CN114840335A - Intelligent gateway controller in automatic driving field and multi-core division strategy thereof - Google Patents
Intelligent gateway controller in automatic driving field and multi-core division strategy thereof Download PDFInfo
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Abstract
The invention relates to an intelligent gateway controller in the field of automatic driving, which comprises a single chip microcomputer with a multiprocessor core, a GPS module, an RTC module, a network interface module, a CAN module and a data recording module, wherein the GPS module and the RTC module are matched with a timer in the single chip microcomputer to maintain UTC time, the network interface module is used for communicating with an automatic driving system, the CAN module is used for communicating with a chassis, and the data recording module is used for recording data. Meanwhile, a multi-core division strategy of the intelligent gateway controller in the field of automatic driving is provided. The multi-core intelligent gateway controller based on Aurix TC397 divides programs executed by different cores according to functions, and functional modules communicate in a memory sharing mode.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an intelligent gateway controller in the automatic driving field and a multi-core division strategy thereof.
Background
At present, the communication link mode between the automatic driving system and the vehicle chassis is mainly data forwarding through a customized and developed gateway controller. And the controller packages and forwards the Ethernet data packet of the automatic driving system and the chassis CAN bus data according to a specific protocol. In addition, certain intelligent decision-making capability is added to the controller. Some abnormal states of the chassis can be dealt with. However, all decision-making and forwarding functions are concentrated on one control kernel, the function division is not clear, and logic holes easily exist in the program writing process. In addition, the data recording capacity is not available as the only data link between the automatic driving system and the vehicle chassis, which brings difficulty to the later problem analysis.
The main defects are as follows: 1, all data forwarding functions and safety logic functions are realized on a single kernel, and the logic functions are disordered; 2-the data recording capability is not available, and data support cannot be provided for later problem analysis.
Disclosure of Invention
The invention aims to provide a multi-core logic function division mode based on an Aurix singlechip, different logic functions are distributed to different cores to be executed, inter-core communication carries out data interaction in a memory sharing mode, and meanwhile, a recording mode of original data is provided, and data on a vehicle CAN bus and an original control command received from an automatic driving system are recorded based on a UTC time axis and are stored in a TF card.
In order to achieve the above object, the present invention provides a technical solution,
the intelligent gateway controller in the field of automatic driving is characterized by comprising a single chip microcomputer with a multiprocessor core, a GPS module, an RTC module, a network interface module, a CAN module and a data recording module, wherein the GPS module and the RTC module are matched with a timer in the single chip microcomputer to maintain UTC time, the network interface module is used for communicating with an automatic driving system, the CAN module is used for communicating with a chassis, and the data recording module is used for recording data.
The invention further provides that the single chip microcomputer is Aurix TC397 with 6 processor cores, and the data recording module is a TF card.
The invention also provides an intelligent gateway controller multi-core division strategy in the field of automatic driving, which comprises a single chip microcomputer with a plurality of processor cores, a GPS module, an RTC module, a network interface module, a CAN module and a data recording module, wherein the GPS module and the RTC module are matched with a timer in the single chip microcomputer to maintain UTC time, the network interface module is used for communicating with an automatic driving system, the CAN module is used for communicating with a chassis, the data recording module is used for recording data, and the single chip microcomputer at least has 6 independent processor cores and processes different object logics according to different functions.
The Aurix TC397 is further provided with 6 independent processor cores CPU0, CUP1, CUP2, CUP3, CUP4 and CUP5, wherein the CPU0 is controlled with a FreeRTOS real-time operating system which is transplanted with an LWIP light-weight TCP/IP protocol stack and is used for processing the interaction of network data packets with an automatic driving system; the CPU1 processes the receiving and sending interruption of CAN bus data and is used for providing a data source for data recording of other subsequent kernels, and the CPU2 transplants a set of FATFS file system for processing data recording; the CPU3 is used for maintaining a set of UTC time-based time system; the CPU4 acts as a secure redundant core on which global state quantities in the entire suite of programs running in the TC397 are monitored.
The invention further sets that the state quantity comprises whether the current communication between the TC397 and the chassis is normal or not, whether the current communication between the TC397 and the automatic driving system is normal or not, whether a steering module, a power module and a braking module of the current chassis are in normal working states or not, whether an instruction value sent by the current automatic driving system is valid data or not, and all abnormal states can be coded into a group of error codes; when different errors occur, the CPU4 carries out classification processing according to the error codes, executes different safety operations of audible and visual alarm, slow braking or emergency braking, and simultaneously records the error codes as alarm data into the TF card through the CPU 2.
