CN114966618A - DANIELLIN type automobile laser radar system using MIPI and HSSL communication interface - Google Patents
DANIELLIN type automobile laser radar system using MIPI and HSSL communication interface Download PDFInfo
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- CN114966618A CN114966618A CN202210778325.7A CN202210778325A CN114966618A CN 114966618 A CN114966618 A CN 114966618A CN 202210778325 A CN202210778325 A CN 202210778325A CN 114966618 A CN114966618 A CN 114966618A
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- 238000004891 communication Methods 0.000 title claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 238000006243 chemical reaction Methods 0.000 claims abstract description 10
- 230000015654 memory Effects 0.000 claims description 17
- 239000013078 crystal Substances 0.000 claims description 12
- 230000003287 optical effect Effects 0.000 claims description 11
- 230000006870 function Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 238000000691 measurement method Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 5
- 230000004913 activation Effects 0.000 claims description 3
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- 238000005070 sampling Methods 0.000 abstract description 3
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- 238000010586 diagram Methods 0.000 description 15
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The invention relates to the field of automobile laser radars, in particular to an DANIELLIN type automobile laser radar system using MIPI and HSSL communication interfaces, which comprises a control module: initializing parameters by the FPGA, and performing device initialization control; a data transmission module: the sensor receives photons and converts the photons into point cloud data, and the point cloud data is output to the FPGA through the MIPI; the data conversion module: the FPGA converts the point cloud data into an HSSL interface by adding CRC check; a data output module: the MCU converts the point cloud data into a vehicle-mounted Ethernet protocol and outputs the vehicle-mounted Ethernet protocol to the Transceiver. The invention adopts the MIPI interface and the HSSL interface, and the two high-speed communications have more excellent transmission effect than the prior separated element sampling mode, higher digital transmission reliability and lower error rate. The DANIELLIN type laser radar system is added with CRC16 verification at the same time, and the correctness of data in the transmission process can be ensured. The DANIELLIN type laser radar system adopts AURIX MCU to use vehicle-mounted Ethernet protocol, which can meet the requirement of time sensitive network in the application of automobile.
Description
Technical Field
The invention relates to the field of automobile laser radars, in particular to an DANIELLIN type automobile laser radar system using MIPI and HSSL communication interfaces.
Background
Early lidar was used mainly in military and civil geographic mapping (GIS) and other fields, such as geological mapping, monitoring tree growth, measuring building project progress, and the like. With the rise of automatic driving, the requirement for environment perception is becoming more and more strict, and in an automatic driving architecture, a sensing layer is compared with the eyes of an automobile, and comprises a vision system sensor such as a vehicle-mounted camera and a radar system sensor such as a vehicle-mounted millimeter wave radar, a vehicle-mounted laser radar and a vehicle-mounted ultrasonic radar, wherein the laser radar is widely considered as a necessary sensor for realizing automatic driving. Compared with other types of automatic driving sensors, such as a camera, the laser radar has the advantages of longer detection distance and higher accuracy. However, the existing receiving sensor uses a separation element and has larger volume; the interfaces of the receiving sensor part are not integrated for communication, and the development is difficult.
Disclosure of Invention
The object of the present invention is to solve the above mentioned drawbacks of the background art by proposing a DANIELLIN type automotive lidar system using MIPI and HSSL communication interfaces.
The technical scheme adopted by the invention is as follows:
an DANIELLIN-type automotive lidar system using a MIPI and HSSL communication interface is provided, comprising:
a control module: initializing parameters, and performing device initialization control;
a data transmission module: the sensor receives photons and converts the photons into point cloud data, and the point cloud data is output to the FPGA through the MIPI;
the data conversion module: the FPGA converts the point cloud data into an HSSL interface by adding CRC check;
a data output module: the MCU converts the point cloud data into a vehicle-mounted Ethernet protocol and outputs the vehicle-mounted Ethernet protocol to the Transceiver.
As a preferred technical scheme of the invention: the control module includes:
a measurement module: initializing parameters, and setting the MIRROR angle of the optical lens;
a sensor start module: initializing parameters and starting the SPADS sensor;
the laser emission module: initializing parameters and emitting laser by using a laser emitter VCSEL.
As a preferred technical scheme of the invention: in the measuring module, the FPGA is used for controlling the optical mirror surface to switch the position to be measured.
As a preferred technical scheme of the invention: in the sensor starting module, a SPADS is started to receive laser reflection photons.
As a preferred technical scheme of the invention: in the laser emission module, the FPGA is used for controlling the laser tube to emit vertical laser light.
