CN114124610B - Data processing method, device, equipment and medium based on MCU communication channel - Google Patents
Data processing method, device, equipment and medium based on MCU communication channel Download PDFInfo
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- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
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- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
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Abstract
The invention discloses a data processing method, a device, equipment and a medium based on an MCU communication channel, wherein the method comprises the following steps: acquiring a CAN data set corresponding to the current vehicle through a vehicle CAN bus; the CAN data set at least comprises vehicle data and environment data; transmitting the acquired CAN data set to a vehicle micro-control unit through a CAN interface, and accessing the CAN data set to an application layer of the vehicle micro-control unit; transmitting the CAN data set to an Ethernet interface through a CAN interface; and transmitting the CAN data set to the vehicle micro-control unit through the Ethernet interface, and accessing the Ethernet interface communication data to an application layer of the vehicle micro-control unit. According to the invention, the CCS and the vehicle control node which are deployed above the Host are used as two SWCs to operate in an MCU application layer, and are butted with the bottom layer input and output interface, so that corresponding functions are realized, data transmission in the MCU is completed based on each communication interface in the MCU, and the efficiency and expansibility in the aspect of data processing are improved.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a data processing method, a device, equipment and a medium based on an MCU communication channel.
Background
At present, with the development and application of artificial intelligence technology, the artificial intelligence technology is gradually applied to the automobile field, and automatic driving is taken as the main direction of the intelligent and networking development of the current global vehicle and traffic trip field, and will have important value in future traffic. In the prior art, data collected by a sensor and a camera on a vehicle is mainly acquired by a Micro Controller Unit (MCU) of the vehicle, so that the MCU can collect and process relevant data based on an MDC platform.
However, in the course of research and practice on the prior art, the inventor of the present invention finds that, in the prior art, mainly based on the design of the MDC platform, since the MCU itself does not have any control right for the communication channel, and the MCU cannot acquire data on the UART interface during secondary development, the MCU cannot complete data transmission inside the MCU based on each communication channel of the MCU in the vehicle control process, and acquire data on the UART interface, resulting in low efficiency and poor scalability of the MCU in data processing.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide a data processing method, device, equipment and medium based on MCU communication channels, which can solve the problem that the MCU in the prior art cannot complete data transmission inside the MCU and acquire data on the UART interface based on each communication channel of the MCU.
In order to solve the above problem, a first aspect of the embodiments of the present application provides a data processing method based on an MCU communication channel, which at least includes the following steps:
acquiring a CAN data set corresponding to the current vehicle through a vehicle CAN bus; the CAN data set at least comprises vehicle data and environment data;
transmitting the acquired CAN data set to a vehicle micro-control unit through a CAN interface, and accessing the CAN data set to an application layer of the vehicle micro-control unit;
transmitting the CAN data set to an Ethernet interface through the CAN interface;
and sending the CAN data set to the vehicle micro-control unit through the Ethernet interface, and accessing Ethernet interface communication data to an application layer of the vehicle micro-control unit.
In a possible implementation manner of the first aspect, after the step of sending the CAN data set to the vehicle micro control unit through the ethernet interface, the method further includes:
sending the CAN data to a universal asynchronous receiver transmitter interface through the vehicle micro-control unit;
sending the CAN data set to the Ethernet interface through the UART interface;
and sending the CAN data set to the vehicle micro-control unit through the Ethernet interface.
In a possible implementation manner of the first aspect, the obtaining, through a vehicle CAN bus, a CAN data set corresponding to a current vehicle includes:
acquiring vehicle data through a vehicle electronic control unit, wherein the vehicle data comprises electronic control unit uplink data and electronic control unit downlink data;
acquiring a driving environment image in real time through a camera device;
collecting millimeter wave radar data in real time through an ultrasonic sensor;
collecting vehicle radar data in real time through a vehicle radar;
navigation data of the vehicle is acquired via a global navigation satellite system.