The invention further provides that two tasks related to the new network ports on the FreeRTOS system are respectively used for sending and receiving network data, in the task of receiving the network data, in addition to the normal analysis of control command data for filling the CAN data packet, the control command data CAN be sent into a buffer1 based on a producer consumer model, the buffer1 follows the principle of first-in first-out, when the data is received, a group of data to be processed is produced and stored in the buffer1, when the CPU2 stores the header data of the buffer1 to the TF card, a group of control command data is consumed, then the data is popped out by the buffer1, each group of control command data comprises the original control command data and the system time, the system time is called from the UTC time maintained by the CPU3 core, and in addition, the new timed task in the FreeRTOS is used for processing the sending of CAN bus data, so that the real-time of communication with the chassis is guaranteed.
The invention further provides that the CPU1 internally maintains a buffer2 based on a producer-consumer model, the buffer2 follows the principle of first-in first-out, when an interrupt occurs, a group of CAN data is generated and stored in the buffer2, when other CPUs 2 store the CAN data to the TF card, a group of CAN data is consumed, then the data is popped up by the buffer2, each group of CAN data comprises an original CAN id part, a CAN data part and system time, and the system time is called from the UTC time maintained by the CPU3 core.
The present invention further provides wherein the recording of data includes recording of control command data, CAN data and false alarm data, wherein the CPU2 acts as a consumer to consume data in buffer1 and buffer2 containing control command data and CAN data, the false alarm data being a redundant safety alarm data that is recorded immediately upon occurrence.
The invention further provides that in order to ensure the real-time performance of the data, when the storage space is insufficient, the old data in the TF card can be covered by the new data, so that the recording of the cycle data is realized.
The invention further sets that under normal conditions, the internal of the TC397 is initial UTC time which is provided by the RTC, more accurate time in seconds is provided by a TIM3 timing module of the CPU3, when an external GPS module receives stable GPRMC information and a PPS signal, the CPU3 analyzes the UTC time in seconds from the GPRMC and aligns the time in seconds through the PPS signal, when the UTC time acquired from the GPS module runs stably, the system time of the whole TC397 is based on the time, and meanwhile, the CPU3 operates the RTC hardware time to align the UTC time based on the GPS module.
The invention has the beneficial effects that: the multi-core intelligent gateway controller based on Aurix TC397 divides programs executed by different cores according to functions, and functional modules communicate in a memory sharing mode. The multi-core intelligent gateway controller adds the function of recording original data while processing basic data interactive communication and safety redundancy logic. This can carry out data reproduction to some problem points in the autopilot process, the later stage problem analysis of being convenient for. Meanwhile, a data recording mode in the automatic driving process is created, and data sent by an automatic driving system and vehicle chassis bus data are recorded under the same time axis.
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The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a functional diagram of a peripheral module of a controller according to an embodiment of the present invention
FIG. 2 is a functional block diagram of multi-core logic according to an embodiment of the present invention.
Detailed Description
Embodiments of the present application will be described in detail with reference to the drawings and examples, so that how to implement technical means to solve technical problems and achieve technical effects of the present application can be fully understood and implemented.
As shown in fig. 1, an intelligent gateway controller in the field of automatic driving includes a single chip microcomputer having a multiprocessor core, a GPS module, an RTC module, a portal module, a CAN module, and a data recording module, wherein the GPS module and the RTC module are used to maintain UTC time in cooperation with a timer inside the single chip microcomputer, the portal module is used to communicate with an automatic driving system, the CAN module is used to communicate with a chassis, the data recording module is used to record data, the single chip microcomputer is an Aurix TC397 having 6 processor cores, and the data recording module is a TF card.
Specific examples will now be further described:
the invention is based on Aurix TC397 singlechip, builds peripheral circuit, designs an intelligent gateway controller with data recording function in the automatic driving field. The whole controller peripheral function module division is shown in fig. 1. The system mainly comprises a 6-processor core single chip microcomputer Aurix TC397, a GPS module, an RTC module, a network interface module, a CAN module and a TF card. The GPS module and the RTC module are matched with a timer in the TC397 to maintain UTC time, the network port module is used for communicating with an automatic driving system, the CAN module is used for communicating with a chassis, and the TF card is used for data recording. Different cores are allocated for data processing according to logic functions inside the TC 397. The main logic functions include data interaction between an automatic driving system and a vehicle chassis, UTC time analysis and maintenance, safety guiding logic function and data recording function.
