CN108762152A - A kind of open type intelligent net connection domain controller hardware platform - Google Patents
A kind of open type intelligent net connection domain controller hardware platform Download PDFInfo
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- CN108762152A CN108762152A CN201810565594.9A CN201810565594A CN108762152A CN 108762152 A CN108762152 A CN 108762152A CN 201810565594 A CN201810565594 A CN 201810565594A CN 108762152 A CN108762152 A CN 108762152A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The present invention relates to automatic Pilot technical field, specially a kind of open type intelligent net joins domain controller hardware platform.A kind of open type intelligent net joins domain controller hardware platform, including Signal-regulated kinase, for vehicle-mounted camera data input and the vehicle-mounted camera data of input are pre-processed and pretreated vehicle-mounted camera data are sent to CPU module；CPU module is connect with the Signal-regulated kinase, including GPU_A modules and GPU_B modules, for vehicle-mounted camera data processing and vehicle-mounted camera data and Radar Data Fusion；FPGA module is connect with the GPU_A modules and the GPU_B modules respectively, and is connect with radar for backing car, parking radar by LIN buses.The open type intelligent net connection domain controller hardware platform overall architecture design of the present invention is simple and reliable, and circuit interface is resourceful, and versatility is stronger, and hardware cost is relatively low.
Description
Technical field
The present invention relates to automatic Pilot technical field, specially a kind of open type intelligent net joins domain controller hardware platform.
Background technology
All the time, multiple sensor fusions are one of the necessary requirements of automatic Pilot landing.Current L1 grades and constant
Road L2 grades of automatic Pilot is the fusion between single camera and radar, is the fusion of destination layer, and can L2 grades and L3 grades of lane change
Automatic Pilot needs the fusion of data Layer, arrives L4/L5 grades of stages, it is also necessary to which sensing data and accurately diagram data melt
It closes.This means that needing a large amount of operation, a domain controller is at this moment required.Meanwhile from ADAS（Senior Officer is auxiliary
Auxiliary system）Grade starts, and integrated domain controller is being made way in the use of traditional distributed locomotive electronic control unit.It is based on
The automobile framework of domain controller can support automatic Pilot technology with flying colors, while ensure the functional safety and information of top
Safety.Meanwhile domain controller also has the modular advantage of realization, is divided by function individual domain controller, can simplify
The exploitation and deployment of automation algorithm, the convenient expanded function in subsystems.But existing domain controls hardware platform knot
Structure is complicated, poor universality, and hardware cost is high.
Invention content
The present invention is in view of the problems of the existing technology, it is proposed that a kind of simple and reliable, circuit interface of overall architecture design
Resourceful, versatility joins domain controller hardware platform compared with the lower open type intelligent net of strong, hardware cost.
The technical solution adopted by the present invention to solve the technical problems is：A kind of open type intelligent net connection domain controller hardware
Platform, including,
Signal-regulated kinase, for vehicle-mounted camera data input and the vehicle-mounted camera data of input are pre-processed,
And pretreated vehicle-mounted camera data are sent to CPU module；
CPU module is connect with the Signal-regulated kinase, including GPU_A modules and GPU_B modules, is used for vehicle-mounted camera number
According to processing and vehicle-mounted camera data and Radar Data Fusion；
FPGA module is connect with the GPU_A modules and the GPU_B modules respectively, and by LIN buses and radar for backing car,
Parking radar connects, and data school is carried out for the vehicle-mounted camera data between the GPU_A modules and the GPU_B modules
Splicing and APA are looked around in core, ultrasound data processing, 360；
Ethernet gateway is connect with the GPU_A modules, the GPU_B modules and the FPGA module respectively, is touched using the time
Originating party formula, for network telecommunication management and vehicle-mounted external network insertion in domain；
MCU module connects with the GPU_A modules, the GPU_B modules, the ethernet gateway and CAN_FD networks respectively
It connects, is used for data fusion, vehicle running path planning, decision；
Interface module, it is defeated for vehicle-mounted camera access, image output, millimetre-wave radar input, analog and digital signal input
Go out detection, CAN network communication and power distribution management.
Preferably, the vehicle-mounted camera data prediction includes filtering, amplification/attenuation processing.
Preferably, the vehicle-mounted camera includes monocular/binocular forward sight camera, instrument centre camera and 360 rings
Depending on camera.
Preferably, the Signal-regulated kinase includes Signal-regulated kinase 1, Signal-regulated kinase 2 and signal condition mould
Block 3, the Signal-regulated kinase 1 are connect with the monocular/binocular forward sight camera, for receiving monocular/binocular forward sight camera shooting
The data that head is acquired are responsible for lane line, pedestrian/target detection, traffic mark detection and the detection in forward direction space；The letter
Number conditioning module 2 is connect with the instrument centre camera, the data acquired for receiving instrument centre camera, collect and
Judge the behavior state of driver；The Signal-regulated kinase 3 is looked around camera with described 360 and is connect, and is mounted on for receiving
The data that camera is acquired are looked around in the 360 of before and after vehicle and both sides.
