CN112966335B - Interface simulation device and automatic driving simulation test platform - Google Patents
Interface simulation device and automatic driving simulation test platform Download PDFInfo
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- CN112966335B CN112966335B CN202110244005.9A CN202110244005A CN112966335B CN 112966335 B CN112966335 B CN 112966335B CN 202110244005 A CN202110244005 A CN 202110244005A CN 112966335 B CN112966335 B CN 112966335B
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- 238000004088 simulation Methods 0.000 title claims abstract description 80
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000002347 injection Methods 0.000 claims description 11
- 239000007924 injection Substances 0.000 claims description 11
- 239000000306 component Substances 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008447 perception Effects 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/10—Program control for peripheral devices
- G06F13/105—Program control for peripheral devices where the programme performs an input/output emulation function
- G06F13/107—Terminal emulation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/40—Bus structure
- G06F13/4004—Coupling between buses
- G06F13/4022—Coupling between buses using switching circuits, e.g. switching matrix, connection or expansion network
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2213/00—Indexing scheme relating to interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F2213/0026—PCI express
Abstract
The disclosure discloses an interface simulation device and an automatic driving simulation test platform, relates to the technical field of computers, and particularly relates to the technical field of intelligent transportation and automatic driving. The specific implementation scheme is as follows: the interface simulation device comprises a controller, a PXIe bus, an interface simulation board card and a serializer, wherein the interface simulation board card is connected with the controller through the PXIe bus, the serializer is connected with the interface simulation board card, and the serializer is used for being connected with the automatic driving computing platform; the controller is used for transmitting the vehicle-mounted camera image to the automatic driving computing platform through the PXIe bus, the interface simulation board card and the serializer, so that the automatic driving computing platform performs vehicle simulation test based on the vehicle-mounted camera image. The invention provides an interface simulation device based on a PXIe bus, and provides a new interface simulation implementation scheme for in-loop simulation test of automatic driving hardware.
Description
Technical Field
The disclosure relates to the technical field of computers, in particular to the technical field of intelligent transportation and automatic driving, and especially relates to an interface simulation device and an automatic driving simulation test platform.
Background
In a hardware-in-the-loop simulation test platform, multiple sensor interfaces need to be simulated. Among them, the gigabit multimedia serial link (Gigabit Multimedia Serial Link, GMSL) interface has become one of the currently important onboard camera interfaces because of its higher bandwidth. Currently, the more common GMSL interface emulators have a single GMSL channel device based on a USB bus and multiple GMSL channel devices based on a peripheral component interconnect express (peripheral component interconnect express, PCIe) bus.
Disclosure of Invention
The disclosure provides an interface simulation device and an automatic driving simulation test platform.
According to an aspect of the present disclosure, there is provided an interface emulation device including a controller, a PXIe bus, an interface emulation board card connected to the controller through the PXIe bus, and a serializer connected to the interface emulation board card, the serializer being for connection to an autopilot computing platform;
the controller is used for transmitting the vehicle-mounted camera image to the interface simulation board card through the PXIe bus, the interface simulation board card is used for transmitting the vehicle-mounted camera image to the serializer, and the serializer is used for transmitting the vehicle-mounted camera image to the automatic driving computing platform so that the automatic driving computing platform can conduct vehicle simulation test based on the vehicle-mounted camera image.
According to another aspect of the present disclosure, an autopilot simulation test platform is provided, including an autopilot computing platform and the interface simulation device provided by the present disclosure, and the serializer is connected with the autopilot computing platform.
The invention provides an interface simulation device based on a PXIe bus, which can be applied to a PXIe platform or a PXI platform and provides a new interface simulation implementation scheme for ring simulation test of automatic driving hardware.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a schematic block diagram of an interface emulation device provided in accordance with an embodiment of the present disclosure;
fig. 2 is a schematic connection diagram of an interface simulation board card, a serializer and an autopilot computing platform in an interface simulation apparatus according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The embodiment of the disclosure provides an interface simulation device.