Aurix TC397 has 6 independent processor cores CPU0 through CUP 5. Different business logic is handled on each CPU according to different functional divisions.
The CPU0 runs the FreeRTOS real-time operating system. The system transplants an LWIP lightweight TCP/IP protocol stack for processing the interaction of network data packets with the automatic driving system. Two tasks related to the network ports are newly established on the FreeRTOS system and are respectively used for sending and receiving network data. In the task of receiving network data, in addition to normally parsing control command data for filling CAN packets, the control command data is also sent to a buffer1 based on the producer-consumer model. The buffer1 follows the first-in-first-out principle. When data is received, a set of data to be processed is produced and stored in buffer 1. When the CPU2 stores the buffer1 header data to the TF card, a set of control command data is consumed, and then this data is popped up by the buffer 1. Each set of control command data includes raw control command data and a system time. The system time is called from the UTC time maintained by the CPU3 core. In addition, a timing task is newly established in the FreeRTOS for processing CAN bus data transmission, and the real-time performance of communication with the chassis is guaranteed.
The CPU1 mainly handles transmission and reception interruption of CAN bus data. The CPU is mainly used for providing a data source for data recording of other cores in the future. The CPU internally maintains a buffer2 based on the producer-consumer model. The buffer2 follows the first-in-first-out principle. When an interrupt occurs, a set of CAN data is generated and stored in buffer 2. When the other CPU2 stores CAN data to the TF card, a set of CAN data is consumed and then this data is popped up by buffer 2. Each set of CAN data includes an original CAN id portion, a CAN data portion and a system time. The system time is called from UTC time maintained by the CPU3 core.
The CPU2 has migrated a suite of FATFS file systems. For handling data logging problems. There are three types of data to be recorded, control command data, CAN data and error alarm data. Wherein the CPU2 acts as a consumer to consume data in buffers 1 and 2 containing control command data and CAN data, and false alarm data is a redundant safety alarm data that is immediately recorded when it occurs. In order to ensure the real-time performance of the data, when the storage space is insufficient, the old data in the TF card can be covered by the new data, so that the cyclic data recording is realized.
CPU3 maintains a set of UTC time-based time systems. Normally, the initial UTC time is provided internally to TC397 by the RTC, and the more accurate time in seconds is provided by the TIM3 timing module of CPU 3. The timer may provide time for use with an accuracy of the order of 10 ns. When the external GPS module receives the stable GPRMC information and PPS signal, the CPU3 parses the UTC time at the second level from the GPRMC, and performs time alignment within seconds through the PPS signal. When the UTC time obtained from the GPS module is running stably, then the system time of the entire TC397 thereafter is subject to the same, and the CPU3 operates the RTC hardware time to align to the GPS module-based UTC time.
The CPU4 acts as a secure redundant core on which some global state quantities in the whole suite of programs running in TC397 are monitored. The state quantities include whether the current communication between the TC397 and the chassis is normal, whether the current communication between the TC397 and the automatic driving system is normal, whether modules of steering, power, braking and the like of the chassis are in normal working states, whether command values issued by the automatic driving system are valid data and the like. All of these abnormal states are encoded as a set of error codes. When different errors occur, the CPU4 can carry out classification processing according to the error codes and execute different safety operations such as audible and visual alarm, slow braking or emergency braking and the like. And these error codes are recorded as alarm data by the CPU2 into the TF card.
The multi-core intelligent gateway controller based on Aurix TC397 divides programs executed by different cores according to functions, and functional modules communicate in a memory sharing mode.
The multi-core intelligent gateway controller adds the function of recording original data while processing basic data interactive communication and safety redundancy logic. This can carry out data reproduction to some problem points in the autopilot process, the later stage problem analysis of being convenient for.
As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.
It is noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
The foregoing description shows and describes several preferred embodiments of the invention, but as aforementioned, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The intelligent gateway controller in the field of automatic driving is characterized by comprising a single chip microcomputer with a multiprocessor core, a GPS module, an RTC module, a network interface module, a CAN module and a data recording module, wherein the GPS module and the RTC module are matched with a timer in the single chip microcomputer to maintain UTC time, the network interface module is used for communicating with an automatic driving system, the CAN module is used for communicating with a chassis, and the data recording module is used for recording data.
2. The intelligent gateway controller in the field of automatic driving as claimed in claim 1, wherein the single chip microcomputer is an Aurix TC397 having 6 processor cores, and the data recording module is a TF card.