In a possible implementation manner of the first aspect, the accessing the CAN data set to an application layer of a vehicle micro control unit includes:
accessing uplink data of the electronic control unit in the CAN data set to an application layer of a vehicle micro-control unit;
and sending the downlink data of the electronic control unit in the CAN data set to a vehicle micro control unit so that the vehicle micro control unit controls the vehicle according to the downlink data of the electronic control unit.
In a possible implementation manner of the first aspect, the transmitting the CAN data set to an ethernet interface through the CAN interface includes:
the Ethernet interface sends the CAN data set to Host equipment;
and carrying out data path communication and state monitoring of the vehicle through the Host equipment.
In a possible implementation manner of the first aspect, the accessing the ethernet interface communication data to the application layer of the vehicle micro control unit includes:
in the debugging process of an application layer of the vehicle micro-control unit, sending vehicle log information through the vehicle micro-control unit according to Ethernet interface communication data;
receiving, by the vehicle micro-control unit, feedback data of a Host device.
In a possible implementation manner of the first aspect, after the step of obtaining the CAN data set corresponding to the current vehicle through the vehicle CAN bus, the method further includes:
carrying out image recognition and analysis on environmental data in the CAN data set through a preset program to obtain real-time driving environment information corresponding to the current vehicle; the environmental data comprises lane lines, curbs, obstacles and traffic lights;
performing data analysis on vehicle data in the CAN data set through a preset program to acquire self state data corresponding to the current vehicle; the vehicle data includes vehicle position, vehicle speed, vehicle acceleration, and vehicle attitude information.
A second aspect of the embodiments of the present application provides an MCU communication path-based data processing apparatus, including:
the data acquisition module is used for acquiring a CAN data set corresponding to the current vehicle through a vehicle CAN bus; the CAN data set at least comprises vehicle data and environment data;
the CAN-MCU access module is used for transmitting the acquired CAN data set to the vehicle micro-control unit through the CAN interface and accessing the CAN data set to an application layer of the vehicle micro-control unit;
the CAN-ETH access module is used for transmitting the CAN data set to an Ethernet interface through the CAN interface;
and the ETH-MCU access module is used for sending the CAN data set to the vehicle micro-control unit through the Ethernet interface and accessing Ethernet interface communication data to an application layer of the vehicle micro-control unit.
The third aspect of the embodiment of the present application further provides a computer device, which includes a memory and a processor, where the memory stores a computer program, and the processor implements, when executing the computer program, the steps of the data processing method based on the MCU communication path described in any one of the above.
The fourth aspect of the embodiments of the present application also provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the data processing method based on the MCU communication path described in any one of the above.
The embodiment of the invention has the following beneficial effects:
according to the data processing method, the device, the equipment and the medium based on the MCU communication channel, a CAN data set corresponding to a current vehicle is obtained through a vehicle CAN bus; the CAN data set at least comprises vehicle data and environment data; transmitting the acquired CAN data set to a vehicle micro-control unit through a CAN interface, and accessing the CAN data set to an application layer of the vehicle micro-control unit; transmitting the CAN data set to an Ethernet interface through the CAN interface; and sending the CAN data set to the vehicle micro-control unit through the Ethernet interface, and accessing Ethernet interface communication data to an application layer of the vehicle micro-control unit. According to the embodiment of the invention, the CCS and the vehicle control node which are deployed above the Host are used as two SWCs to operate in an MCU application layer, and are butted with the bottom layer input and output interface, so that corresponding functions are realized, data transmission in the MCU is completed based on each communication interface in the MCU, and the efficiency and the expansibility in the aspect of data processing are improved.
Drawings
Fig. 1 is a schematic flowchart of a data processing method based on an MCU communication path according to an embodiment of the present application;
FIG. 2 is a block diagram schematically illustrating a structure of a data processing apparatus based on an MCU communication channel according to an embodiment of the present application;
fig. 3 is a schematic block diagram of a structure of a computer device according to an embodiment of the present application.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be understood that the terms "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.
