CN115756110A

CN115756110A - Data processing board card and data processing method

Info

Publication number: CN115756110A
Application number: CN202211512916.6A
Authority: CN
Inventors: 王明昌
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-11-25
Filing date: 2022-11-25
Publication date: 2023-03-07

Abstract

The disclosure provides a data processing board card and a data processing method, relates to the technical field of computers, in particular to the technical fields of automatic driving, intelligent testing and the like, and can be applied to the testing field of computing platforms in automatic driving systems. The data processing board card comprises a board card body and a device arranged on the board card body; the device includes a processor configured to acquire at least one sensor data; the sensor interface is respectively matched with a transmission protocol of at least one sensor data acquired by the processor; the at least one sensor interface is configured to: the device is in communication connection with a design piece to be tested; and an interface chip communicatively coupled to the processor and the at least one sensor interface, wherein the processor is configured to: and transmitting the acquired sensor data to the adaptive sensor interface through the interface chip so as to send the sensor data to the design piece to be tested.

Description

Data processing board card and data processing method

Technical Field

The present disclosure relates to the field of computer technology, and more particularly to the field of automated driving and intelligent testing, which can be applied to the testing field of computing platforms in automated driving systems.

Background

With the development of computer technology and electronic technology, the automatic driving technology has been rapidly developed. The automatic driving technology is realized by depending on an automatic driving system, a computing platform is integrated in the automatic driving system, and the computing platform recognizes and fuses sensed data by depending on data sensed by various sensors in an automatic driving vehicle and gives an automatic driving decision. Therefore, the verification link of the function of the computing platform is an important link for guaranteeing the stability of automatic driving.

Disclosure of Invention

The present disclosure is directed to a data processing board, a data processing method, an electronic device, and a storage medium, which are advantageous for reducing the verification cost and the verification comprehensiveness of the functions of a computing platform.

According to one aspect of the disclosure, a data processing board is provided, which comprises a board body and a device installed on the board body; the device includes a processor configured to acquire at least one sensor data; the sensor interface is respectively matched with a transmission protocol of at least one sensor data acquired by the processor; the at least one sensor interface is configured to: the device is in communication connection with a design piece to be tested; and an interface chip in communication connection with the processor and the at least one sensor interface, wherein the processor is configured to: and transmitting the acquired sensor data to the adaptive sensor interface through the interface chip so as to send the sensor data to the design piece to be tested.

According to another aspect of the present disclosure, a data processing method is provided, which is applied to the data processing board card provided by the present disclosure, and the data processing method includes: the processor acquires at least one sensor data and sends the at least one sensor data to the interface chip; the interface chip forwards the received at least one type of sensor data to at least one sensor interface matched with a transmission protocol of the at least one type of sensor data; and the at least one sensor interface sends the received sensor data to the to-be-tested design piece in communication connection with the at least one sensor interface.

According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the data processing methods provided by the present disclosure.

According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform a data processing method provided by the present disclosure.

According to another aspect of the present disclosure, there is provided a computer program product comprising computer programs/instructions stored on at least one of a readable storage medium and an electronic device, which when executed by a processor implement the data processing method provided by the present disclosure.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

fig. 1 is a schematic view of an application scenario of a data processing board and a data processing method according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a data processing board according to a first embodiment of the present disclosure;

FIG. 3 is a flow diagram of a data processing method according to an embodiment of the disclosure;

FIG. 4 is a schematic diagram of processing image sensor data according to an embodiment of the present disclosure;

FIG. 5A is a schematic diagram of the processing of lidar data according to an embodiment of the disclosure;

FIG. 5B is a schematic diagram of processing lidar data according to another embodiment of the present disclosure;

FIG. 6A is a schematic illustration of the processing of millimeter wave radar data or global navigation satellite data in accordance with a first embodiment of the present disclosure;

FIG. 6B is a schematic illustration of the processing of millimeter wave radar data or global navigation satellite data in accordance with a first embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a data processing board according to a second embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a data processing board according to a third embodiment of the present disclosure;

fig. 9 is a block diagram of an electronic device for implementing a data processing method of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

The computing platform is the basis for realizing the automatic driving technology and is the brain of the automatic driving system. The computing platform has the characteristics of complex design, high computing power, high power consumption, various types of sensors needing intervention and the like. The verification link of the computing platform function is an essential link for guaranteeing the automatic driving stability, and in the verification of the computing platform function, the input step of sensor data is a primary and important step.

For example, a real sensor may be accessed for a computing platform that needs to be authenticated, and sensor data may be sent by the real sensor to the computing platform. However, in general, the verification of the functions of the computing platform requires a large variety and quantity of sensor data, and thus, the method of accessing the real sensor has a problem of high cost. Moreover, when verifying the function of the computing platform, some special or abnormal sensor data is usually required, and the manner of accessing the real sensor usually cannot provide or can only provide a small amount of the special or abnormal sensor data, which may affect the integrity and accuracy of the verification of the function of the computing platform.