As a preferred technical scheme of the invention: the method for receiving photons by the sensor in the data transmission module adopts a time-of-flight measurement method, in the time-of-flight measurement method, the laser radar transmits a detection signal to a target, the received signal reflected from the target is compared with the transmitted signal in time, the laser radar obtains distance information of the target after calculation processing, and a cloud point map of the target is obtained by changing an optical angle.
As a preferred technical scheme of the invention: in the flight time measuring method, a laser pulse sent by a laser radar starts to time, and is recorded as t 1 When the laser light returns when meeting the target object light, the receiving end stops timing and is marked as t 2 According to the formula:
distance is equal to light speed x (t) 2 -t 1 )/2
Distance information of the target is obtained.
As a preferred technical scheme of the invention: the laser radar is DANIELLIN; the laser radar ranging mode is pulse ranging; the laser wave band of the detection signal emitted by the laser radar is 905 nm; the laser level of the laser radar is I level, and the laser channel is 192 channels.
As a preferred technical scheme of the invention: in the control module, the QSPI module is connected with the power switch module through an FPGA 3V3_100 port to realize the SPI communication function; the first memory module, the second memory module and the third memory module are respectively connected with the power supply module B through the ports of FPGA _1V5, and the fourth memory module is connected with the power supply switch module through the ports of FPGA _3V3_100 and used for adding memories; the JTAG interface is connected with the power switch module through an FPGA _3V3_101 port and is used for calling the FPGA; the first crystal oscillator module is connected with the power switch module through an FPGA _3V3_101 port and an FPGA _3V3_102 port, and the second crystal oscillator module is connected with the power module C through an FPGA _ VDD2V5 port and used for providing an FPGA basic clock.
As a preferred technical scheme of the invention: in the control module, a first I/O module is connected with a power switch module through an FPGA _3V3_106 port, and a second I/O module is connected with the power switch module through an FPGA _3V3_107 port, so that an I/O communication function is realized; the HSSL module is connected with the power supply module C through a DOVDD port to realize the high-speed SPI communication function; and the third crystal oscillator module is respectively connected with the power supply module B and the power supply module C through an FPGA _ VDD1V8_ AUX port, an FPGA _ VDD1V8_ PLL port and an FPGA _1V0_ VCCSD port and is used for providing an FPGA basic clock. Compared with the prior art, the DANIELLIN type automobile laser radar system using the MIPI and HSSL communication interface has the following beneficial effects:
the invention adopts the MIPI interface and the HSSL interface, and the two high-speed communications have more excellent transmission effect than the prior separated element sampling mode, higher digital transmission reliability and lower error rate.
The DANIELLIN type laser radar system is added with CRC16 verification at the same time, and the correctness of data in the transmission process can be ensured.
The DANIELLIN type laser radar system adopts AURIX MCU to use vehicle-mounted Ethernet protocol, which can meet the requirement of time sensitive network in the application of automobile.
Drawings
FIG. 1 is a system block diagram of a preferred embodiment of the present invention;
FIG. 2 is a circuit diagram of a power switch module according to a preferred embodiment of the present invention;
FIG. 3 is a circuit diagram of a power module B according to a preferred embodiment of the present invention;
FIG. 4 is a circuit diagram of a power module C according to a preferred embodiment of the present invention;
FIG. 5 is a circuit diagram of a QSPI module of the FPGA of the preferred embodiment of the present invention;
FIG. 6 is a JTAG interface circuit of an FPGA of a preferred embodiment of the present invention;
FIG. 7 is a circuit diagram of an FPGA memory module according to the preferred embodiment of the present invention;
FIG. 8 is a circuit diagram of an FPGA crystal oscillator module according to a preferred embodiment of the present invention;
FIG. 9 is a circuit diagram of a second FPGA memory module according to the preferred embodiment of the present invention;
FIG. 10 is a second circuit diagram of the FPGA crystal oscillator module according to the preferred embodiment of the present invention;
FIG. 11 is a HSSL module circuit of the FPGA of the preferred embodiment of the present invention;
FIG. 12 is a circuit diagram of the I/O module of the FPGA of the preferred embodiment of the present invention;
FIG. 13 is a circuit diagram of the second I/O module of the FPGA of the preferred embodiment of the present invention;
FIG. 14 is a circuit diagram of a power module D of the preferred embodiment of the present invention;
FIG. 15 is a three-circuit diagram of an FPGA crystal oscillator module according to a preferred embodiment of the present invention;
FIG. 16 is a circuit diagram of the MCU network communication module according to the preferred embodiment of the present invention.
The meaning of each label in the figure is:
100. a control module; 101. a measurement module; 102. a sensor start module; 103. a laser emission module; 110. a data transmission module; 120. a data conversion module; 130. and a data output module.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and the features in the embodiments may be combined with each other, and the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. 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 invention.