First, the application scenario that can be provided by the present invention is introduced, for example, a data processing method, an apparatus, a device and a medium based on the MCU communication channel are provided, which can solve the problem that the MCU cannot complete the data transmission inside the MCU and acquire the data on the UART interface based on each communication channel of the MCU during the vehicle control process, and improve the efficiency and the expansibility of the MCU in the data processing aspect.
The first embodiment of the present invention:
please refer to fig. 1.
As shown in fig. 1, the present embodiment provides a data processing method based on an MCU communication channel, which at least includes the following steps:
s1, acquiring a CAN data set corresponding to a current vehicle through a vehicle CAN bus; the CAN data set at least comprises vehicle data and environment data;
s2, transmitting the acquired CAN data set to a vehicle micro-control unit through a CAN interface, and accessing the CAN data set to an application layer of the vehicle micro-control unit;
s3, transmitting the CAN data set to an Ethernet interface through the CAN interface;
and S4, sending the CAN data set to the vehicle micro-control unit through the Ethernet interface, and accessing the Ethernet interface communication data to an application layer of the vehicle micro-control unit.
In the prior art, hua is an MDC development platform that uses an MCU + SOC platform architecture on a hardware architecture, wherein the MCU uses TC397 of Infineon, and the SOC uses Hua is a self-developed spread 920 chip. In the aspect of software, the software on the MCU uses an AUTOSAR CP framework, and the SOC uses an AUTOSAR AP framework; in terms of hardware, the TC397 is a 6-Core MCU, and it is thought that two cores, core 3 and Core 4, are reserved for a user for MCU-based application development outside the MDC platform task itself, where Core 3 is a lockstep Core and Core 4 is a non-lockstep Core. The MCU application development framework example is now given, where only two task templates GP1 and GP2 reserved for users are used for user application development, where GP1 is used for Core 3 application development and GP2 is used for Core 4 application development. All task interfaces in the two templates have a period of 5ms, and if a user needs tasks in other periods, the task interfaces can be automatically combined and generated. Therefore, the task period running in the application layer should be set to an integer multiple of 5 ms.
However, in the application development based on the MDC platform in the ICVOS 1.0 stage, although the 4-channel C1-channel UART is configured for transparent data communication in the MCU, the MCU itself does not have any control right for these communication channels according to the design of the MDC platform, and the MCU cannot acquire UART data during secondary development.
In order to solve the above technical problems, in this embodiment, the CCS and the vehicle control node deployed on the Host at the original ICVOS 1.0 stage are used as two SWCs to operate in the MCU application layer, and are butted with the bottom layer input/output interface to implement corresponding functions; meanwhile, based on each communication interface in the MCU, data transmission in the MCU is completed, and the MCU acquires data on the UART interface.
And step S1, acquiring a CAN data set corresponding to the vehicle through a CAN bus system of the current vehicle, wherein the CAN data set comprises environmental data around the current vehicle and data of the vehicle, and the information of the surrounding environment of the current vehicle and the driving state data of the vehicle CAN be quickly and effectively acquired through an integrated CAN bus system of the vehicle.
For the step S2, after a CAN data set corresponding to the current vehicle is obtained, a CAN-MCU application layer data channel is constructed, and the CAN data set is transmitted to the MCU through the CAN interface; meanwhile, in order to support the implementation of the application in the MCU software architecture, the VCU and the environmental data are accessed to the application layer for the use of the SWC logic.
And step S3, after the CAN data set is transmitted to the MCU through the CAN interface, a data path between CAN- > ETH is constructed, and the data is transmitted to an ETH (Ethernet) interface through the CAN interface.
And S4, after the data are transmitted to the ETH interface through the CAN interface, a bidirectional data path of the ETH < - > MCU application layer is constructed, so that the CAN data are sent to the vehicle micro-control unit in a set mode through the ETH interface, and the Ethernet interface communication data are accessed to the application layer of the vehicle micro-control unit.
