CN114619962A - Automatic driving system with asymmetric transmission - Google Patents
Automatic driving system with asymmetric transmission Download PDFInfo
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- CN114619962A CN114619962A CN202210250779.7A CN202210250779A CN114619962A CN 114619962 A CN114619962 A CN 114619962A CN 202210250779 A CN202210250779 A CN 202210250779A CN 114619962 A CN114619962 A CN 114619962A
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- 238000007726 management method Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/25—Arrangements specific to fibre transmission
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B3/00—Line transmission systems
- H04B3/54—Systems for transmission via power distribution lines
- H04B3/542—Systems for transmission via power distribution lines the information being in digital form
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J14/00—Optical multiplex systems
- H04J14/02—Wavelength-division multiplex systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
Abstract
The invention provides an asymmetric transmission automatic driving system, which comprises: the system comprises a sensing unit, an execution unit, a TSN gateway and an automatic driving host, wherein the TSN gateway is respectively connected with the sensing unit, the execution unit and the automatic driving host; the sensing unit at least comprises a vehicle-mounted Ethernet camera, and the vehicle-mounted Ethernet camera is connected with the TSN gateway through a first vehicle-mounted Ethernet bus, wherein the first vehicle-mounted Ethernet bus comprises an uplink transmission line and a downlink transmission line, the uplink transmission line adopts an optical fiber transmission medium, and the downlink transmission line adopts a single-pair unshielded twisted pair; the uplink transmission line transmits image data and a feedback signal, and the downlink transmission line transmits a control signal. The technical scheme provided by the invention can ensure that the uplink and downlink bandwidths can be sufficiently utilized in a vehicle-mounted network camera transmission system, and meanwhile, the use of an optical fiber harness can be saved, so that the cost of an automatic driving system is reduced to the greatest extent.
Description
Technical Field
The present invention relates to autopilot systems, and more particularly to an asymmetric transmission autopilot system.
Background
In recent years, with the development and progress of technology, the automobile technology is promoted to develop from manned driving to unmanned driving, but the unmanned driving technology is complex in system and difficult to achieve in a short period, researchers in the automobile industry at present turn to conditional automatic driving, and a vehicle-mounted camera and a laser radar are used as very important systems of automobiles, so that the conditional automatic driving technology of the automobiles becomes possible. However, the commercial vehicle-mounted camera adopted in the existing automatic driving system mainly adopts the LVDS bus, the wiring harness cost of the LVDS bus is high, and the transmission distance is limited, so that the development of the LVDS bus vehicle-mounted camera is restricted. In the prior art, a vehicle-mounted ethernet camera is also provided, but either an unshielded twisted pair or an optical fiber is adopted as a transmission bus, if the unshielded twisted pair is adopted, the transmission bandwidth of the high-definition camera is insufficient, and if the optical fiber is adopted for transmission, the high cost is caused.
Disclosure of Invention
Based on the defects in the prior art, the invention provides an automatic driving system with asymmetric transmission, which at least comprises: the system comprises a sensing unit, an execution unit, a TSN gateway and an automatic driving host, wherein the TSN gateway is respectively connected with the sensing unit, the execution unit and the automatic driving host;
the sensing unit at least comprises a vehicle-mounted Ethernet camera, and the vehicle-mounted Ethernet camera is connected with the TSN gateway through a first vehicle-mounted Ethernet bus, wherein the first vehicle-mounted Ethernet bus comprises an uplink transmission line and a downlink transmission line, the uplink transmission line adopts an optical fiber transmission medium, and the downlink transmission line adopts a single-pair unshielded twisted pair; the uplink optical fiber transmits image data and feedback signals, and the downlink single-pair unshielded twisted pair transmits control signals.
An automatic driving system of asymmetric transmission, further optional, the optical connection chip of the vehicle-mounted Ethernet camera links with optical fiber transmission medium, the electrical connection chip of the vehicle-mounted Ethernet camera links with single pair of unshielded twisted pair; the optical connector chip is an image data and feedback signal output interface, and the electric connector chip is a control signal input interface.