Referring to fig. 1-16, a preferred embodiment of the present invention provides an DANIELLIN-type automotive lidar system using a MIPI and HSSL communication interface, including:
the control module 100: initializing parameters, and performing device initialization control;
the data transmission module 110: the sensor receives photons and converts the photons into point cloud data, and the point cloud data is output to the FPGA through the MIPI;
the data conversion module 120: the FPGA converts the point cloud data into an HSSL interface by adding CRC check;
the data output module 130: the MCU converts the point cloud data into a vehicle-mounted Ethernet protocol and outputs the vehicle-mounted Ethernet protocol to the Transceiver.
As a preferred technical scheme of the invention: the control module 100 includes:
the measurement module 101: initializing parameters and setting the MIRROR angle of the optical lens;
the sensor activation module 102: initializing parameters and starting the SPADS sensor;
the laser emission module 103: initializing parameters and emitting laser by using a laser emitter VCSEL.
In the measurement module 101, the FPGA is used to control the optical mirror to switch the position to be measured.
In the sensor activation module 102, a SPADS is activated to receive laser reflected photons.
In the laser emitting module 103, the FPGA is used to control the laser tube to emit vertical laser light.
The method for receiving photons by the sensor in the data transmission module 110 adopts a time-of-flight measurement method, in the time-of-flight measurement method, a laser radar transmits a detection signal to a target, the received signal reflected from the target is compared with the transmitted signal in time, the laser radar obtains distance information of the target after calculation processing, and a cloud point diagram of the target is obtained by changing an optical angle.
In the flight time measuring method, a laser pulse sent by a laser radar starts to time, and is recorded as t 1 When the laser light returns when meeting the target object light, the receiving end stops timing and is marked as t 2 According to the formula:
distance is equal to light speed x (t) 2 -t 1 )/2
Distance information of the target is obtained.
The laser radar is DANIELLIN; the laser radar ranging mode is pulse ranging; the laser wave band of the detection signal emitted by the laser radar is 905 nm; the laser level of the laser radar is I level, and the laser channel is 192 channels.
In the control module 100, the QSPI module is connected with the power switch module through an FPGA 3V3_100 port to realize the SPI communication function; the first memory module, the second memory module and the third memory module are respectively connected with the power supply module B through the ports of FPGA _1V5, and the fourth memory module is connected with the power supply switch module through the ports of FPGA _3V3_100 and used for adding memories; the JTAG interface is connected with the power switch module through an FPGA _3V3_101 port and is used for calling the FPGA; the first crystal oscillator module is connected with the power switch module through an FPGA _3V3_101 port and an FPGA _3V3_102 port, and the second crystal oscillator module is connected with the power module C through an FPGA _ VDD2V5 port and used for providing an FPGA basic clock.
In the control module 100, a first I/O module is connected with a power switch module through an FPGA _3V3_106 port, and a second I/O module is connected with the power switch module through an FPGA _3V3_107 port, so that an I/O communication function is realized; the HSSL module is connected with the power supply module C through a DOVDD port to realize the high-speed SPI communication function; and the third crystal oscillator module is respectively connected with the power supply module B and the power supply module C through an FPGA _ VDD1V8_ AUX port, an FPGA _ VDD1V8_ PLL port and an FPGA _1V0_ VCCSD port and is used for providing an FPGA basic clock.
In this embodiment, the parameters are initialized by the control module 100, the measuring module 101 points the angle of the optical lens to the lower right half, the sensor start module 102 starts the SPADS receiver, and the laser emitting module 103 emits a laser beam by using a VCSEL. The FPGA in the data transmission module 110 receives the data of the 96 th point in the line 1 below through the MIPI interface, and calculates the time difference to generate the laser point cloud data.
"point cloud data packet conversion step a": receiving data of 96 points, and sending the point cloud data added with CRC16 to the MCU through HSSL protocol after comparison by the data conversion module 120; in the data output module 130, the MCU converts the first row data into a network packet according to the vehicle-mounted ethernet protocol, and sends the network packet to the backend Transceiver.
Switching to the 2 nd line to the 6400 th line below in sequence, and repeating the point cloud data packet conversion step A to obtain the point cloud data of the lower half part.
The measuring module 101 is used for pointing the angle of the optical lens to the upper right half area, the sensor starting module 102 starts the SPADS receiver, and the laser emitting module 103 uses the laser emitter VCSEL to emit laser beams. The laser point cloud is received for the upper row 1 96 points.
Repeating the point cloud data packet conversion step A; sequentially switching to the 2 nd line to the 6400 th line above to obtain the point cloud data of the upper half part; repeating the point cloud data packet conversion step A.