Referring to fig. 1, fig. 1 is a block diagram of an interface simulation apparatus according to an embodiment of the disclosure. As shown in fig. 1, the interface emulation device includes a controller 101, a PXIe bus (not labeled), an interface emulation board 102, and a serializer 103, wherein the interface emulation board 102 is connected with the controller 101 through the PXIe bus, the serializer 103 is connected with the interface emulation board 102, and the serializer 103 is used for being connected with an autopilot computing platform; the controller 101 stores a vehicle-mounted camera image, the controller 101 is configured to transmit the vehicle-mounted camera image to the interface emulation board 102 through the PXIe bus, the interface emulation board 102 is configured to transmit the vehicle-mounted camera image to the serializer 103, and the serializer 103 is configured to transmit the vehicle-mounted camera image to the autopilot computing platform, so that the autopilot computing platform performs a vehicle emulation test based on the vehicle-mounted camera image.
Optionally, the interface emulation board 102 provided in the embodiments of the present disclosure may be a gigabit multimedia serial link (Gigabit Multimedia Serial Link, GMSL) interface emulation board, and the serializer 103 is a GMSL serializer, and the interface emulation device, that is, the GMSL interface emulation device, may be applied to an autopilot emulation test platform, that is, an emulation test scenario applied to autopilot. It is understood that the GMSL interface is an on-vehicle camera interface for implementing transmission of image data acquired by an on-vehicle camera. The GMSL interface emulation device may be understood as emulating a GMSL interface on a vehicle to enable image data transmission.
Among them, the PCI expansion (PCI extensions for Instrumentation, PXI) Express bus (PXIe bus) oriented to the instrumentation system is a technology based on the peripheral component interconnect standard (Peripheral Component Interconnect, PCI) Express bus.
Referring to fig. 1 and fig. 2, the interface emulation device provided in the embodiment of the present disclosure may be integrated in a PXIe chassis, the controller 101 is a PXIe controller 101, that is, the controller 101 is loaded in the PXIe chassis, the PXIe may also be a disk loaded with data for storing, and the interface emulation board 102 may be plugged in a specific slot of the PXIe chassis. The PXIe controller 101 may store the image data of the vehicle-mounted camera, or the PXIe controller 101 may read the image data of the vehicle-mounted camera stored in the magnetic disk and transmit the image data to the interface emulation board 102 through the PXIe bus, where the interface emulation board 102 may be provided with a chip, and then the image data of the vehicle-mounted camera may also be transmitted to the chip of the interface emulation board 102 through the PXIe bus, and the chip then transmits the image data of the vehicle-mounted camera to the serializer 103, and further, the serializer 103 may output GMSL signals to the autopilot computing platform by using a coaxial cable as a carrier according to a agreed data transmission protocol. Therefore, after the automatic driving computing platform receives the image data of the vehicle-mounted camera, the driving scene of the simulated vehicle can be determined, and then the vehicle simulation test under the driving scene can be carried out.
The PXIe chassis, the PXIe controller 101, and the interface emulation board 102 are included in a PXIe platform or a PXI platform. For example, taking a PXIe platform as an example, the PXIe platform can simulate cameras at different installation positions of an autopilot vehicle in a laboratory environment by integrating one or more interface simulation boards 102, so as to perform simulation tests of different road test scenes of an actual road, or can perform routine training of a perception fusion algorithm and an autopilot control algorithm by using various scene image data automatically generated by perception simulation, so that artificial intelligence (Artificial Intelligence, AI) learning is promoted, and the accuracy and robustness of an autopilot system can be further enhanced. In addition, the automatic driving simulation test platform can be matched with dynamics models and chassis drive-by-wire parameter models of different vehicle types, and the smoothness of a control algorithm can be continuously optimized, so that driving experience is improved.
According to the technical scheme provided by the embodiment of the disclosure, the interface simulation board 102 realizes data transmission with the controller 101 through the PXIe bus, and a GMSL interface simulation device based on the PXIe bus is also provided, and the interface simulation device can be applied to a PXIe platform or a PXI platform, so that a new GMSL simulation implementation scheme is provided for loop simulation test of automatic driving hardware. The transmission protocol adopted by the PXIe bus enables the PXIe bus to have a faster transmission rate, so that the interface simulation device applying the PXIe bus in the disclosure has higher transmission efficiency, and the simulation test efficiency on the autopilot simulation test platform can be improved.