In order to solve the problem, the present disclosure provides a data processing board and a data processing method. An application scenario of the board and the method provided by the present disclosure is described below with reference to fig. 1.

Fig. 1 is a schematic view of an application scenario of a data processing board and a data processing method according to an embodiment of the present disclosure.

As shown in fig. 1, the application scenario 100 of this embodiment may include a data processing board 110 and a design under test 120. The data processing board 110 is communicatively connected to the design to be tested 120.

Specifically, the data processing board 110 may be provided with a sensor interface, for example, through which the design under test 120 is communicatively connected to the data processing board 110. The data processing board 110 can be used, for example, to provide sensor data to the design under test 120 via a sensor interface.

The design element 120 to be tested may be, for example, a computing platform in an autopilot system. The computing platform may, for example, perform recognition fusion on the sensor data provided by the data processing board 110 and give automated driving decisions. In an embodiment, an accurate automatic driving decision may also be generated in advance according to the sensor data provided by the data processing board 110. And comparing the accurate automatic driving decision with an automatic driving decision given by the computing platform to verify the function of the computing platform. Based on this, the computing platform designer can optimize the computing platform according to the comparison result.

In one embodiment, the data processing board 110 can read the sensor data off-line to provide the sensor data to the design 120 under test. Alternatively, the data processing board 110 may, for example, act as a sensor simulator to simulate the generation of sensor data provided to the design piece 120 under test.

The data processing board and the data processing method provided by the present disclosure will be described in detail below with reference to fig. 2 to 8.

Fig. 2 is a schematic structural diagram of a data processing board according to a first embodiment of the present disclosure.

As shown in fig. 2, in this embodiment, the data processing board 200 may include a board body 210 and a device mounted on the board body 210. The device may include, for example, a processor 221, an interface chip 222, and at least one sensor interface 223.

The processor 221, which may be a central processing unit CPU, for example, is configured to acquire at least one sensor data and send the at least one sensor data to the interface chip 222. Wherein the at least one sensor data may for example comprise at least one of: image sensor data (which may be, for example, images), lidar data, millimeter wave radar data, tire pressure, global navigation satellite data, throttle opening, and the like.

For example, the processor 221 may obtain the at least one sensor data from a memory in which the sensor data is pre-stored. The memory may store data sensed by at least one sensor disposed on the autonomous vehicle during travel of the autonomous vehicle.

The interface chip 222 is communicatively coupled to the processor 221 and at least one sensor interface 223, and the interface chip 222 may be used, for example, to forward received sensor data to send the sensor data to the at least one sensor interface 223. In one embodiment, the interface chip 222 may also perform format conversion on the received sensor data, for example, so that the format of the converted sensor data is a data format compatible with the sensor interface 223. For example, the interface Chip may be a System on Chip (SoC), a field programmable gate array, an ethernet switch, and the like, which is not limited in this disclosure.

Illustratively, the number of the at least one sensor interface 223 may be equal to or greater than the kind of sensor data acquired by the processor. And the at least one sensor interface 223 includes an interface adapted to the transmission protocol of each type of sensor data acquired by the processor, so as to receive each type of sensor data forwarded by the interface chip 222. In this manner, the processor may transmit the acquired sensor data to the adapted sensor interface via the interface chip 222. For example, if the sensor data includes image sensor data, the at least one sensor interface 223 may include an image sensor interface (e.g., a Camera interface), and the transmission protocol may be any transmission protocol allowed by Gigabit Multimedia Serial Links (GMSL). If the sensor data includes a Lidar number, the at least one sensor interface 223 may include a Lidar interface (e.g., lidar interface), the transmission protocol may be a TCP protocol or a UDP protocol, or the like.

In an embodiment, one or more of the sensor interfaces 223 may be in communication with a design to be tested, and particularly, the data processing board may be connected to the design to be tested via the sensor interfaces 223, so as to transmit the acquired at least one type of sensor data to the design to be tested.

For example, the at least one sensing datum may be an input stimulus to the design under test such that the design under test produces a stimulus output in response to the input stimulus. In this way, the design to be tested is optimized and verified by the difference between the excitation output and the excitation output generated by the expected design to be tested. The design piece to be tested can be a computing platform of an automatic driving system.

Based on the data processing board card of the embodiment, the to-be-detected design piece is in communication connection with at least one sensor interface in the data processing board card, so that at least one sensor data used as input excitation can be obtained, and a real sensor for generating the at least one sensor data for the to-be-detected design piece is not required to be accessed, so that the types and the number of the accessed real sensors can be reduced, and the verification and the cost of the to-be-detected design piece are reduced.

Based on the data processing board card, the disclosure also provides a data processing method, and the method is applied to the data processing board card. The data processing method will be described in detail below with reference to fig. 3.

Fig. 3 is a flow diagram of a data processing method according to an embodiment of the disclosure.

As shown in fig. 3, the data processing method 300 of this embodiment may include operations S310 to S330.

In operation S310, the processor acquires at least one sensor data and transmits the at least one sensor data to the interface chip. As described above, the processor may retrieve the at least one sensor data from a memory previously stored with sensor data.