In a preferred embodiment, after the step S4 of sending the CAN data set to the vehicle micro control unit through the ethernet interface, the method further includes:
sending the CAN data to a universal asynchronous receiver transmitter interface through the vehicle micro-control unit;
sending the CAN data set to the Ethernet interface through the UART interface;
and sending the CAN data set to the vehicle micro-control unit through the Ethernet interface.
In a specific embodiment, after step S4, the method further includes transmitting the navigation data to a URAT interface; then transmitting the data from URAT interface to ETH interface; and finally, transmitting the data to the MCU through an ETH interface to realize a data communication channel of the MCU- > URAT- > ETH- > MCU.
In a preferred embodiment, the acquiring, through a vehicle CAN bus, a CAN data set corresponding to a current vehicle includes:
acquiring vehicle data through a vehicle electronic control unit, wherein the vehicle data comprises electronic control unit uplink data and electronic control unit downlink data;
acquiring a driving environment image in real time through a camera device;
collecting millimeter wave radar data in real time through an ultrasonic sensor;
collecting vehicle radar data in real time through a vehicle radar;
navigation data of the vehicle is acquired via a global navigation satellite system.
In a specific embodiment, step S1 includes: the method comprises the steps of collecting images through a CAM (camera), millimeter wave data through a USS (universal serial bus), RADAR data through a RADAR, communication with other vehicles through a VCU (vehicle control unit), data of a vehicle electronic control unit and navigation data through a GNSS (global navigation satellite system).
In a preferred embodiment, the accessing the CAN data set to an application layer of a vehicle micro control unit includes:
accessing uplink data of the electronic control unit in the CAN data set to an application layer of a vehicle micro-control unit;
and sending the downlink data of the electronic control unit in the CAN data set to a vehicle micro-control unit so that the vehicle micro-control unit controls the vehicle according to the downlink data of the electronic control unit.
In a specific embodiment, in order to support the implementation of the application in the MCU software architecture, the VCU and environment data need to be accessed to the application layer for use by the SWC logic. Two aspects of the data are included here: vehicle data, i.e., VCU data; environmental data, including RADAR, USS, CAMERA, and GNSS, sensor data development is reserved for this stage. The VCU uplink data is used for an SWC (Application Software Component) to acquire the current state and feedback of the vehicle; the VCU downlink data is used for realizing vehicle control.
In a preferred embodiment, said transmitting said CAN data set to an ethernet interface via said CAN interface includes:
the Ethernet interface sends the CAN data set to Host equipment;
and carrying out data path communication and state monitoring of the vehicle through the Host equipment.
In a specific embodiment, data is transmitted to an ETH (ethernet) interface through a CAN interface according to a constructed CAN- > ETH data path. The data channel is developed and implemented in the ICVOS 1.0 project, and is incorporated into a real-time domain development scheme, which is mainly used for facilitating further function expansion, including data path and state monitoring in Host, and reliable redundant node and related function development in the next step.
In a preferred embodiment, the accessing the ethernet interface communication data to the application layer of the vehicle micro control unit includes:
in the debugging process of an application layer of the vehicle micro-control unit, sending vehicle log information through the vehicle micro-control unit according to Ethernet interface communication data;
receiving, by the vehicle micro-control unit, feedback data of the Host device.
In a specific embodiment, according to the constructed ETH < - > MCU application layer data path, data is transmitted to the MCU through an ETH interface. The access of ETH communication data in an MCU application layer mainly comprises the following steps: sending Log (Log) information in the debugging process of the MCU application layer; the Host side feedback data (e.g. the result of the Mini data calculation or other necessary data) is transmitted (future extended function usage).