Optionally, referring to fig. 2, the interface emulation board 102 includes a field programmable gate array (Field Programmable Gate Array, FPGA) chip, and the interface emulation board 102 realizes data transmission with the controller 101 and the serializer 103 through the FPGA chip 1021.
It will be appreciated that the core component of the interface emulation board 102 is a chip, and the FPGA chip 1021 includes a PCIe internet protocol (Internet Protocol, IP) core, and enables data transmission with the controller 101 and the serializer 103 based on the PCIe IP core. The PCIe IP core has stable and reliable operation performance, so that the running stability of the FPGA chip 1021 can be ensured.
In the embodiment of the disclosure, the interface simulation board 102 is a GMSL interface simulation board 102, and the FPGA chip 1021 is integrated with at least one path of GMSL interface, where the at least one path of GMSL interface is used to connect with an autopilot computing platform. One path of GMSL interface is equivalent to a vehicle-mounted camera interface, and one path of GMSL interface is equivalent to one path of GMSL channel. The FPGA chip 1021 can integrate at least one path of GMSL interfaces, that is, the GMSL simulation board can simulate at least one vehicle-mounted camera interface, so that multiple paths of GMSL channels can be simulated through one GMSL simulation board. Compared with the existing GMSL interface simulator based on the USB bus, the interface simulation device provided by the embodiment of the disclosure can realize the simulation of a plurality of vehicle-mounted camera interfaces only by plugging one interface simulation board card 102, and a plurality of interface simulation devices are not required to be plugged, so that hardware materials can be effectively saved.
Optionally, the number of the interface emulation cards 102 is at least one, each interface emulation card 102 is connected to the controller 101 through the PXIe bus, and each interface emulation card 102 is connected to the serializer 103. For example, a plurality of slots for plugging the interface simulation board cards 102 may be provided in the PXIe chassis, and the interface simulation device may also include at least one interface simulation board card 102, so that simulation on more vehicle-mounted camera interfaces can be realized through one interface simulation device, further hardware materials are saved, and the test efficiency of the autopilot simulation test platform can be effectively improved.
Further, the FPGA chip 1021 includes a clock synchronization unit, and the controller 101 includes a clock synchronization interface for driving the clock synchronization unit to ensure data synchronization between each of the interface emulation boards 102. The clock synchronization unit may be a clock synchronization program written in the FPGA chip 1021, and the controller 101 may be capable of driving the clock synchronization program in the FPGA chip 1021 through a clock synchronization interface to further ensure data synchronization between the interface emulation boards 102.
For example, the PXIe chassis is plugged with a plurality of interface emulation boards 102, which can be a synchronization mechanism between a plurality of slots of a back board of the PXIe chassis, a clock synchronization program supporting a back board synchronization clock source and a synchronization signal is written in the FPGA chip 1021, and a hardware interrupt synchronization interface, that is, a clock synchronization interface is provided in the PXIe controller 101, so as to ensure data synchronization between the plurality of interface emulation boards 102, thereby effectively solving the problem of signal synchronization between the plurality of interface emulation boards 102.
In the embodiment of the disclosure, the FPGA chip 1021 includes a fault test case injection unit, and the controller 101 includes a fault injection interface, where the fault injection interface is used to drive the fault injection unit to ensure injection of the fault test case. The fault test case injection unit may be a fault test case injection program written in the FPGA chip 1021, and the controller 101 may drive the fault test case injection program in the FPGA chip 1021 through a fault injection interface to start execution of the fault test case. Alternatively, the fault test case may include an image data format error fault, a verification error fault, a reverse order error fault, a misorder error fault, a multi-path GMSL interface data differential delay transmission fault, and the like. Therefore, the automatic test simulation test platform can execute fault test cases, and the comprehensiveness of the automatic driving simulation test is ensured.