Preferably, mutual using spi bus one and spi bus two between the GPU_A modules and the GPU_B modules
Interaction data, the GPU_A modules by cable one and CAN_FD network connections, the GPU_B modules by cable two with
CAN_FD network connections.
Preferably, the integrated chip that the GPU_A modules and the GPU_B modules use is TEGRA VCM3.1.
Preferably, the GPU_A modules and the GPU_B modules are connect by multiple selector with vehicle-mounted large-size screen monitors.
Preferably, the integrated chip that the MCU module uses is TriCore AURIX TC297.
The invention has the advantages that the open type intelligent net connection domain controller hardware platform overall architecture design of the present invention
Simple and reliable, circuit interface is resourceful, and versatility is stronger, and hardware cost is relatively low.
Description of the drawings
Fig. 1 is that a kind of open type intelligent net of the present invention joins domain controller hardware platform structure diagram；
Wherein, 110, LIN buses, 111, spi bus one, 112, spi bus two, 113, cable two, 114, cable one.
Specific implementation mode
Technical solution to further illustrate the present invention below with reference to the accompanying drawings and specific embodiments.
As shown in Figure 1, a kind of open type intelligent net joins domain controller hardware platform, including Signal-regulated kinase, it to be used for vehicle
It carries the input of camera data and is pre-processed the vehicle-mounted camera data of input and by pretreated vehicle-mounted pick-up
Head data are sent to CPU module.Vehicle-mounted camera data prediction includes filtering, amplification/attenuation processing etc..The vehicle-mounted pick-up
Head includes monocular/binocular forward sight camera, and instrument centre camera and 360 looks around camera.
The Signal-regulated kinase includes Signal-regulated kinase 1, Signal-regulated kinase 2 and Signal-regulated kinase 3, the letter
Number conditioning module 1 is connect with the monocular/binocular forward sight camera, is acquired for receiving monocular/binocular forward sight camera
Data are responsible for lane line, pedestrian/target detection, traffic mark detection and the detection in forward direction space；The Signal-regulated kinase
2 connect with the instrument centre camera, the data acquired for receiving instrument centre camera, collect and judge driver
Behavior state；The Signal-regulated kinase 3 is looked around camera with described 360 and is connect, for receive be mounted on vehicle it is front and back and
The data that camera is acquired are looked around in the 360 of both sides.
CPU module is connect with the Signal-regulated kinase, including GPU_A modules and GPU_B modules, is used for vehicle-mounted pick-up
Head data processing and vehicle-mounted camera data and Radar Data Fusion.Vehicle-mounted camera data processing includes forward sight identification, ring
Depending on splicing etc., using dual chip parallel organization, with greatling improve system operation safety.GPU_A modules and described
Data are interacted using spi bus 1 and spi bus 2 112 between GPU_B modules, the GPU_A modules pass through cable
One 114 are provided simultaneously with CAN_FD network connections, the GPU_B modules by cable 2 113 and CAN_FD network connections
CAN network communication function and high definition image output function.
The integrated chip that the GPU_A modules and the GPU_B modules use is TEGRA VCM3.1, is NVIDIA
The presently disclosed newest generation product of Drive series.Using dual chip parallel organization, some degrees of association are mainly handled from chip
Not high task avoids competing with main processor active task, reduces the expense of switching and scheduling of resource.The GPU_A moulds
Block and the GPU_B modules are connect by multiple selector with vehicle-mounted large-size screen monitors.
FPGA module is connect with the GPU_A modules and the GPU_B modules respectively, and by LIN buses 110 and is fallen
Vehicle radar, parking radar connection, between the GPU_A modules and the GPU_B modules vehicle-mounted camera data into
Row data are checked, ultrasound data is handled, 360 look around splicing and APA.The FPGA module to the front end data of sensor at
Reason and data path can carry out flexible configuration, done unified agreement for data such as vehicle-state and postures and data connect
Mouthful.The processing of compatible initial data and result data simultaneously, front end sensors provide one in addition to providing testing result data
Part initial data, the FPGA module can take out some specific informations according to initial data and carry out fusion and the distribution of weight, and
It need not be related to very professional algorithm, in conjunction with the almost all data that can acquire of status of residing " domain control ", it is reasonable to be formed
" ring sense-vehicle-weight-fusion-decision-execution " big closed loop.
Ethernet gateway is connect with the GPU_A modules, the GPU_B modules and the FPGA module respectively, when use
Between triggering mode, for network telecommunication management and vehicle-mounted external network insertion in domain.Based on time triggered Ethernet mechanism
The middle layer software integrates advanced all softwares of driving assistance system ADAS, adapts to the multi-platform concurrent operation of multinuclear.Side
It is related to function such as driving assistance system APA/AVM and is assigned in fixed resources of chip to run to disk control SWC, accelerates collection
At development rate.