An automatic driving system with asymmetric transmission is further optional, wherein image data is sent to a TSN gateway through an uplink transmission line, and the TSN gateway is sent to an automatic driving host through an output interface;
the control signal of the vehicle-mounted Ethernet is sent to the TSN gateway through the automatic driving host, then concentrated on the T1S electrical interface chip in the TSN gateway, and sent to the electrical interface chip of the vehicle-mounted Ethernet camera through the T1S electrical interface chip in a broadcasting mode, and the vehicle-mounted Ethernet camera processes the acquired data packet according to the corresponding MAC protocol and sends the data packet to the TSN gateway through the optical connection interface chip.
The automatic driving system for asymmetric transmission further comprises a switch and a management MCU chip, wherein the management MCU chip is connected with the switch, and the management MCU chip sends a monitoring data packet to monitor the connection quality of an optical fiber transmission medium and an optical connection interface chip.
An automatic driving system with asymmetric transmission is further optional, wherein an electric connection interface chip in a vehicle-mounted Ethernet camera is based on a 10Base-T1S standard physical layer protocol, and an optical connection interface chip is based on 1000Base-T1 and is downward compatible with a 100Base-T1 standard physical layer protocol.
The automatic driving system with asymmetric transmission further optionally comprises a TSN gateway, a power supply and a T1S electrical interface chip, wherein the positive electrode and the negative electrode of the Ethernet power supply are connected to the electrical interface chip;
and the optical connection interface chip is used for connecting an optical fiber medium connected with the optical connection interface chip of the vehicle-mounted Ethernet camera.
An asymmetric transmission autopilot system, further optionally, the on-board ethernet camera comprising: the image sensor is connected with the Ethernet data conversion chip through an MIPI interface, an I2C interface and/or a GPIO interface; the Ethernet data conversion chip is respectively connected to the optical connection interface chip and the electric connection interface chip.
The power supply of the vehicle-mounted Ethernet camera comes from a single-pair unshielded twisted pair in an electric connection interface chip, and the positive electrode and the negative electrode of the power supply wiring of the vehicle-mounted Ethernet camera are respectively connected with the single-pair unshielded twisted pair.
An automatic driving system with asymmetric transmission is further optional, when the number of the vehicle-mounted Ethernet cameras exceeds two or more than two, an optical connection interface chip of the vehicle-mounted Ethernet cameras is connected with one end of an optical fiber transmission medium, the other end of the optical fiber transmission medium is connected with a wavelength division multiplexer, and optical signals sent by the plurality of vehicle-mounted Ethernet cameras are converged by the wavelength division multiplexer;
the wavelength division multiplexer transmits the converged optical signals to the optical demultiplexer in the TSN gateway through an optical fiber transmission medium, and the optical demultiplexer disperses the converged light and then intervenes in the corresponding optical connection interface chip through the optical fiber transmission medium.
Optionally, the wavelengths of optical signals in a transmission optical fiber medium in signals sent by a plurality of vehicle-mounted ethernet cameras are different.
An asymmetrically transmitted autopilot system, further optionally, the sensing unit comprises: the system comprises a laser radar, a millimeter wave radar, a GPS chip and an inertial navigation chip, wherein the laser radar and the millimeter wave radar are connected to a TSN gateway through a second vehicle-mounted Ethernet bus, and non-single-pair non-shielding twisted-pair lines are adopted for uplink and downlink of a transmission medium of the second vehicle-mounted Ethernet bus;
the execution unit at least comprises: the system comprises one or more of a steering control unit, a brake control unit, an accelerator control unit and a gear control unit, wherein the execution unit is connected to the TSN gateway through a CAN bus.
Has the advantages that:
1. in the technical scheme provided by the invention, two different transmission media are respectively adopted for uplink and downlink transmission of the vehicle-mounted Ethernet camera, the uplink adopts an optical fiber as the transmission medium, and the downlink adopts a single-pair unshielded twisted pair as the transmission medium. The upstream optical fiber transmission medium transmits the image data and the feedback signal acquired by the vehicle-mounted Ethernet camera; the downlink unshielded twisted pair transmits a control signal for controlling the vehicle-mounted Ethernet camera; the downstream electric connection interface chip adopts a physical layer of a shared bus in the 10Base-T1S standard to transmit control numbers. The method can ensure that the uplink and downlink bandwidths can be sufficiently utilized, and simultaneously, the cost is reduced to the maximum extent on the premise of not influencing the use performance.
