CN115052023A - Advanced driver assistance system data transmission method and device - Google Patents
Advanced driver assistance system data transmission method and device Download PDFInfo
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- CN115052023A CN115052023A CN202210971511.2A CN202210971511A CN115052023A CN 115052023 A CN115052023 A CN 115052023A CN 202210971511 A CN202210971511 A CN 202210971511A CN 115052023 A CN115052023 A CN 115052023A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- 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]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/08—Protocols for interworking; Protocol conversion
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- 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]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- 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]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
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Abstract
The invention provides a data transmission method and a data transmission device for an advanced driver assistance system, wherein the method comprises the following steps: the device receives environment signals such as sensing data, chassis domain control signals, NTP time signals and the like of a sensor of the high-level assistant driving system, converts CAN signals and Ethernet signals through CAN-to-Ethernet equipment after signal coding, and transmits the environment signals to the high-level assistant driving system for processing; the decision planning module converts the processed signals into control signals, the control signals are coded and then written into the CAN-Ethernet equipment to be sent to the chassis domain controller, and the chassis domain controller controls vehicle components to complete specified functions according to control instructions. The invention realizes the rapid transmission and storage of big data between the external equipment and the vehicle-mounted system, and leads the data tracing and processing of the advanced assistant driving system to be more convenient.
Description
Technical Field
The invention relates to the field of data transmission, in particular to a data transmission method and device for an advanced assistant driving system.
Background
With the development of electronic and electrical technologies and the rise of Advanced Driving Assistance (ADAS) technologies, electronic devices on automobiles become more and more complex, various control systems, domain controllers and sensors are more and more used, and the requirement of the massive data interaction on transmission bandwidth is higher and higher. However, because the transmission rate of the conventional vehicle-mounted bus such as CAN, CAN-FD, LIN and the like is low, the maximum transmission rate is only 1Mbps, the ADAS system needs to transmit large-flow video data, the transmission rate is often required to be greater than 1Mbps, and in the face of increasing data volume, the connection mode is not enough to support rapid transmission of data among various systems, the vehicle-mounted ethernet is used as a high-rate transmission bus, the rate of the vehicle-mounted ethernet reaches hundreds of megabits per second, gigabits or even higher, and the adoption of the vehicle-mounted ethernet as the main transmission bus of the intelligent vehicle is a future development trend. How to ensure real-time data transmission and storage in the vehicle-mounted Ethernet is an important basis for advanced driving assistance and automatic driving accident analysis, and is a problem which is very concerned by engineers.
The Chinese patent name: automobile driving assisting method and automobile driving assisting device, patent number: CN 109050536A can make ADAS accurate early warning, solves ADAS system probably to have the peripheral environment of unable accurate judgement and user's intention of driving a car to lead to wrong early warning or not early warning, give the problem of user great interference and trouble. However, the early warning timeliness is low, and when the emergency situation is met, the slow data transmission can cause the situation of delaying the early warning.
The Chinese patent name: an ADAS domain Ethernet ring network architecture, patent number: CN111262768A, solve the delay that the data preprocessing brought in the current autopilot technique, network bandwidth are not enough and can not guarantee the problem such as the reliable communication of determinacy low delay. However, accurate time synchronization among a plurality of devices is not realized, and data transmission still has a delay problem.
Disclosure of Invention
The invention provides a data transmission method and a device of a high-level assistant driving system, wherein a sending signal and a receiving signal are formed by an Ethernet communication flow and signal processing of the high-level assistant driving system, conversion of CAN data and Ethernet data is realized through CAN-to-Ethernet equipment, data is stored by taking NTP time as a timestamp, and large data rapid transmission and storage between external equipment and a vehicle-mounted system are realized, so that the data tracing and processing of the high-level assistant driving system are more convenient.
The technical scheme adopted by the invention is as follows:
the advanced driver assistance system data transmission device includes: the control module is used for the advanced assistant driving system to issue a control instruction to the chassis domain controller;
the decision planning module is used for converting the information processed by the advanced assistant driving system into a control signal by combining with the vehicle body attribute, performing data conversion on the control signal, filling the control signal into an Ethernet information data format, and sending the Ethernet information data format to the signal conversion unit;
the communication module is used for transmitting information among the control module, the timing unit, the signal conversion unit and the environment information acquisition unit;
the timing unit is used for synchronizing time of the data transmission device, comprises an NTP time server which is in communication connection with the environment information acquisition unit and stores data by taking NTP time as a timestamp;
the signal conversion unit is used for converting the Ethernet signal and the CAN message information;
and the environment information acquisition unit is used for the advanced driving assistance system to perceive the environment information.