In a preferred embodiment, after the step of acquiring the CAN data set corresponding to the current vehicle through the vehicle CAN bus, the method further includes:
carrying out image recognition and analysis on environmental data in the CAN data set through a preset program to obtain real-time driving environment information corresponding to the current vehicle; the environmental data comprises lane lines, curbs, obstacles and traffic lights;
carrying out data analysis on vehicle data in the CAN data set through a preset program to obtain self state data corresponding to the current vehicle; the vehicle data includes vehicle position, vehicle speed, vehicle acceleration, and vehicle attitude information.
In a specific embodiment, image recognition and data analysis are sequentially performed on environmental data in a CAN data set through a CCS module of actually measured demonstration software (Demo APP), so that real-time driving environment information corresponding to a current vehicle, such as lane lines, road edges, obstacles and traffic lights, is obtained; and then, carrying out data analysis on the vehicle data in the CAN data set by actually-measured demonstration software to acquire self state data corresponding to the current vehicle, such as the current vehicle position, the previous vehicle position, the vehicle speed, the vehicle acceleration and the vehicle attitude information.
The data processing method based on the MCU communication channel provided by the embodiment comprises the following steps: acquiring a CAN data set corresponding to the current vehicle through a vehicle CAN bus; the CAN data set at least comprises vehicle data and environment data; transmitting the acquired CAN data set to a vehicle micro-control unit through a CAN interface, and accessing the CAN data set to an application layer of the vehicle micro-control unit; transmitting the CAN data set to an Ethernet interface through the CAN interface; and sending the CAN data set to the vehicle micro-control unit through the Ethernet interface, and accessing Ethernet interface communication data to an application layer of the vehicle micro-control unit. This embodiment is through deploying CCS and vehicle control node on Host as two SWCs operation in MCU application layer to thereby realize corresponding function with its and bottom input/output interface butt joint, and accomplish the inside data transmission of MCU based on each communication interface among the MCU, improve efficiency and the expansibility in the aspect of data processing.
Second embodiment of the invention:
please refer to fig. 2.
As shown in fig. 2, the present embodiment provides a data processing apparatus based on an MCU communication path, including:
the data acquisition module 100 is used for acquiring a CAN data set corresponding to a current vehicle through a vehicle CAN bus; the CAN data set at least comprises vehicle data and environment data;
for the data acquisition module 100, a CAN data set corresponding to the vehicle is acquired through a CAN bus system of the current vehicle, and includes environmental data around the current vehicle and data of the vehicle itself.
The CAN-MCU access module 200 is used for transmitting the acquired CAN data set to the vehicle micro-control unit through the CAN interface and accessing the CAN data set to an application layer of the vehicle micro-control unit;
for the CAN-MCU access module 200, after acquiring a CAN data set corresponding to the current vehicle, constructing a CAN-MCU application layer data access, and transmitting the CAN data set to the MCU through a CAN interface; meanwhile, in order to support the implementation of the application in the MCU software architecture, the VCU and the environmental data are accessed to the application layer for the use of the SWC logic.
A CAN-ETH path module 300 for transmitting the CAN data set to an ethernet interface through the CAN interface;
for the CAN-ETH path module 300, after the CAN data set is transmitted to the MCU through the CAN interface, a data path between CAN- > ETH is constructed, and the data is transmitted to the ETH (ethernet) interface through the CAN interface.
And an ETH-MCU path module 400, configured to send the CAN data set to the vehicle micro control unit through the ethernet interface, and access ethernet interface communication data to an application layer of the vehicle micro control unit.
For the ETH-MCU path module 400, after data is transmitted to the ETH interface through the CAN interface, a bidirectional data path of an ETH < - > MCU application layer is constructed, so that the CAN data set is transmitted to the vehicle micro-control unit through the ETH interface, and Ethernet interface communication data is accessed to the application layer of the vehicle micro-control unit.
