10. The image capturing apparatus according to any one of claims 1 to 3, wherein the first ECU apparatus further includes a fifth interface; the fifth interface is used for connecting a storage device.

11. The image capturing apparatus according to any one of claims 1 to 3, wherein the first interface is an MIPI interface; the second interface is an ETH interface.

12. A data acquisition system is characterized by being applied to an ADAS system and comprising a camera assembly, first ECU equipment, second ECU equipment and storage equipment; the first ECU device and the second ECU device both comprise a first interface and a second interface;

the first interface of the first ECU equipment is connected with the camera assembly and used for acquiring original image data of the camera assembly and outputting first signal data according to the original image data of the camera assembly; the first signal data comprises a vehicle sensing signal and a vehicle regulation signal;

the first interface of the second ECU device is connected with the camera assembly and is used for acquiring original image data of the camera assembly;

the second interface of the second ECU device is connected to the second interface of the first ECU device, and is configured to acquire the first signal data output by the first ECU device;

the storage device is connected with the second ECU device and used for storing the acquired data acquired by the second ECU device; the acquisition data includes raw image data of the camera assembly, and the first signal data.

13. The data acquisition system of claim 12, further comprising a first debug interface board and a second debug interface board; a first data switching interface is arranged on the first debugging interface board; a second data switching interface is arranged on the second debugging interface board;

the camera assembly is connected with the first data transfer interface;

14. The data acquisition system according to claim 13, wherein the first debug interface board is further provided with a first CPLD interface; the second debugging interface board is also provided with a second CPLD interface;

the first data transfer interface is connected with the camera assembly through the first CPLD interface;

15. The data acquisition system according to any one of claims 12 to 14, further comprising a radar and a radar ECU; the radar ECU is connected with the radar and used for outputting analysis data of the radar ECU according to the collected data of the radar;

the first ECU device further includes a third interface; the third interface of the first ECU device is connected to the radar ECU, and is configured to acquire data collected by the radar and data analyzed by the radar ECU.

16. The data acquisition system according to any one of claims 12 to 14, further comprising an onboard gateway; the first ECU apparatus and the second ECU apparatus each include a fourth interface; the fourth interface of the first ECU device and the fourth interface of the second ECU device are both connected with the vehicle-mounted gateway.

17. The data acquisition system according to any one of claims 12 to 14, wherein the second ECU device further comprises a fifth interface; the storage device is connected with the fifth interface of the second ECU device.

18. A data acquisition system according to any one of claims 12 to 14, further comprising a control device connected to the second interface of the second ECU device for controlling the second ECU device to acquire data or to stop acquiring data.

19. A data acquisition method, applied to the data acquisition system according to any one of claims 12 to 18;

the method comprises the following steps:

the second ECU device receiving raw image data from the camera assembly;

the second ECU device receives first signal data from the first ECU device; the first signal data are vehicle sensing signal data and/or vehicle regulation signal data output by the first ECU equipment;

the second ECU device transmits the original image data and the first signal data to the storage device.

20. The data acquisition method of claim 19, further comprising: the second ECU apparatus executes a time synchronization request from the first ECU apparatus; the time synchronization request is used for indicating the first ECU device and the second ECU device to be time synchronized.

21. The data acquisition method of claim 20, wherein the raw image data and the first signal data each comprise an acquisition time.

22. A data acquisition device, comprising: a processor coupled with a memory, the memory storing a program that, when executed by the processor, causes the apparatus to perform the method of any of claims 19 to 21.

23. A computer-readable medium, on which a computer program is stored, which, when executed, causes a computer to perform the method of any one of claims 19 to 21.