2. When a plurality of vehicle-mounted Ethernet cameras are transmitted, a wavelength division multiplexer and an optical demultiplexer are adopted for combination, light of the plurality of paths of cameras is converged together through the wavelength division multiplexer, data of the plurality of paths of cameras can be transmitted through one optical fiber wire harness, and the wire harness is saved to the greatest extent.
Drawings
The following drawings are only schematic illustrations and explanations of the present invention, and do not limit the scope of the present invention.
FIG. 1 is a schematic diagram of an asymmetric transmission autopilot system according to an embodiment of the invention.
Fig. 2 is a schematic diagram of a connection structure of a vehicle-mounted ethernet camera for asymmetric transmission of an autopilot system in an embodiment of the present invention.
Fig. 3 is a schematic diagram of a vehicular ethernet camera structure with asymmetric transmission of an autopilot system according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of an asymmetric transmission vehicle-mounted ethernet camera system with a wavelength division multiplexer and an optical demultiplexer in an autopilot system according to an embodiment of the present invention.
Detailed Description
In order to more clearly understand the technical features, objects, and effects herein, embodiments of the present invention will now be described with reference to the accompanying drawings, in which like reference numerals refer to like parts throughout. For the sake of simplicity, the drawings are schematic representations of relevant parts of the invention and are not intended to represent actual structures as products. In addition, for simplicity and clarity of understanding, only one of the components having the same structure or function is schematically illustrated or labeled in some of the drawings.
As for the control system, the functional module, application program (APP), is well known to those skilled in the art, and may take any suitable form, either hardware or software, and may be a plurality of functional modules arranged discretely, or a plurality of functional units integrated into one piece of hardware. In its simplest form, the control system may be a controller, such as a combinational logic controller, a micro-programmed controller, or the like, so long as the operations described herein are enabled. Of course, the control system may also be integrated as a different module into one physical device without departing from the basic principle and scope of the invention.
The term "connected" in the present invention may include direct connection, indirect connection, communication connection, and electrical connection, unless otherwise specified.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, values, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, values, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items
It should be understood that the term "vehicle" or "vehicular" or other similar terms as used herein generally includes motor vehicles such as passenger automobiles including Sport Utility Vehicles (SUVs), buses, trucks, various commercial vehicles, watercraft including a variety of boats, ships, aircraft, and the like, and includes hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from non-petroleum sources). As referred to herein, a hybrid vehicle is a vehicle having two or more power sources, such as both gasoline-powered and electric-powered vehicles.
Further, the controller of the present disclosure may be embodied as a non-transitory computer readable medium on a computer readable medium containing executable program instructions executed by a processor, controller, or the like. Examples of computer readable media include, but are not limited to, ROM, RAM, Compact Disc (CD) -ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer readable recording medium CAN also be distributed over network coupled computer systems so that the computer readable medium is stored and executed in a distributed fashion, such as by a telematics server or Controller Area Network (CAN).
The invention provides an automatic driving system with asymmetric transmission, which is shown in fig. 1 to 4 and specifically comprises: an asymmetrically transmitted autopilot system, comprising: the system comprises a sensing unit, an execution unit, a TSN gateway and an automatic driving host, wherein the TSN gateway is respectively connected with the sensing unit, the execution unit and the automatic driving host;
the sensing unit at least comprises a vehicle-mounted Ethernet camera, and the vehicle-mounted Ethernet camera is connected with the TSN gateway through a first vehicle-mounted Ethernet bus, wherein the first vehicle-mounted Ethernet bus comprises an uplink transmission line and a downlink transmission line, the uplink transmission line adopts an optical fiber transmission medium, and the downlink transmission line adopts a single-pair unshielded twisted pair; the uplink optical fiber transmits image data and feedback signals, and the downlink single-pair unshielded twisted pair transmits control signals.