The host carrying the advanced assistant driving system, the switch, the CAN-Ethernet equipment, the high-definition camera and the NTP time server are connected through the Ethernet and used for issuing a control instruction and receiving environmental information;
the chassis area controller is connected with the CAN-Ethernet equipment through a CAN bus and used for receiving control signals issued by the host, controlling vehicle components to complete the content of control instructions and feeding back the states of the vehicle components.
The switch receives and forwards data to the host, the CAN-Ethernet equipment, the target-level camera, the millimeter-wave radar, the high-definition camera, the laser radar and the NTP time server through message exchange;
the outdoor antenna is in communication connection with the NTP time server and used for receiving environment information and vehicle information;
the high-definition camera and the laser radar are in communication connection with the NTP time server and used for acquiring environment information and sending the environment information to the host through the switch; the target-level camera and the millimeter wave radar are in communication connection with the CAN-to-Ethernet equipment and used for converting the environment information into Ethernet information and sending the Ethernet information to the host for processing through the switch.
An advanced driver assistance system data transmission method, comprising:
s0, starting the vehicle, and initializing the system;
s1, allocating addresses and port numbers for the equipment, and initializing each address and port;
s2, declaring a data structure; important elements such as IP addresses, port numbers, etc. are necessary for communication using ethernet, so the data structure claimed herein includes: address family (i.e., IP address type), IP address, port number;
s3, when the transmission device needs to receive information, the data transmission device detects the header and the message content through the Ethernet communication algorithm, analyzes the message content through using the protocol analysis matrix, filters the analyzed signal data, and sends the signal data to the advanced driver assistance system decision processing module for processing;
s4, when the transmission device needs to send information, the advanced assistant driving system sends out a control instruction, the message header is written in through the Ethernet communication algorithm, the message data length is defined, the decision planning module converts the information into a control signal, the control signal is written in the message content after signal coding, the header and the message content are combined, the message is sent to the CAN-to-Ethernet device through the Ethernet, and the CAN-to-Ethernet device forwards the message to the chassis domain controller.
The invention has the beneficial effects that:
the data transmission device transmits data through Ethernet, converts a control result into a CAN message through CAN-to-Ethernet equipment and sends the CAN message to the vehicle chassis domain controller, and realizes quick transmission and storage of big data between external equipment and a vehicle-mounted system; according to the invention, NTP time is used as a timestamp, so that accurate time synchronization among a plurality of devices is realized; the device is high in compatibility, supports Ethernet communication and traditional CAN bus communication, and CAN simultaneously support different sensor interfaces, so that the advanced driver assistance system data tracing and post-processing are more convenient.
Drawings
FIG. 1 is a flow chart of a method for transmitting data in an advanced driver assistance system;
FIG. 2 is a schematic diagram of a data transmission device of an advanced driver assistance system;
FIG. 3 is a flow chart of a signal transmission method of an advanced driver assistance system data transmission device;
fig. 4 is a flow chart of a signal received by the advanced driver assistance system data transmission device.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings: in order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, specific example components and arrangements are described below. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and procedures are omitted so as to not unnecessarily limit the invention.
For vehicles carrying advanced assistant driving systems, the real-time data stream transmission means that a control algorithm can obtain required input in time, and an execution mechanism can execute control instructions sent by a domain controller in time; the time synchronization of the data of the heterogeneous equipment enables the advanced assistant driving system perception algorithm to obtain different sensor data at the same moment, so that the targets existing in the current driving environment are accurately identified; in addition, after the data after time synchronization is stored, the secondary analysis of the data of the advanced assistant driving system is greatly facilitated; therefore, real-time transmission of data and data time synchronization of heterogeneous devices have an important position.