3. The utility model provides an intelligent gateway controller multicore of autopilot field divides tactics multicore and divides strategy, its characterized in that includes singlechip, GPS module, RTC module, net gape module, CAN module and data record module that have the multiprocessor kernel, wherein GPS module and RTC module cooperate the inside timer of singlechip to be used for maintaining UTC time, net gape module is used for communicating with the autopilot system, CAN module is used for communicating with the chassis, data record module is used for data record, wherein the singlechip has 6 independent treater kernels at least, according to different function processing different things logic.
4. The multi-core partition strategy of the intelligent network controller in the automatic driving field according to claim 3, wherein the Aurix TC397 has 6 independent processor cores CPU0, CUP1, CUP2, CUP3, CUP4 and CUP5, the CPU0 is controlled with a FreeRTOS real-time operating system which transplants the LWIP lightweight TCP/IP protocol stack for processing the interaction of network data packets with the automatic driving system; the CPU1 processes the receiving and sending interruption of CAN bus data and is used for providing a data source for data recording of other subsequent kernels, and the CPU2 transplants a set of FATFS file system for processing data recording; the CPU3 is used for maintaining a set of UTC time-based time system; the CPU4 acts as a secure redundant core on which global state quantities in the entire suite of programs running in the TC397 are monitored.
5. The multi-core partition strategy of the intelligent gateway controller in the field of automatic driving as claimed in claim 4, wherein the state quantities include whether the current communication between the TC397 and the chassis is normal, whether the current communication between the TC397 and the automatic driving system is normal, whether the steering, power and braking modules of the chassis are in normal working states, whether the command values issued by the automatic driving system are valid data, and all abnormal states are encoded as a set of error codes; when different errors occur, the CPU4 carries out classification processing according to the error codes, executes different safety operations of audible and visual alarm, slow braking or emergency braking, and simultaneously records the error codes as alarm data into the TF card through the CPU 2.
6. The multi-core partition strategy of an intelligent gateway controller in the field of automatic driving as claimed in claim 5, wherein two gateway related tasks are newly created on the FreeRTOS system for the transmission and reception of network data, respectively, and in the task of receiving network data, in addition to normal parsing of control command data for filling CAN packets, the control command data is sent to a buffer1 based on a producer-consumer model, the buffer1 follows the first-in first-out principle, when data is received, a set of data to be processed is produced and stored in the buffer1, when the CPU2 stores the header data of the buffer1 in the TF card, a set of control command data is consumed and then popped up by the buffer1, each set of data of control command data includes original control command data and system time, the system time is called from UTC time maintained by the CPU3 core, and in addition, a new timing task is created in the FreeRTOS for processing CAN bus data transmission, the real-time performance of communication with the chassis is guaranteed.
7. The multi-core partition strategy of intelligent gateway controller in the field of automatic driving as claimed in claim 6, wherein the CPU1 internally maintains a buffer2 based on the producer-consumer model, the buffer2 follows the principle of first-in-first-out, when an interrupt occurs, a set of CAN data is generated and stored in the buffer2, when other CPU2 stores CAN data to TF card, a set of CAN data is consumed, and then the data is popped up by the buffer2, each set of CAN data includes the original CAN id part, CAN data part and system time, and the system time is called from the UTC time maintained by the CPU3 core.
8. The multi-core partition strategy of an intelligent gateway controller in the field of automatic driving as claimed in claim 7, wherein the data recording comprises recording of control command data, CAN data and false alarm data, wherein the CPU2 acts as a consumer to consume the data in the buffer1 and the buffer2 containing the control command data and the CAN data, and the false alarm data is a redundant safety alarm data and is recorded immediately when it occurs.
9. The multi-core partition strategy of an intelligent gateway controller in the field of automatic driving as claimed in claim 8, wherein to ensure real-time data, when the storage space is insufficient, the old data in the TF card is overwritten by the new data, thereby implementing cyclic data recording.
10. The multi-core partition strategy of an intelligent gateway controller in the field of automatic driving as claimed in claim 9, wherein under normal conditions, the TC397 is internally the initial UTC time provided by the RTC, the more accurate time in seconds is provided by the TIM3 timing module of the CPU3, when the external GPS module receives the stable gprs mc information and PPS signal, the CPU3 parses the UTC time in seconds from the gprs mc and aligns the time in seconds through the PPS signal, and when the UTC time obtained from the GPS module runs stably, the system time of the entire TC397 is defined as follows, and the CPU3 operates the RTC hardware time to align the UTC time based on the GPS module.
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