In operation S320, the interface chip forwards the received at least one sensor data to at least one sensor interface adapted to a transmission protocol of the at least one sensor data.

In operation S330, the at least one sensor interface transmits the received sensor data to a design under test communicatively connected to the at least one sensor interface.

According to an embodiment of the present disclosure, an interface chip may be communicatively connected with each of the at least one sensor interface. The interface chip may forward the sensor data to the adapted sensor interface according to the type of sensor data received. For example, different kinds of sensor data may have different type identifications. The interface chip may determine the sensor interface that is compatible with the received sensor data, for example, by recognizing the type identifier.

In an embodiment, the interface chip may further perform format conversion on the received sensor data and send the converted data to the adapted sensor interface, for example, when the received sensor data does not conform to a transmission protocol allowed by the adapted sensor interface. Therefore, the sensor interface can send the received data to the design piece to be tested which is in communication connection with the sensor interface, for example, to a computing platform to be tested.

In one embodiment, the processor may periodically read at least one type of sensor data from a predetermined memory in which the sensor data is stored. The reading period can be set according to actual requirements. For example, the period of reading may be determined according to a maximum period in the acquisition period of the at least one sensor data, thereby ensuring that the at least one sensor data read by the processor each time is not repeated with the previously read data. According to the embodiment, the real data sensed by the sensor can be effectively utilized by reading the data of at least one sensor from the preset memory, so that the verification of the to-be-detected design piece is more in line with the requirement of a real scene, the problem that a computing platform cannot make an accurate decision due to abnormal sensor is played back, and the computing accuracy of the computing platform serving as the to-be-detected design piece is improved.

In an embodiment, the processor may also generate the sensor data according to predetermined rules. That is, the processor may be provided with a function that simulates the sensor output signal, and in particular, the processor may be caused to run instructions or programs that generate the simulated sensor output signal to generate the sensor data. For example, the processor may generate at least one sensor data corresponding to at least one sensor type, respectively, according to a predetermined at least one sensor type. That is, an instruction or a program matching the sensor type may be called according to the sensor type, thereby generating sensor data corresponding to the sensor type. Through the mode, the processor can acquire data of sensors of various different types according to actual requirements, and the design piece to be measured can be verified more comprehensively.

Accordingly, the above operation S310 may be implemented, for example, by: the processor generates at least one sensor data corresponding to at least one sensor type, respectively, according to a predetermined at least one sensor type. It is understood that the predetermined rule according to which the processor generates the sensor data may be set according to actual requirements, which is not limited by the present disclosure.

In an embodiment, when the processor generates the sensor data, for example, a fault may also be injected, specifically, the sensor data that causes the processor to generate an anomaly. For example, the processor may generate at least one sensor data corresponding to at least one sensor type, respectively, according to a predetermined at least one sensor type and predetermined failure information.

The predetermined failure information may be, for example, abnormality information for the sensor data, so that the processor generates abnormal sensor data. For example, in the case where the sensor data is image sensor data, the abnormality information may include halos, distortions, and the like. When the sensor data is lidar data, the abnormality information may include predetermined noise or the like, for example.

The sensor data generated by the embodiment is used as the input excitation of the to-be-detected design piece, so that the processing capacity of the to-be-detected design piece under the injection fault can be detected, richer and comprehensive scenes can be provided for the verification of the to-be-detected design piece, the to-be-detected design piece can be verified more comprehensively, and the verification coverage is improved. Compared with the technical scheme of verifying according to the sensor data generated by the real sensor, abnormal sensor data does not need to be screened from massive sensor data, and the verification efficiency of the to-be-tested design piece can be improved.

It is understood that the processor may generate the sensor data periodically, for example, the period for generating the sensor data may be set according to the requirement of the design to be measured, or may be determined according to the period for obtaining the sensor data sensed by the real sensor, and the periods for generating the sensor data may be the same or different for different kinds of sensor data, which is not limited in this disclosure.

The principle of processing the sensor data when the sensor data is the image sensor data will be described in detail below with reference to fig. 4.

As shown in fig. 4, in this embodiment 400, in the device 420 on the board body, the processor CPU 421 may read the sensor data from the predetermined memory 401, or may generate the sensor data by the method described above.

In an embodiment, the interface chip mounted on the board body may include, for example, a SoC 422 of the system on chip and a Serializer 423. The sensor interface provided on the board body may include an image sensor interface 424. Wherein, soC 422 is connected with the processor CPU 421, and Serializer 423 is connected with SoC 422 and image sensor interface 424. Therefore, the data of the image sensor can be processed by the data processing board card comprising the board card body and the device installed on the board card body.

For example, after processor CPU 421 reads or generates image sensor data, the image sensor data can be sent to system-on-chip SoC 422. System-on-chip SoC 422 may forward the image sensor data to Serializer 423 in response to receiving the image sensor data. The SoC 422 may perform format conversion on the received image sensor data, for example, so that the converted data is data that can be recognized by the Serializer 423.