As shown in fig. 1, the data transmission method for the advanced driver assistance system provided by the present invention specifically includes:
s0, starting the vehicle, and initializing the system;
s1, allocating addresses and port numbers for the equipment, and initializing each address and port;
s2, declaring a data structure; the communication using Ethernet must have important elements such as IP address, port number, etc., so the data structure stated here mainly contains address family (i.e. IP address type), IP address, port number;
s3, when the transmission device needs to receive information, the data transmission device detects the header and the message content through the Ethernet communication algorithm, analyzes the message content through using the protocol analysis matrix, filters the analyzed signal data, and sends the signal data to the advanced driver assistance system decision processing module for processing;
s4, when the transmission device needs to send information, the advanced assistant driving system sends out a control instruction, the message header is written in through the Ethernet communication algorithm, the message data length is defined, the decision planning module converts the information into a control signal, the control signal is written in the message content after signal coding, the header and the message content are combined, the message is sent to the CAN-to-Ethernet device through the Ethernet, and the CAN-to-Ethernet device forwards the message to the chassis domain controller.
The invention completes the functions of receiving and sending signals based on the AF _ INET protocol.
In step S2, the address family, IP address, and port number may all be customized. In the embodiment of the invention, the port number is a 16-bit custom TCP/UDP port number, and the IP address is a 32-bit custom IP address.
As shown in fig. 2, the present invention provides a data transmission device of advanced driver assistance system, comprising: the data transmission device comprises a host, a switch, an NTP time server, an outdoor antenna, CAN-to-Ethernet equipment, a chassis domain controller, a target-level camera, a millimeter wave radar, a high-definition camera, a laser radar and other sensors, wherein the host, the switch, the NTP time server, the outdoor antenna, the CAN-to-Ethernet equipment, the chassis domain controller, the target-level camera, the millimeter wave radar, the high-definition camera, the laser radar and other sensors are carried on the advanced assistant driving system, and the data transmission device CAN comprise a plurality of sensors. The data transmission device transmits data through the Ethernet, converts a control result into a CAN message through CAN-to-Ethernet equipment and sends the CAN message to the vehicle chassis area controller.
The CAN-to-Ethernet equipment CAN perform bidirectional conversion on signals, namely: when receiving data, the data in the CAN format CAN be converted into data in the Ethernet format, and when sending data, the data in the Ethernet format CAN be converted into data in the CAN format and sent to a vehicle chassis domain controller, and external equipment is controlled through the chassis domain controller.
When a vehicle carrying the advanced assistant driving system is started, the data transmission device can be initialized, then sensing data of different sensors, chassis data, control signals of a domain controller and NTP time are received, and then the NTP time is used as a time stamp to backup current data to the local.
In one embodiment of the invention, preferably, the laser radar is connected with the NTP time server through a PPS cable and a serial port cable (RS-232), and the NTP time server is connected with the outdoor antenna through an NTP cable.
As shown in fig. 3, in an embodiment of the present invention, the sending a signal by the data transmission apparatus specifically includes: the device establishes a socket based on an AF _ INET protocol, and binds an address and a port number, an advanced assistant driving perception sensor sends perceived environment data to an industrial personal computer (namely a host carrying an advanced assistant driving system) in an Ethernet communication or CAN-to-Ethernet mode, the industrial personal computer receives and processes perception information, a processed perception result is transmitted to a decision planning module, and the decision planning module is converted into control signals for controlling a vehicle, such as the opening degree of an accelerator, the braking force, the steering wheel rotation angle and the like by combining with vehicle body attributes.
The control signal is converted by data, and is filled into a data format of an Ethernet message to be sent to an address and a port corresponding to the CAN-to-Ethernet equipment, the CAN-to-Ethernet equipment sends the control signal to the chassis domain controller, and the chassis domain controller controls the external equipment to execute a control instruction.
As shown in fig. 4, in an embodiment of the present invention, the receiving signal of the data transmission apparatus specifically includes: the device creates a socket based on the AF _ INET protocol and binds the address and port number, and the data of the advanced driving assistance sensor and the domain controller sends the data to the bound address and port number in real time. When the port is detected to have data, the message receiving function can receive the data of different ports and decode the data; after each module of the advanced driver assistance system receives the decoded data, each module starts to calculate, and after calculation, the data are sent to CAN-to-Ethernet equipment according to the flow of figure 3, and the equipment sends a control signal to a chassis domain controller.
As shown in fig. 4, since the interfaces of the sensors currently used in the market are not uniform, some sensors are used for CAN communication transmission (such as millimeter wave radar, mobiley camera, etc.), so that data format conversion needs to be performed by a CAN-to-ethernet device, and some sensors are directly in an ethernet communication mode (such as laser radar, high definition camera), so that data conversion is not needed.