Referring to fig. 2, the interface emulation board 102 performs data transmission with the serializer 103 through a mobile industry processor camera interface (Mobile Industry Processor Interface Camera Serial Interface, MIPI CSI) and a serial bus (Inter-Integrated Circuit, I2C). Optionally, the MIPI CSI is MIPI CSI-2, and the FPGA chip 1021 on the interface board 102 realizes data transmission through the MIPI CSI-2 data link and the I2C data link and the serializer 103, so as to ensure the transmission requirement of the image data of the vehicle camera. The FPGA chip 1021 may be written with MIPI Logic program to implement data transmission with the serializer 103 through MIPI CSI-2. Optionally, an FSYNC script is also written in the FPGA chip 1021, and the FPGA chip 1021 can implement data transmission with the serializer 103 through an FSYNC data link.
Optionally, the FPGA chip 1021 may further include a direct memory access (Direct Memory Access, DMA) unit and a data buffer unit, so as to realize storage of image data of the vehicle-mounted camera, where the FPGA chip 1021 is integrated with multiple GMSL interfaces, so as to meet the requirement of multiple vehicle-mounted camera image data transmission.
The embodiment of the disclosure also provides an autopilot simulation test platform, which comprises an autopilot computing platform and the interface simulation device described in the embodiment above, wherein a serializer in the interface simulation device is connected with the autopilot computing platform. It should be noted that, the autopilot simulation test platform includes all the technical features in the above embodiment of the interface simulation device, and can achieve the same technical effects, so that repetition is avoided, and no further description is provided herein.
The automatic driving computing platform can perform routine training of a perception fusion algorithm and an automatic driving control algorithm based on the vehicle-mounted camera image data transmitted by the serializer so as to perform AI learning, and further can enhance the accuracy and the robustness of an automatic driving system. In addition, the automatic driving simulation test platform can be matched with dynamics models and chassis drive-by-wire parameter models of different vehicle types, and the smoothness of a control algorithm can be continuously optimized, so that driving experience is improved.
Claims (8)
1. The interface simulation device comprises a controller, a PXIe bus, an interface simulation board card and a serializer, wherein the interface simulation board card is connected with the controller through the PXIe bus, the serializer is connected with the interface simulation board card, and the serializer is used for being connected with an automatic driving computing platform;
the controller is used for transmitting the vehicle-mounted camera image to the interface simulation board card through the PXIe bus, the interface simulation board card is used for transmitting the vehicle-mounted camera image to the serializer, and the serializer is used for transmitting the vehicle-mounted camera image to the automatic driving computing platform so that the automatic driving computing platform can conduct vehicle simulation test based on the vehicle-mounted camera image.
2. The interface emulation device of claim 1, wherein the interface emulation board card comprises a field programmable gate array FPGA chip, and the interface emulation board card realizes data transmission with the controller and the serializer through the FPGA chip.
3. The interface simulation device according to claim 2, wherein the interface simulation board is a GMSL interface simulation board, the FPGA chip is integrated with at least one path of GMSL interface, and the at least one path of GMSL interface is used for being connected with an autopilot computing platform.
4. The interface emulation device of claim 2, wherein the number of interface emulation cards is at least one, each interface emulation card is connected to the controller through the PXIe bus, and each interface emulation card is connected to the serializer.
5. The interface emulation device of claim 4, wherein the FPGA chip includes a clock synchronization unit and the controller includes a clock synchronization interface for driving the clock synchronization unit to ensure data synchronization between each of the interface emulation boards.
6. The interface simulation apparatus of claim 2, wherein the FPGA chip includes a fault test case injection unit, and the controller includes a fault injection interface for driving the fault test case injection unit to ensure injection of a fault test case.
7. The interface emulation device of claim 1, wherein the interface emulation board card performs data transfer with the serializer through a mobile industry processor camera interface mipmsi and a serial bus I2C.
8. An autopilot simulation test platform comprising an autopilot computing platform and the interface simulation apparatus of any one of claims 1-7, the serializer being connected to the autopilot computing platform.
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