In the embodiment, a CAN data set corresponding to a current vehicle is acquired through a vehicle CAN bus; the CAN data set at least comprises vehicle data and environment data; transmitting the acquired CAN data set to a vehicle micro-control unit through a CAN interface, and accessing the CAN data set to an application layer of the vehicle micro-control unit; transmitting the CAN data set to an Ethernet interface through the CAN interface; and sending the CAN data set to the vehicle micro-control unit through the Ethernet interface, and accessing Ethernet interface communication data to an application layer of the vehicle micro-control unit. CCS and vehicle control node through deploying on Host operate in MCU application layer as two SWCs to thereby realize corresponding function with its and bottom input/output interface butt joint, accomplish the inside data transmission of MCU based on each communication interface among the MCU, improve efficiency and the expansibility in the aspect of data processing.
Referring to fig. 3, an embodiment of the present application further provides a computer device, where the computer device may be a server, and an internal structure of the computer device may be as shown in fig. 3. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer designed processor is used to provide computational and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used for storing data such as a data processing method based on the MCU communication channel. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a data processing method based on an MCU communication path. The data processing method based on the MCU communication channel comprises the following steps: acquiring a CAN data set corresponding to the current vehicle through a vehicle CAN bus; the CAN data set at least comprises vehicle data and environment data; transmitting the acquired CAN data set to a vehicle micro-control unit through a CAN interface, and accessing the CAN data set to an application layer of the vehicle micro-control unit; transmitting the CAN data set to an Ethernet interface through the CAN interface; and sending the CAN data set to the vehicle micro-control unit through the Ethernet interface, and accessing Ethernet interface communication data to an application layer of the vehicle micro-control unit.
An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for processing data based on an MCU communication channel is implemented, including: acquiring a CAN data set corresponding to the current vehicle through a vehicle CAN bus; the CAN data set at least comprises vehicle data and environment data; transmitting the acquired CAN data set to a vehicle micro-control unit through a CAN interface, and accessing the CAN data set to an application layer of the vehicle micro-control unit; transmitting the CAN data set to an Ethernet interface through the CAN interface; and sending the CAN data set to the vehicle micro-control unit through the Ethernet interface, and accessing Ethernet interface communication data to an application layer of the vehicle micro-control unit.
According to the data processing method based on the MCU communication channel, the CCS and the vehicle control node which are deployed above the Host are used as two SWCs to operate on the MCU application layer, and are in butt joint with the bottom layer input and output interface, so that corresponding functions are realized, data transmission inside the MCU is completed based on each communication interface in the MCU, and the efficiency and the expansibility in the aspect of data processing are improved.
In the above embodiments of the present invention, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described in detail in a certain embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the modules may be a logical division, and in actual implementation, there may be another division, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be an indirect coupling or communication connection through some interfaces, units or modules, and may be electrical or in other forms.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one position, or may be distributed on a plurality of modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The foregoing is directed to the preferred embodiment of the present invention, and it is understood that various changes and modifications may be made by one skilled in the art without departing from the spirit of the invention, and it is intended that such changes and modifications be considered as within the scope of the invention.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium provided herein and used in the examples may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (SSRDRAM), enhanced SDRAM (ESDRAM), synchronous Link (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct Rambus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM), among others.
Claims (10)
1. A data processing method based on MCU communication channel is characterized by at least comprising the following steps:
acquiring a CAN data set corresponding to the current vehicle through a vehicle CAN bus; the CAN data set at least comprises vehicle data and environment data;
transmitting the acquired CAN data set to a vehicle micro-control unit through a CAN interface, and accessing the CAN data set to an application layer of the vehicle micro-control unit;
transmitting the CAN data set to an Ethernet interface through the CAN interface;
and sending the CAN data set to the vehicle micro-control unit through the Ethernet interface, and accessing Ethernet interface communication data to an application layer of the vehicle micro-control unit.
2. The MCU communication channel-based data processing method of claim 1, wherein after the step of sending the CAN data set to the vehicle micro control unit via the ethernet interface, further comprising:
sending the CAN data to a universal asynchronous receiver-transmitter interface through the vehicle micro-control unit;
sending the CAN data set to the Ethernet interface through the UART interface;
and sending the CAN data set to the vehicle micro-control unit through the Ethernet interface.