After the SoC 422 receives the image sensor data, the image sensor data can be serialized, that is, a plurality of parallel signals are converted into serial signals, so that the number of connection pins between the to-be-tested design and the data processing board card is effectively reduced, and the data transmission rate is improved. After serialization, the Serializer 423 sends the serialized data to the image sensor interface 424 for excitation as input to the design under test 402.

According to the principle of processing the sensor data of the embodiment, in a scene in which the image sensor data is read from the predetermined memory 401, scene playback can be performed using the landing camera data generated by a real image sensor (e.g., a camera) to verify the function of the design under test 402. In the scenario where the image sensor data is generated by the processor 421, different faults may be injected according to different requirements to verify the function of the design under test 402 in different abnormal scenarios.

The principle of processing the sensor data when the sensor data is point cloud data corresponding to the laser radar will be described in detail below with reference to fig. 5A to 5B.

As shown in fig. 5A, in this embodiment 500, in the device 520 on the board body, the processor CPU 521 can read the sensor data from the predetermined memory 501, and can also generate the sensor data by the method described above.

In an embodiment, the interface chip mounted on the board body may include, for example, an ethernet switch ETH 522. The sensor interface provided on the board card body may include a laser radar interface 523. Wherein, ethernet switch ETH 522 is communicatively connected to processor CPU 521 and laser radar interface 523. Therefore, the point cloud data corresponding to the laser radar can be processed by the data processing board card comprising the board card body and the device installed on the board card body.

For example, after processor CPU 521 reads or generates point cloud data corresponding to a lidar, the point cloud data corresponding to the lidar may be sent to ethernet switch ETH 522. Ethernet switch ETH 522 may, in response to receiving the point cloud data corresponding to the lidar, forward the point cloud data corresponding to the lidar to lidar interface 523 for use as an input stimulus for design under test 502.

According to the principle of processing the sensor data of this embodiment 500, in a scene where the point cloud data corresponding to the laser radar is read from the predetermined memory 501, the real landing point cloud data generated by the laser radar can be utilized to perform scene playback, so as to verify the function of the design to be measured 502. In scenarios where the image sensor data is generated by the processor 521, different faults may be injected according to different requirements to enable verification of the function of the design under test 502 in different abnormal scenarios.

In an embodiment, when the processor generates the point cloud data corresponding to the laser radar, for example, clock information may be added to the point cloud data corresponding to the laser radar, so that when the to-be-tested design receives multiple types of sensor data, calibration of the sensor data is performed according to the clock information. For example, the processor may add clock information maintained by itself to the point cloud data.

In an embodiment, the clock information may be provided to the processor by a SoC having a precise clock, so as to improve the precision of the clock information added to the point cloud data.

For example, as shown in fig. 5B, in the embodiment 500', the device 520' on the board body includes a processor CPU 521, a laser radar interface 523 and an interface chip. The interface chip may include a system on chip SoC 524 in addition to the ethernet switch ETH 522. The SoC 524 is in communication with the processor CPU 521.

In this embodiment, the SoC 524 may be configured to generate communication message data including the clock information and send the communication message data to the processor CPU 521. In this way, the processor CPU 521 may generate point cloud data corresponding to the laser radar according to the communication packet data, and may specifically add the clock information in the communication packet data to the point cloud data corresponding to the laser radar to obtain the point cloud data forwarded to the ethernet switch.

Illustratively, the communication packet data may include, for example, at least one of: pulse Per Second (PPS), recommended positioning information (GPRMC). PPS is a synchronization pulse signal with a time period of 1s, and the pulse width of the signal may be, for example, 5ms to 100ms. The GPRMC may include, for example: UTC time, positioning state, longitude and latitude, ground speed, ground course and other information.

In one embodiment, the interface chip mounted on the board body may include, for example, an ethernet switch ETH 522. The sensor interface provided on the board card body may include a laser radar interface 523. Wherein, ethernet switch ETH 522 is communicatively connected to processor CPU 521 and laser radar interface 523. Therefore, the point cloud data corresponding to the laser radar can be processed by the data processing board card comprising the board card body and the device installed on the board card body.

The principle of processing sensor data when the sensor data is point cloud data corresponding to a millimeter wave radar or global navigation satellite data will be described in detail below with reference to fig. 6A to 6B.

As shown in fig. 6A, in this embodiment 600, in a device 620 on the board body, a processor CPU 621 can read sensor data from a predetermined memory 601.

In an embodiment, the interface chip mounted on the board body may include, for example, a SoC 622. The sensor interface arranged on the board body may include a millimeter wave radar interface and/or a global navigation satellite interface (which may be collectively referred to as a target interface), and the target interface may employ a CAN interface 623. The SoC 622 is communicatively connected to the processor 621 and the target interface. Therefore, the data processing board card comprising the board card body and the device mounted on the board card body can process the point cloud data and/or global navigation satellite data (collectively referred to as target data) corresponding to the millimeter wave radar.