In the data transmission method, all data are stored and transmitted by taking NTP time as a timestamp.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (10)
1. An advanced driver assistance system data transmission method, characterized by comprising:
s0, starting the vehicle, and initializing the system;
s1, allocating addresses and port numbers for the equipment, and initializing each address and port;
s2, declaring a data structure, wherein the declared data structure comprises: address family, IP address, port number;
s3, when the transmission device needs to receive information, the data transmission device detects the header and the message content through the Ethernet communication algorithm, analyzes the message content through using the protocol analysis matrix, filters the analyzed signal data, and sends the signal data to the advanced driver assistance system decision processing module for processing;
s4, when the transmission device needs to send information, the advanced assistant driving system sends out a control instruction, the message header is written in through the Ethernet communication algorithm, the message data length is defined, the decision planning module converts the information into a control signal, the control signal is written in the message content after signal coding, the header and the message content are combined, the message is sent to the CAN-to-Ethernet device through the Ethernet, and the CAN-to-Ethernet device forwards the message to the chassis domain controller.
2. The advanced driver assistance system data transmission method according to claim 1, wherein the processing of the signal by the advanced driver assistance system specifically comprises: when the data transmission device detects that the port has data, receiving the message function to receive the data and decoding the data; and the advanced driving assistance system receives the decoded data and calculates.
3. The advanced driver assistance system data transmission method of claim 2, wherein the calculation result of the advanced driver assistance system is encoded by a signal and transmitted to a CAN-to-ethernet device, converted into CAN message information, and transmitted to the chassis domain controller via a CAN bus.
4. The advanced driver assistance system data transmission method according to claim 1, wherein the step S4 of issuing a control command by the advanced driver assistance system specifically includes: the advanced assistant driving system receives and processes the environmental information and transmits the processed signals to the decision planning module; and the decision planning module converts the environment information into a control signal by combining the vehicle body attribute.
5. The advanced driver assistance system data transmission method according to claim 4, wherein the environmental information includes: obstacle information, road network information; the control signals include: accelerator opening, brake force and steering wheel rotation angle.
6. An advanced driver assistance system data transmission device, characterized by comprising:
the control module is used for the advanced assistant driving system to issue a control instruction to the chassis domain controller;
the decision planning module is used for converting the information processed by the advanced assistant driving system into a control signal by combining with the vehicle body attribute, performing data conversion on the control signal, filling the control signal into an Ethernet information data format, and sending the Ethernet information data format to the signal conversion unit;
the communication module is used for transmitting information among the control module, the timing unit, the signal conversion unit and the environment information acquisition unit;
the timing unit is used for synchronizing time of the data transmission device, comprises an NTP time server which is in communication connection with the environment information acquisition unit and stores data by taking NTP time as a timestamp;
the signal conversion unit is used for converting the Ethernet signal and the CAN message information into each other;
and the environment information acquisition unit is used for the advanced driving assistance system to perceive the environment information.
7. The advanced driver assistance system data transmission apparatus of claim 6, wherein the control module comprises: a host machine and a chassis domain controller of a high-grade auxiliary driving system are carried;
the host carrying the advanced assistant driving system, the switch, the CAN-Ethernet equipment, the high-definition camera and the NTP time server are connected through the Ethernet and used for issuing a control instruction and receiving environmental information;
the chassis area controller is connected with the CAN-Ethernet equipment through a CAN bus and used for receiving control signals issued by the host, controlling vehicle components to complete the content of control instructions and feeding back the states of the vehicle components.
8. The advanced driver assistance system data transmission apparatus according to claim 6, wherein the communication module includes: switches, outdoor antennas;
the switch receives and forwards data to the host, the signal conversion unit, the environmental information acquisition unit and the timing unit through message exchange;
the outdoor antenna is in communication connection with the NTP time server and used for receiving environment information and vehicle information.
9. The advanced driver assistance system data transmission apparatus of claim 6 wherein the signal conversion unit includes a CAN to ethernet device for conversion between CAN data and ethernet data.
10. The advanced driver assistance system data transmission apparatus according to claim 6, wherein the environmental information acquisition unit includes: a target level camera, a millimeter wave radar, a high definition camera, a laser radar;
the environment information acquisition unit is in communication connection with the switch through Ethernet, and the high-definition camera and the laser radar are in communication connection with the NTP time server and used for acquiring environment information and sending the environment information to the host through the switch; the target-level camera and the millimeter wave radar are in communication connection with the CAN-to-Ethernet equipment and used for converting the environment information into Ethernet information and sending the Ethernet information to the host for processing through the switch.
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