Specifically, the sensing unit further includes: laser radar, millimeter wave radar, GPS chip and inertial navigation chip, wherein, the laser radar and the millimeter wave radar are connected with the TSN gateway through a second vehicle-mounted Ethernet bus,
because the GPS chip and the inertial navigation need less data to be transmitted, the automatic driving system adopts CAN bus transmission, namely the GPS chip and the inertial navigation chip are connected to the vehicle-mounted gateway through the CAN bus;
the laser radar mainly comprises a laser emitting device, a laser receiving device, a scanner, a lens antenna and a signal processing circuit, wherein an uplink bus and a downlink bus of the laser radar adopt the same transmission medium, for example, a single-pair unshielded twisted pair is adopted for transmission;
specifically, the automatic driving system further comprises a cloud server, the automatic driving host is connected with the cloud server in a wireless communication mode, and the wireless communication mode can be 4G/5G/satellite communication;
an optical connection chip of the vehicle-mounted Ethernet camera is connected with an optical fiber transmission medium, and an electrical connection chip of the vehicle-mounted Ethernet camera is connected with the single-pair unshielded twisted pair; the optical connector chip is an image data and feedback signal output interface, and the electric connector chip is a control signal input interface.
The image data is sent to the TSN gateway through an uplink transmission line, and the TSN gateway is sent to the automatic driving host through an output interface;
the control signal of the vehicle-mounted Ethernet is sent to the TSN gateway through the automatic driving host, then concentrated on the T1S electrical interface chip in the TSN gateway, and sent to the electrical interface chip of the vehicle-mounted Ethernet camera through the T1S electrical interface chip in a broadcasting mode, and the vehicle-mounted Ethernet camera processes the acquired data packet according to the corresponding MAC protocol and sends the data packet to the TSN gateway through the optical connection interface chip.
Specifically, the scheme adopted in this embodiment is different from the prior art, and in the prior art, both the uplink transmission line and the downlink transmission line for transmitting data are the same transmission medium. Such as: optical fibers are used as transmission media, and both downlink and uplink use optical fibers as transmission media. By using the unshielded twisted pair as the transmission medium, both downlink and uplink use the unshielded twisted pair as the transmission medium. Based on the existing research, the applicant finds that in an intelligent driving and vehicle-mounted all-around system, the obtained video data mainly occupies a large bandwidth, and the video data is transmitted by utilizing uplink. The downlink is used for transmitting control signals for the vehicle-mounted camera, and the information quantity is used very little. Therefore, in this embodiment, for the vehicle-mounted ethernet camera, if the same transmission medium is used for the uplink and downlink, the bandwidth of the downlink is definitely wasted, and especially in the process of using the optical fiber as the transmission medium, the cost of the optical fiber is determined by the fiber core. In order to reduce the cost of the wiring harness and avoid waste of bandwidth, the applicant improves the cost, specifically:
the method comprises the following steps that two different transmission media are respectively adopted for uplink transmission and downlink transmission at the connection terminal of a vehicle-mounted Ethernet camera and a TSN gateway;
the uplink adopts optical fiber as transmission medium, and the downlink adopts a single-pair unshielded twisted pair as transmission medium;
the uplink optical fiber transmission medium transmits the image data and the feedback signal acquired by the vehicle-mounted Ethernet camera;
the downlink unshielded twisted pair transmits a control signal for controlling the vehicle-mounted Ethernet camera;
the downstream electric connection interface chip adopts a physical layer of a shared bus in the 10Base-T1S standard to transmit control signals.
The vehicle-mounted Ethernet camera comprises an electrical interface chip based on a 10Base-T1S standard physical layer protocol, and an optical interface chip based on a 1000Base-T1 standard physical layer protocol which is downward compatible with 100 Base-T1.
Specifically, since the conventional PHY layer structure is changed in this implementation, there is no relevant feedback signal in the interface connection between the optical fiber transmission medium and the optical fiber connection chip, and if the connection quality is poor, data loss may result. Therefore, this implementation is handled by providing an MCU chip. Specifically, the method comprises the following steps:
the TSN gateway is provided with a switch and a management MCU chip, the management MCU chip is connected with the switch, and the management MCU chip sends a monitoring data packet to monitor the connection quality of the optical fiber transmission medium and the optical connection interface chip.