The method comprises the steps of collecting and sending one frame of point cloud data, then continuously repeating the sampling and sending of the point cloud to obtain the point cloud data of the next frame, and the equipment presets 20 frames of point cloud data per second.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. An DANIELLIN-type automobile laser radar system using MIPI and HSSL communication interfaces, characterized in that: the method comprises the following steps:
control module (100): initializing parameters, and performing device initialization control;
data transmission module (110): the sensor receives photons and converts the photons into point cloud data, and the point cloud data is output to the FPGA through the MIPI;
data conversion module (120): the FPGA converts the point cloud data into an HSSL interface by adding CRC check;
data output module (130): the MCU converts the point cloud data into a vehicle-mounted Ethernet protocol and outputs the vehicle-mounted Ethernet protocol to the Transceiver.
2. The DANIELLIN-type automotive lidar system using a MIPI and HSSL communication interface of claim 1, wherein: the control module (100) comprises:
measurement module (101): initializing parameters and setting the MIRROR angle of the optical lens;
sensor start module (102): initializing parameters and starting the SPADS sensor;
laser emission module (103): initializing parameters and emitting laser by using a laser emitter VCSEL.
3. The DANIELLIN-type automotive lidar system using a MIPI and HSSL communication interface of claim 2, wherein: in the measuring module (101), the FPGA is used for controlling the optical mirror surface to switch the position to be measured.
4. The DANIELLIN-type automotive lidar system using a MIPI and HSSL communication interface of claim 2, wherein: in the sensor activation module (102), a SPADS is activated to receive laser reflected photons.
5. The DANIELLIN-type automotive lidar system using a MIPI and HSSL communication interface of claim 2, wherein: in the laser emission module (103), the FPGA is used for controlling the laser tube to emit vertical laser light.
6. The DANIELLIN-type automotive lidar system using a MIPI and HSSL communication interface of claim 1, wherein: the method for receiving photons by the sensor in the data transmission module (110) adopts a time-of-flight measurement method, in the time-of-flight measurement method, a laser radar transmits a detection signal to a target, the received signal reflected from the target is compared with the transmitted signal in time, the laser radar obtains distance information of the target after calculation processing, and a point cloud picture of the target is obtained by changing an optical angle.
7. The DANIELLIN-type automotive lidar system using a MIPI and HSSL communication interface of claim 6, wherein: in the flight time measuring method, a laser pulse sent by a laser radar starts to time, and is recorded as t 1 When the laser light returns when meeting the target object light, the receiving end stops timing and is marked as t 2 According to the formula:
distance is equal to light speed x (t) 2 -t 1 )/2
Distance information of the target is obtained.
8. The DANIELLIN-type automotive lidar system using a MIPI and HSSL communication interface of claim 7, wherein: the laser radar is DANIELLIN; the laser radar ranging mode is pulse ranging; the laser wave band of the detection signal emitted by the laser radar is 905 nm; the laser level of the laser radar is I level, and the laser channel is 192 channels.
9. The DANIELLIN-type automotive lidar system using MIPI and HSSL communication interfaces of claim 1, wherein: in the control module (100), the QSPI module is connected with the power switch module through an FPGA 3V3_100 port to realize the SPI communication function; the first memory module, the second memory module and the third memory module are respectively connected with the power supply module B through the ports of FPGA _1V5, and the fourth memory module is connected with the power supply switch module through the ports of FPGA _3V3_100 and used for adding memories; the JTAG interface is connected with the power switch module through an FPGA _3V3_101 port and is used for calling the FPGA; the first crystal oscillator module is connected with the power switch module through an FPGA _3V3_101 port and an FPGA _3V3_102 port, and the second crystal oscillator module is connected with the power module C through an FPGA _ VDD2V5 port and used for providing an FPGA basic clock.
10. The DANIELLIN-type automotive lidar system using MIPI and HSSL communication interfaces of claim 1, wherein: in the control module (100), a first I/O module is connected with a power switch module through an FPGA _3V3_106 port, and a second I/O module is connected with the power switch module through an FPGA _3V3_107 port, so that an I/O communication function is realized; the HSSL module is connected with the power supply module C through a DOVDD port to realize the high-speed SPI communication function; and the third crystal oscillator module is respectively connected with the power supply module B and the power supply module C through an FPGA _ VDD1V8_ AUX port, an FPGA _ VDD1V8_ PLL port and an FPGA _1V0_ VCCSD port and is used for providing an FPGA basic clock.
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Cited By (1)
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| TWI852617B (en) | 2023-05-22 | 2024-08-11 | 威健實業股份有限公司 | A vertical laser driving circuit for adjusting voltage to control multi-channel switching switches |
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