For example, after the processor CPU 621 reads the target data, the target data may be sent to the SoC 622. The SoC 622 may forward the target data to the CAN interface 623 in response to receiving the target data to be excited as an input to the design under test 602.

In an embodiment, the processor CPU 621 may also generate target data, for example, and then send the target data to the SoC 622.

In an embodiment, in a scenario where the processor CPU 621 generates the target data, the generated target data may be only point cloud data corresponding to the millimeter wave radar. And global navigation satellite data may be generated by the SoC 622, and in particular, may be generated by the SoC 622 according to the clock information. In this way, the generated gnss data can be made more accurate, since the clock information of the SoC 622 is more accurate than the clock information of the processor CPU 621.

According to the principle of processing the sensor data of the embodiment, in the scene of reading the target data from the predetermined memory 601, scene playback can be performed by using the landing sensor data generated by the real millimeter wave radar and/or the global navigation satellite system, so as to verify the function of the design to be measured 602. In the scenario where the point cloud data corresponding to the millimeter wave radar is generated by the processor 621 and the global navigation satellite data is generated by the SoC 622, different faults may be injected according to different requirements, so as to verify the function of the design under test 602 in different abnormal scenarios. Through the technical scheme of the embodiment, the data processing board card CAN support the millimeter wave radar with the CAN interface and/or the sensor data generated by the global navigation satellite system to be transmitted to the design part 602 to be tested.

In an embodiment, through the arrangement of the interface chip and the sensor interface, the data processing board card may further support transmission of sensor data generated by the millimeter wave radar and/or the global navigation satellite system of the T1 interface to the design to be tested 602.

As shown in fig. 6B, in this embodiment 600', the interface chip may include, for example, an ethernet switch ETH 624 in the device 620' mounted on the board body. The sensor interface provided on the board card body may include a millimeter wave radar interface and/or a global navigation satellite interface (which may be collectively referred to as a target interface), and the target interface may employ a T1 interface 625. Wherein ethernet switch ETH 624 is communicatively coupled to processor 621 and T1 interface 625. Therefore, the data processing board including the board body and the device mounted on the board body can process the point cloud data and/or global navigation satellite data (collectively referred to as target data) corresponding to the millimeter wave radar, and support transmission of sensor data generated by the millimeter wave radar and/or global navigation satellite system of the T1 interface to the design to be tested 602.

For example, after the processor CPU 621 reads the target data, the target data may be transmitted to the ethernet switch ETH 624. The ethernet switch ETH 624 may, in response to receiving the target data, forward the target data to the T1 interface 625 to energize the target data as input to the design piece under test 602.

In one embodiment, the processor CPU 621 may, for example, generate target data in addition to reading the target data from a predetermined memory, and then transmit the target data to the ethernet switch ETH 624.

In an embodiment, in a scenario where the processor CPU 621 generates the target data, the generated target data may be only point cloud data corresponding to the millimeter wave radar. And global navigation satellite data may be generated by the system on chip. Accordingly, in this embodiment, the interface chip includes a system on chip SoC 622 in addition to the ethernet switch ETH 624. Specifically, global navigation satellite data may be generated by the system-on-chip SoC 622 from the clock information. In this way, the generated gnss data can be made more accurate, since the clock information of the SoC is more accurate than the clock information of the processor CPU 621.

Fig. 7 is a schematic structural diagram of a data processing board according to a second embodiment of the present disclosure.

As shown in fig. 7, in one embodiment, the devices mounted on the board body 710 of the data processing board 700 may include, in addition to the processor CPU 721, the interface chip 722, and the at least one sensor interface 723, a graphics processor GPU 724, for example, the graphics processor GPU 724 being communicatively connected to the processor CPU 721. As such, the graphics processor GPU 724 may assist the processor CPU 721 in the task of acquiring at least one type of sensor data when a large amount of computation is required to acquire at least one type of sensor data.

For example, the processor CPU 721 may send an instruction to the graphics processor GPU 724 to allocate a task to the graphics processor GPU 724 when acquiring the at least one sensor data, and the graphics processor GPU 724 may execute at least a part of the task of acquiring the at least one sensor data by executing the allocated task, so as to improve the acquisition efficiency of the at least one sensor data.

It is understood that the board body 710 may be provided with at least two mounting portions (e.g., slots) for the GPU, for example. Thus, according to actual requirements, there may be one or two or even more graphic processors GPU installed on the board card body 710, which is not limited in this disclosure.

In an embodiment, the board body 710 may have a plurality of mounting portions (e.g., sockets) of the SoC, for example. Thus, the interface chip may include at least two system-on-chip chips according to actual requirements. In this way, different sensor data can be processed by different system-on-chip when the number and type of sensor data transmitted by the CPU are large. Therefore, the efficiency of the data processing board card for transmitting the sensor data can be improved.

For example, the at least two system-on-chips may also be communicatively connected to each other via a serial communication interface. Therefore, the at least two system level chips can reasonably distribute the format conversion task and the forwarding task of the sensor data through the communication between the at least two system level chips, and the efficiency of the data processing board card for transmitting the sensor data is improved. For example, if the processing capability of one of the at least two system-on-chips is saturated or close to saturation, the unexecuted task may be sent to the other system-on-chip via the serial communication interface, so that the other system-on-chip executes the unexecuted task.