3. The MCU communication channel-based data processing method of claim 1, wherein the acquiring a CAN data set corresponding to a current vehicle through a vehicle CAN bus comprises:
acquiring vehicle data through a vehicle electronic control unit, wherein the vehicle data comprises electronic control unit uplink data and electronic control unit downlink data;
acquiring a driving environment image in real time through a camera device;
collecting millimeter wave radar data in real time through an ultrasonic sensor;
collecting vehicle radar data in real time through a vehicle radar;
navigation data of the vehicle is acquired via a global navigation satellite system.
4. The MCU communication path-based data processing method of claim 1, wherein the accessing the CAN data set to an application layer of a vehicle micro control unit comprises:
accessing uplink data of the electronic control unit in the CAN data set to an application layer of a vehicle micro-control unit;
and sending the downlink data of the electronic control unit in the CAN data set to a vehicle micro-control unit so that the vehicle micro-control unit controls the vehicle according to the downlink data of the electronic control unit.
5. The MCU communication path based data processing method of claim 1, wherein the transmitting the CAN data set to an Ethernet interface via the CAN interface comprises:
the Ethernet interface sends the CAN data set to Host equipment;
and carrying out data path communication and state monitoring of the vehicle through the Host equipment.
6. The MCU communication channel-based data processing method of claim 1, wherein the accessing of Ethernet interface communication data to an application layer of the vehicle micro control unit comprises:
in the debugging process of an application layer of the vehicle micro-control unit, sending vehicle log information through the vehicle micro-control unit according to Ethernet interface communication data;
receiving, by the vehicle micro-control unit, feedback data of the Host device.
7. The method for processing the data of the MCU communication channel according to claim 1, further comprising, after the step of acquiring the CAN data set corresponding to the current vehicle through a vehicle CAN bus:
carrying out image recognition and analysis on environmental data in the CAN data set through a preset program to obtain real-time driving environment information corresponding to the current vehicle; the environmental data comprises lane lines, curbs, obstacles and traffic lights;
carrying out data analysis on vehicle data in the CAN data set through a preset program to obtain self state data corresponding to the current vehicle; the vehicle data includes vehicle position, vehicle speed, vehicle acceleration, and vehicle attitude information.
8. A data processing apparatus based on an MCU communication path, comprising:
the data acquisition module is used for acquiring a CAN data set corresponding to the current vehicle through a vehicle CAN bus; the CAN data set at least comprises vehicle data and environment data;
the CAN-MCU access module is used for transmitting the acquired CAN data set to the vehicle micro-control unit through the CAN interface and accessing the CAN data set to an application layer of the vehicle micro-control unit;
the CAN-ETH access module is used for transmitting the CAN data set to an Ethernet interface through the CAN interface;
and the ETH-MCU access module is used for sending the CAN data set to the vehicle micro-control unit through the Ethernet interface and accessing the communication data of the Ethernet interface to an application layer of the vehicle micro-control unit.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program implements the steps of the MCU communication path-based data processing method of any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the MCU communication path-based data processing method of any one of claims 1 to 7.
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| CN112758031A (en) * | 2021-01-19 | 2021-05-07 | 中国第一汽车股份有限公司 | Vehicle control system, vehicle control method, device, equipment and medium |
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| CN113415208A (en) * | 2021-08-23 | 2021-09-21 | 中国华能集团清洁能源技术研究院有限公司 | Power exchange control assembly |
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| CN112758031A (en) * | 2021-01-19 | 2021-05-07 | 中国第一汽车股份有限公司 | Vehicle control system, vehicle control method, device, equipment and medium |
| CN113110160A (en) * | 2021-04-09 | 2021-07-13 | 黑芝麻智能科技(上海)有限公司 | Time synchronization method and device of domain controller, domain controller and storage medium |
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