MCU module, respectively with the GPU_A modules, the GPU_B modules, the ethernet gateway and CAN_FD networks
Connection is used for data fusion, vehicle running path planning, decision, system function safety.The integrated core that the MCU module uses
Piece is the TriCore AURIX TC297 of Infineon.The built-in chip type DSP module of MCU module, all cores support floating-point fortune
It calculates, hardware FFT, multiple parallel AD conversion interfaces, high-precision output timer, built-in pretreatment unit, supports 100MHz camera shootings
Head interface, M-JPEG compression units have 4 road LIN bus interface and 6 tunnel CAN interfaces.And use AUTOSAR 4.X editions
Automobile software architecture.
Interface module, it is defeated for vehicle-mounted camera access, image output, millimetre-wave radar input, analog and digital signal
Enter output detection, CAN network communication and power distribution management.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the design of the present invention
It is defined with range.Under the premise of not departing from design concept of the present invention, technical side of the ordinary people in the field to the present invention
The all variations and modifications that case is made, should all drop into protection scope of the present invention, the claimed technology contents of the present invention,
Through all recording in detail in the claims.
Claims (8)
1. a kind of open type intelligent net joins domain controller hardware platform, it is characterised in that：Including,
Signal-regulated kinase, for vehicle-mounted camera data input and the vehicle-mounted camera data of input are pre-processed,
And pretreated vehicle-mounted camera data are sent to CPU module；
CPU module is connect with the Signal-regulated kinase, including GPU_A modules and GPU_B modules, is used for vehicle-mounted camera number
According to processing and vehicle-mounted camera data and Radar Data Fusion；
FPGA module connect with the GPU_A modules and the GPU_B modules, and passes through LIN buses respectively（110）With reversing
Radar, parking radar connection, carry out for the vehicle-mounted camera data between the GPU_A modules and the GPU_B modules
Data are checked, ultrasound data is handled, 360 look around splicing and APA；
Ethernet gateway is connect with the GPU_A modules, the GPU_B modules and the FPGA module respectively, is touched using the time
Originating party formula, for network telecommunication management and vehicle-mounted external network insertion in domain；
MCU module connects with the GPU_A modules, the GPU_B modules, the ethernet gateway and CAN_FD networks respectively
It connects, is used for data fusion, vehicle running path planning, decision；
Interface module, it is defeated for vehicle-mounted camera access, image output, millimetre-wave radar input, analog and digital signal input
Go out detection, CAN network communication and power distribution management.
2. a kind of open type intelligent net according to claim 1 joins domain controller hardware platform, it is characterised in that：The vehicle
It includes filtering, amplification/attenuation processing to carry camera data prediction.
3. a kind of open type intelligent net according to claim 1 joins domain controller hardware platform, it is characterised in that：The vehicle
It includes monocular/binocular forward sight camera to carry camera, and instrument centre camera and 360 looks around camera.
4. a kind of open type intelligent net according to claim 3 joins domain controller hardware platform, it is characterised in that：The letter
Number conditioning module includes Signal-regulated kinase 1, Signal-regulated kinase 2 and Signal-regulated kinase 3, the Signal-regulated kinase 1 with
The monocular/binocular forward sight camera connection, the data acquired for receiving monocular/binocular forward sight camera are responsible for track
Line, pedestrian/target detection, traffic mark detection and the detection in forward direction space；In the Signal-regulated kinase 2 and the instrument
Camera connection, the data acquired for receiving instrument centre camera is entreated to collect and judge the behavior state of driver；Institute
It states Signal-regulated kinase 3 and looks around camera with described 360 and connect, be mounted on the 360 of before and after vehicle and both sides for receiving and look around
The data that camera is acquired.
5. a kind of open type intelligent net according to claim 1 joins domain controller hardware platform, it is characterised in that：It is described
Spi bus one is used between GPU_A modules and the GPU_B modules（111）With spi bus two（112）Data are interacted, institute
It states GPU_A modules and passes through cable one（114）With CAN_FD network connections, the GPU_B modules pass through cable two（113）With
CAN_FD network connections.
6. a kind of open type intelligent net according to claim 5 joins domain controller hardware platform, it is characterised in that：It is described
The integrated chip that GPU_A modules and the GPU_B modules use is TEGRA VCM3.1.
7. a kind of open type intelligent net according to claim 5 joins domain controller hardware platform, it is characterised in that：It is described
GPU_A modules and the GPU_B modules are connect by multiple selector with vehicle-mounted large-size screen monitors.
8. a kind of open type intelligent net according to claim 1 joins domain controller hardware platform, it is characterised in that：It is described
The integrated chip that MCU module uses is TriCore AURIX TC297.
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