MCU produces the control data package, and the data package is through the switch after, sends on-vehicle ethernet camera through the electricity interface chip, and behind the data package that on-vehicle ethernet camera received, sends feedback signal through the optical connection interface chip, MCU judges optic fibre and optical connection interface chip whether trouble according to feedback signal.
As shown in fig. 3, the vehicle-mounted ethernet camera is provided with: the image sensor comprises an image sensor and a video transmission interface circuit, wherein the video transmission interface circuit comprises an Ethernet data conversion chip, an optical connection interface chip (Fiber Tx) and an electric connection interface chip (T1S Rx). The image sensor is connected with the Ethernet data conversion chip through the MIPI interface, the I2C and/or the GPIO interface.
The Ethernet data conversion chip is respectively connected to the optical connection interface chip and the electric connection interface chip
Image data adopted by the camera is directly transmitted to an optical connection chip in the TSN gateway through an optical fiber transmission interface chip to be subjected to photoelectric conversion, and then is input to a switch in the TSN gateway to be subjected to data unpacking.
The electric connection interfaces of the three vehicle-mounted Ethernet cameras are respectively T1S1 Rx, T1S2 Rx and T1S3 Rx, and the optical connection interfaces are respectively: fiber1 Tx, Fiber2 Tx, Fiber3 Tx.
Correspondingly, in the TSN gateway, there are three corresponding optical connection interfaces for receiving image data sent by the vehicle-mounted ethernet camera, and the corresponding optical connection interfaces are respectively: fiber1 Rx, Fiber2 Rx, Fiber3 Rx.
However, in the present embodiment, only one T1S Tx is provided corresponding to the electrical connection interface, so that the data transmission end of the electrical connection interface of the TSN adopts the 10Base-T1S standard of the shared bus, and control signals of different paths can be distinguished, and data transmission can be performed by a full-network broadcast method.
The power supply of the vehicle-mounted Ethernet camera comes from a single-pair unshielded twisted pair in the electric connection interface chip, and the positive electrode and the negative electrode of the power supply wiring of the vehicle-mounted Ethernet camera are respectively connected with the single-pair unshielded twisted pair.
As shown in fig. 4, when the number of the vehicle-mounted ethernet cameras exceeds two or more, the optical connection interface of the vehicle-mounted ethernet camera is connected to one end of the optical fiber transmission medium, and the other end of the optical fiber transmission medium is connected to the wavelength division multiplexer, and the optical signals sent by the plurality of vehicle-mounted ethernet cameras are converged by the wavelength division multiplexer;
the wavelength division multiplexer transmits the converged optical signals to the optical demultiplexer in the TSN gateway through an optical fiber transmission medium, and the optical demultiplexer disperses the converged light and then intervenes in a corresponding optical connection interface chip through the optical fiber transmission medium.
The wavelengths of optical signals in the transmission optical fiber medium in the signals sent by the plurality of vehicle-mounted Ethernet cameras are different.
The management MCU chip is connected with the switch and used for sending a data packet to monitor whether the transmission of the optical fiber signal in the vehicle-mounted Ethernet camera is normal or not;
what has been described above is only a preferred embodiment of the present invention, and the present invention is not limited to the above examples. It is clear to those skilled in the art that the form in this embodiment is not limited thereto, and the adjustable manner is not limited thereto. It is to be understood that other modifications and variations, which may be directly derived or suggested to one skilled in the art without departing from the basic concept of the invention, are to be considered as included within the scope of the invention.
Claims (11)
1. An asymmetrically transmitted autopilot system, comprising: the system comprises a sensing unit, an execution unit, a TSN gateway and an automatic driving host, wherein the TSN gateway is respectively connected with the sensing unit, the execution unit and the automatic driving host;
the sensing unit at least comprises a vehicle-mounted Ethernet camera, and the vehicle-mounted Ethernet camera is connected with the TSN gateway through a first vehicle-mounted Ethernet bus, wherein the first vehicle-mounted Ethernet bus comprises an uplink transmission line and a downlink transmission line, the uplink transmission line adopts an optical fiber transmission medium, and the downlink transmission line adopts a single-pair unshielded twisted pair; the uplink transmission line transmits image data and a feedback signal, and the downlink transmission line transmits a control signal.