Fig. 8 is a schematic structural diagram of a data processing board according to a third embodiment of the present disclosure.

According to an embodiment of the disclosure, as shown in fig. 8, in the data processing board 800 of this embodiment, the device disposed on the board Main body may include a Main processor (Main CPU) 821, which is composed of a system on chip S _o An interface chip consisting of C822 and an Ethernet switch (ETH) 823, a plurality of sensor interfaces 824, and a graphics processor GPU 825.

Among them, the Main processor (Main CPU) 821 can access the predetermined memory Storage 801 to read various sensor data from the predetermined memory Storage 801. The host processor 821 is also communicatively coupled to the graphics processor GPU 825 to generate sensor data using the computing power of the graphics processor GPU 825 when a variety of sensor data needs to be generated.

The SoC 822 may be at least two, and the at least two SoC 822 may be, for example, soCl, soC2, and SoC3, which are three chips in total (for example only). At least two SoC 822 can be communicatively connected to each other via a serial communication interface Serdes.

Main processor 821 may send sensor data to SoC 822 or ethernet switch 823, depending on the type of sensor data being obtained.

For example, when the sensor data is image sensor data, the main processor 821 may send the image sensor data to the SoC 822, the SoC 822 may convert the data into a format, and a serializer integrated in the SoC 822 or communicatively coupled to the SoC 822 may serialize the converted data, and then forward the serialized data to an image sensor interface (e.g., a Camera interface) of the plurality of sensor interfaces 824 via the gigabit multimedia serial link GMSL.

For example, when the sensor data is GNSS data, the main processor 821 may send the GNSS data to the SoC 822 or the ethernet switch 823, and the SoC 822 or the ethernet switch 823 forwards the GNSS data to global navigation satellite interfaces (GNSS interfaces) in the plurality of sensor interfaces 824 via a communication link (e.g., a CAN communication link, etc.) conforming to a communication protocol of the GNSS system.

For example, when the sensor data is point cloud data corresponding to a laser radar, the main processor 821 may send the point cloud data corresponding to the laser radar to the Ethernet switch 823 via Gigabit Ethernet (GE), and the Ethernet switch 823 forwards the point cloud data corresponding to the laser radar to a laser radar interface (which may be 100M-T Lidar, for example) in the plurality of sensor interfaces 824. It can be understood that the point cloud data corresponding to the laser radar may also be transmitted through a 10G fast ethernet transmission channel, and the transmission channel may be specifically selected according to the requirement of the data transmission rate, which is not limited by the present disclosure.

For example, when the sensor data is point cloud data corresponding to a millimeter wave radar of the CAN interface, the main processor 821 may forward the point cloud data corresponding to the millimeter wave radar of the CAN interface to the SoC 822. The SoC 822 then forwards the point cloud data to a millimeter wave Radar interface (which may be, for example, CAN Radar) of a CAN interface of the plurality of sensor interfaces 824 via the CAN network.

For example, the SoC 822 may also be communicatively coupled via a PCIe (Peripheral Component Interconnect express) channel. Via the PCIe channel, soC 822 may also perform configuration management for ethernet switch 823, for example.

In some embodiments, multiple sensor interfaces 824 may be provided with multiple ethernet interfaces of different transmission rates as an extensible radar interface. For example, the expandable Radar interfaces may include a 100M-T1 Lidar Radar interface, a 1000M-T1 Lidar Radar interface, and the like, and the expandable Radar interfaces are T1 interfaces, which may be interfaces of a vehicle-mounted laser Radar or a vehicle-mounted millimeter wave Radar, and may also be interfaces of a non-vehicle-mounted laser Radar or a non-vehicle-mounted millimeter wave Radar, which is not limited in this disclosure.

It can be understood that the transmission rates of the millimeter wave radar interface and the laser radar interface can be configured according to actual requirements, a plurality of millimeter wave radar interfaces with different transmission rates can be arranged on the data processing board card, and a plurality of laser radar interfaces with different transmission rates can also be arranged, and the disclosure does not limit the transmission rates.

In the technical scheme of the present disclosure, the processes of collecting, storing, using, processing, transmitting, providing, disclosing and applying the personal information of the related users all conform to the regulations of related laws and regulations, and necessary security measures are taken without violating the good customs of the public order. In the technical scheme of the disclosure, before the personal information of the user is obtained or collected, the authorization or the consent of the user is obtained.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

FIG. 9 shows a schematic block diagram of an example electronic device 900 that may be used to implement the data processing methods of embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 9, the apparatus 900 includes a computing unit 901 which can perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM) 902 or a computer program loaded from a storage unit 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The calculation unit 901, ROM 902, and RAM 903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.

A number of components in the device 900 are connected to the I/O interface 905, including: an input unit 906 such as a keyboard, a mouse, and the like; an output unit 907 such as various types of displays, speakers, and the like; a storage unit 908 such as a magnetic disk, optical disk, or the like; and a communication unit 909 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 909 allows the device 900 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The computing unit 901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 901 performs the respective methods and processes described above, such as a data processing method. For example, in some embodiments, the data processing method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 908. In some embodiments, part or all of a computer program may be loaded onto and/or installed onto device 900 via ROM 902 and/or communications unit 909. When the computer program is loaded into RAM 903 and executed by computing unit 901, one or more steps of the data processing method described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the data processing method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The Server may be a cloud Server, which is also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service extensibility in a traditional physical host and a VPS service ("Virtual Private Server", or simply "VPS"). The server may also be a server of a distributed system, or a server incorporating a blockchain.

It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A data processing board comprises a board body and a device arranged on the board body; the device comprises:

a processor configured to acquire at least one sensor data;

at least one sensor interface respectively adapted to a transmission protocol of at least one sensor data acquired by the processor; at least one of the sensor interfaces is configured to: the device is in communication connection with a design piece to be tested; and

an interface chip communicatively coupled to the processor and at least one of the sensor interfaces,

wherein the processor is configured to: and transmitting the acquired sensor data to the adaptive sensor interface through the interface chip so as to send the sensor data to the design piece to be tested.

2. The data processing board of claim 1, wherein the processor is configured to:

and generating at least one type of sensor data corresponding to at least one type of sensor according to at least one predetermined type of sensor.

3. The data processing board of claim 2, wherein the processor is further configured to:

generating at least one kind of the sensor data corresponding to at least one of the sensor types, respectively, based on predetermined at least one sensor type and predetermined failure information,

wherein the predetermined fault information includes abnormality information for sensor data.

4. The data processing board of claim 1, wherein the processor is configured to:

at least one kind of the sensor data is read from a predetermined memory in which the sensor data is stored.

5. The data processing board of claim 1, wherein the device further comprises:

at least one graphics processor communicatively coupled to the processor, the graphics processor configured to: at least a portion of the tasks to acquire at least one sensor data are performed in response to instructions sent by the processor.

6. The data processing board of claim 1, wherein the interface chip comprises at least one of: system-on-chip, ethernet switch.

7. The data processing board of claim 6, wherein the interface chip comprises at least two of the system-on-chip; at least two of the system-on-chips are communicatively connected to each other via a serial communication interface.

8. The data processing board of claim 1, wherein:

the sensor data comprises image sensor data; the sensor interface comprises an image sensor interface;

the interface chip includes:

a system-on-chip communicatively coupled to the processor; and

a serializer communicatively coupled with the system-level chip-level and the image sensor interface,

wherein the system-on-chip is configured to: in response to receiving the image sensor data sent by the processor, forwarding the image sensor data to the serializer; the serializer is configured to: and serializing the received image sensor data, and sending the data obtained by the serialization processing to the image sensor interface.

9. The data processing board of claim 1, wherein:

the sensor data comprises point cloud data corresponding to a laser radar; the sensor interface comprises a lidar interface;

the interface chip comprises an Ethernet switch which is in communication connection with the processor and the laser radar interface;

wherein the Ethernet switch is configured to: and responding to the received point cloud data which are sent by the processor and correspond to the laser radar, and forwarding the point cloud data which correspond to the laser radar interface.

10. The data processing board of claim 9, wherein:

the interface chip further includes a system-on-chip communicatively coupled to the processor,

wherein the system-on-chip is configured to: generating communication message data comprising clock information and sending the communication message data to the processor; the processor is further configured to: generating the point cloud data corresponding to the laser radar according to the communication message data,

the communication packet data includes at least one of: pulse per second, recommended positioning information.

11. The data processing board of claim 1, wherein:

the sensor data includes at least one of the following target data: point cloud data and global navigation satellite data corresponding to the millimeter wave radar; the sensor interface includes at least one of the following target interfaces corresponding to the target data: a millimeter wave radar interface, a global navigation satellite interface;

the interface chip comprises a system-on-chip communicatively coupled to the processor and the target interface,

wherein the system-on-chip is configured to: in response to receiving target data sent by the processor, forwarding the target data to the target interface corresponding to the target data; the target interface is a CAN interface.

12. The data processing board of claim 1, wherein:

the interface chip includes an Ethernet switch communicatively coupled to the processor and the target interface,

wherein the Ethernet switch is configured to: in response to receiving target data sent by the processor, forwarding the target data to the target interface corresponding to the target data; the target interface is a T1 interface.

13. The data processing board of claim 1, wherein:

the sensor interface comprises a global navigation satellite interface;

the interface chip includes a system-on-chip configured to: and generating global navigation satellite data according to the clock information, and forwarding the global navigation satellite data to the global navigation satellite interface, wherein the global navigation satellite interface comprises a CAN interface.