2. The asymmetric transmission autopilot system of claim 1 wherein the optical connection interface chip of the vehicle ethernet camera is connected to the optical fiber transmission medium and the electrical connection interface chip of the vehicle ethernet camera is connected to the single unshielded twisted pair; the optical connection interface chip is an image data and feedback signal output interface, and the electric connection interface chip is a control signal input interface.
3. The automatic driving system with asymmetric transmission according to claim 1, wherein the image data is sent to the TSN gateway through an uplink transmission line, and the TSN gateway sends the image data to the automatic driving host through the output interface for data processing;
control signals of the vehicle-mounted Ethernet camera are sent to the TSN gateway through the automatic driving host, then are concentrated on the T1S electrical interface chip in the TSN gateway, are sent to the electrical connection interface chip of the vehicle-mounted Ethernet camera through the T1S electrical interface chip in a broadcasting mode, process collected data packets according to corresponding MAC protocols through the vehicle-mounted Ethernet camera, and are sent to the TSN gateway through the optical connection interface chip.
4. The automatic driving system for asymmetric transmission according to claim 1, wherein the TSN gateway has a switch and a management MCU chip, the management MCU chip is connected to the switch, and the management MCU chip sends a monitoring data packet to monitor the connection quality between the optical fiber transmission medium and the optical connection interface chip.
5. The automatic driving system with asymmetric transmission as claimed in claim 2, wherein the electrical connection interface chip in the vehicle-mounted ethernet camera is based on 10Base-T1S standard physical layer protocol, and the optical connection interface chip is based on 1000Base-T1 and is downward compatible with 100Base-T1 standard physical layer protocol.
6. The automatic driving system for asymmetric transmission according to claim 1, wherein the TSN gateway includes a switch, an ethernet power supply, a T1S electrical interface chip, and an optical interface chip, wherein the positive and negative poles of the ethernet power supply are connected to the T1S electrical interface chip;
and the optical connection interface chip is used for connecting an optical fiber medium connected with the optical connection interface chip of the vehicle-mounted Ethernet camera.
7. The asymmetric-transmission autopilot system of claim 1 wherein the onboard ethernet camera comprises: the image sensor is connected with the Ethernet data conversion chip through an MIPI interface, an I2C interface and/or a GPIO interface; the Ethernet data conversion chip is respectively connected to the optical connection interface chip and the electric connection interface chip.
8. The asymmetric transmission autopilot system of claim 7 wherein the power supply for the vehicle-mounted ethernet camera is from a single unshielded twisted pair in the electrical connection interface chip, and the positive and negative poles of the power connection for the vehicle-mounted ethernet camera are respectively connected to the single unshielded twisted pair.
9. The automatic driving system of claim 1, wherein when the number of the vehicle-mounted ethernet cameras exceeds two or more, the optical connection interface chip of the vehicle-mounted ethernet camera is connected to one end of the optical fiber transmission medium, and the other end of the optical fiber transmission medium is connected to the wavelength division multiplexer, so as to converge the optical signals sent by the plurality of vehicle-mounted ethernet cameras through the wavelength division multiplexer;
the wavelength division multiplexer transmits the converged optical signals to the optical demultiplexer in the TSN gateway through an optical fiber transmission medium, and the optical demultiplexer disperses the converged light and then intervenes in a corresponding optical connection interface chip through the optical fiber transmission medium.
10. The asymmetric transmission autopilot system of claim 9 wherein the plurality of on-board ethernet cameras transmit signals having different wavelengths of optical signals in the optical fiber transmission medium.
11. An asymmetrically delivered autopilot system as claimed in claim 1, characterized in that the sensing unit comprises: the system comprises a laser radar, a millimeter wave radar, a GPS chip and an inertial navigation chip, wherein the laser radar and the millimeter wave radar are connected to a TSN gateway through a second vehicle-mounted Ethernet bus, and non-single-pair non-shielding twisted-pair lines are adopted for uplink and downlink of a transmission medium of the second vehicle-mounted Ethernet bus;
the execution unit at least comprises: the system comprises one or more of a steering control unit, a brake control unit, an accelerator control unit and a gear control unit, wherein the execution unit is connected to the TSN gateway through a CAN bus.
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