14. The data processing board of claim 13, wherein:

the interface chip further comprises an Ethernet switch, the Ethernet switch is in communication connection with the system-on-chip and the global navigation satellite interface,

wherein the system-on-chip is further configured to: forwarding the global navigation satellite data to the global navigation satellite interface via the Ethernet switch; the global navigation satellite interface further comprises a T1 interface.

15. A data processing method applied to the data processing board card of claim 1; the data processing method comprises the following steps:

the processor acquires at least one type of sensor data and sends the at least one type of sensor data to the interface chip;

the interface chip forwards the received at least one type of sensor data to at least one sensor interface which is matched with a transmission protocol of the at least one type of sensor data; and

and the at least one sensor interface sends the received sensor data to a to-be-tested design piece in communication connection with the at least one sensor interface.

16. The method of claim 15, wherein the processor acquiring at least one sensor data comprises:

the processor generates at least one kind of sensor data corresponding to at least one sensor type according to at least one predetermined sensor type.

17. The method of claim 16, wherein the processor generating at least one of the sensor data corresponding to at least one of the sensor types according to a predetermined at least one of the sensor types comprises:

the processor generates at least one kind of the sensor data respectively corresponding to at least one kind of the sensor according to at least one kind of predetermined sensor and predetermined fault information,

18. The method of claim 15, wherein the processor acquiring at least one sensor data comprises:

the processor reads at least one of the sensor data from a predetermined memory in which the sensor data is stored.

19. The method of claim 15, wherein the device further comprises at least one graphics processor; the method further comprises the following steps:

the processor sends an instruction to the graphics processor;

the graphics processor, in response to the instructions, performs at least a portion of the tasks of acquiring at least one type of sensor data.

20. The method of claim 15, wherein the sensor interface comprises an image sensor interface; the interface chip comprises a system-on-chip and a serializer; the system level chip is in communication connection with the processor; the serializer is in communication connection with the system-level chip level and the image sensor interface; the interface chip forwards the received at least one kind of the sensor data to at least one sensor interface adapted to a transmission protocol of the at least one kind of the sensor data includes:

the system-on-chip responds to receiving the image sensor data sent by the processor and forwards the image sensor data to the serializer; and

the serializer serializes the received image sensor data and sends the serialized data to the image sensor interface.

21. The method of claim 15, wherein the sensor interface comprises a lidar interface; the interface chip comprises an Ethernet switch which is in communication connection with the processor and the laser radar interface; the interface chip forwards the received at least one kind of the sensor data to at least one sensor interface adapted to a transmission protocol of the at least one kind of the sensor data includes:

and the Ethernet switch responds to the received point cloud data which is sent by the processor and corresponds to the laser radar, and forwards the point cloud data which corresponds to the laser radar interface.

22. The method of claim 21, the interface chip further comprising a system-on-chip communicatively coupled to the processor and the lidar interface; the method further comprises the following steps:

the system-level chip generates communication message data comprising clock information and sends the communication message data to the processor; the communication packet data includes at least one of: pulse number per second, recommended positioning information; and

the processor acquiring at least one sensor data comprises: and the processor generates the point cloud data corresponding to the laser radar according to the communication message data.

23. The method of claim 15, wherein:

the sensor data includes at least one of the following target data: point cloud data and global navigation satellite data corresponding to the millimeter wave radar; the sensor interface includes at least one of the following target interfaces corresponding to the target data: a millimeter wave radar interface, a global navigation satellite interface; the target interface is a CAN interface;

the interface chip comprises a system-on-chip, and the system-on-chip is in communication connection with the processor and the target interface;

the method further comprises the following steps: and the system-on-chip responds to the received target data sent by the processor and forwards the target data to a target interface corresponding to the target data.

24. The method of claim 15, wherein:

the sensor data includes at least one of the following target data: millimeter wave radar data, global navigation satellite data; the sensor interface includes at least one of the following target interfaces corresponding to the target data: a millimeter wave radar interface, a global navigation satellite interface; the target interface is a T1 interface;

the interface chip comprises an Ethernet switch which is in communication connection with the processor and the target interface;

the method further comprises the following steps: and the Ethernet switch responds to the received target data sent by the processor and forwards the target data to the target interface corresponding to the target data.

25. The method of claim 15, wherein:

the sensor interface comprises a global navigation satellite interface; the interface chip comprises a system-on-chip;

the method further comprises the following steps: the system-level chip generates global navigation satellite data according to clock information and forwards the global navigation satellite data to the global navigation satellite interface, and the global navigation satellite interface comprises a CAN interface.

26. The method of claim 25, wherein:

the interface chip also comprises an Ethernet switch which is in communication connection with the system-level chip and the global navigation satellite interface;

forwarding the global navigation satellite data to the global navigation satellite interface comprises: forwarding the global navigation satellite data to the global navigation satellite interface via the Ethernet switch,

wherein the global navigation satellite interface further comprises a T1 interface.

27. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 15 to 26.

28. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 15-26.

29. A computer program product comprising computer program/instructions stored on at least one of a readable storage medium and an electronic device, which when executed by a processor, implement the steps of the method according to any one of claims 15 to 26.