CN116382179A - Modulator integrated circuit card and its control method - Google Patents
Modulator integrated circuit card and its control method Download PDFInfo
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- G05B19/00—Programme-control systems
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Abstract
The invention discloses a modulator integrated circuit card and a control method thereof, which relate to the technical field of vehicle-to-machine data modulation control and comprise a PCB substrate, a sensor input unit, a visual signal input unit, a data modulation unit, a data processing chip and an instruction generation chip; the sensor input unit, the visual signal input unit and the data modulation unit are respectively used for inputting the sensor signal data and the visual signal data into the data modulation unit. The invention concentrates the sensor data with different modulation modes on the vehicle machine on one circuit board to realize centralized modulation, avoids the delay on a circuit caused by the fact that digital quantity data which are separately modulated by adopting different control boards need to be transmitted to a data processing chip, and can also improve the modulation integration level of the control signals of the vehicle; the invalid redundant data is screened through the logic trigger model of the sequential logic circuit module, so that the operand of a data processing chip can be greatly reduced, and the response time of an automatic driving signal of the vehicle can be greatly improved.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted data modulation control, in particular to a modulator integrated circuit card and a control method thereof.
Background
With the combination of the automobile industry and intelligent control technology becoming deeper, various automatic driving assisting control modules are increasingly applied to automobile machine systems, however, no matter what driving assisting control is, at least the following parts are needed in the hardware level, firstly, a monitoring unit is used for monitoring the state of an automobile in a data mode through various sensors and visual units of the monitoring unit, then, the data are modulated in a data set through a data modulating unit, a core chip carries out operation processing on the data, a control instruction is generated, and finally, the control instruction is output to an automobile machine core for execution.
The modulation mechanisms of different sensors on the automobile are mainly divided into frequency modulation signals and pulse width modulation signals, visual signals are more complex, an independent visual processing server is needed to process pictures acquired by a plurality of visual units respectively, signals of all elements of a monitoring unit are rapidly modulated and fed back to a core chip, and finally a control instruction is generated, so that the key of rapid response of an automobile machine system is realized.
For auxiliary driving of a car, particularly auxiliary driving decisions of braking, the response time of the car machine system determines the key whether the auxiliary driving decisions can be successfully inserted into the car machine system.
At present, the response time of the auxiliary driving of the vehicle and the machine is mainly reduced by improving the calculation power of the core chip, and the mode can not relieve the processing time difference caused by signals of various monitoring units and can not fully play the performance of the core chip.
Disclosure of Invention
The invention provides a modulator integrated circuit card and a control method thereof, which aim to process data of a plurality of state monitoring elements in a vehicle-mounted system, fully exert calculation force of a core chip of the vehicle-mounted system and improve response speed of the vehicle-mounted system. The following technical scheme is adopted:
a modulator integrated circuit card comprises a PCB substrate, a sensor input unit, a visual signal input unit, a data modulation unit, a data processing chip and an instruction generation chip;
the sensor input unit, the visual signal input unit and the data modulation unit are respectively used for inputting sensor signal data and visual signal data into the data modulation unit, the data modulation unit comprises a frequency modulation type data transmission module, a pulse width modulation transmission module, a digital switch modulation transmission module and an AI visual processing chip, the frequency modulation type data transmission module is used for processing sensor data based on frequency modulation, the pulse width modulation transmission module is used for processing sensor data based on pulse width modulation, the digital switch modulation transmission module is used for processing sensor data based on switching value, and the AI visual processing chip is used for processing visual signal data input by the visual signal input unit; the frequency modulation type data transmission module, the pulse width modulation transmission module, the digital switch modulation transmission module and the digital quantity data output end of the AI vision processing chip are respectively in communication connection with the data processing chip, the data processing chip carries out logic judgment based on the time sequence of digital quantity data input and outputs preposed data based on a preset instruction model to the instruction generating chip, and the instruction generating chip generates a control signal according to the preposed data and transmits the control signal to the vehicle machine system.
By adopting the technical scheme, the sensor data of different modulation modes on the vehicle, such as a radar sensor, an ultrasonic sensor, a speed sensor and the like, are concentrated on one circuit board to realize concentrated modulation, the modulation is divided into a frequency modulation mode, a pulse width modulation mode, a digital switch modulation mode and an image modulation processing mode, the output timeliness of the modulated data can be realized to the greatest extent, the delay on a circuit caused by the fact that the digital data caused by the fact that different control boards are adopted to be separately modulated need to be transmitted to a data processing chip is avoided, the response time of the automatic driving signal of the vehicle can be greatly prolonged, the modulation integration level of the vehicle control signal can be improved, and the cost of hardware is reduced.
Optionally, the data modulation unit further includes a sequential logic circuit module, the sequential logic circuit module is respectively in communication connection with the frequency modulation type data transmission module, the pulse width modulation transmission module, the digital switch modulation transmission module and the AI vision processing chip, and the sequential logic circuit module screens digital quantity signals based on a sequential model and packages and transmits the digital quantity signals to the data processing chip.
By adopting the technical scheme, the time sequence logic circuit module is arranged to monitor the digital quantity data processed by the frequency modulation type data transmission module, the pulse width modulation type transmission module, the digital switch modulation type transmission module and the AI vision processing chip, and after the set trigger logic is reached, the digital quantity data is packed and transmitted to the data processing chip to operate, if the vehicle is in operation, the sensor data and the environmental data change quantity are smaller, the common scene is a high-speed cruising driving process, and the time sequence logic circuit module is adopted to filter a large amount of data without calculation, so that the time sequence logic circuit module is a pre-processing step of the data processing chip, the operation quantity of the data processing chip can be greatly reduced, and the thermal downtime risk caused by the data processing chip in a high-load operation environment for a long time can be avoided to a certain extent.
Optionally, the system further comprises an audio signal input unit, wherein the audio signal input unit is used for inputting data of the audio acquisition module to the data modulation unit, and the data modulation unit further comprises a digital audio control processing chip, and the digital audio control processing chip is used for processing and analyzing the audio data.
By adopting the technical scheme, the audio signal input unit is an important input signal of an automatic driving link, can be a voice control instruction in a vehicle and can also be external environment sound, and the voice control instruction and the external environment sound are data which must be referred by an automatic driving algorithm model.
Optionally, the system further comprises a SENT bus, and the sensor input unit, the visual signal input unit and the audio signal input unit are respectively in communication connection with the data modulation unit through the SENT bus.
By adopting the technical scheme, the SENT bus is a unidirectional transmission protocol, data can only be transmitted from a sensor to a data modulation unit, transmission is continuous without a request command, the SENT bus is in the form of a frame for transmitting data or a data packet, and each frame is composed of pulses with different widths, namely half bytes;
the transmission of SENT bus data can be divided into a fast channel and a slow channel, important signals are updated with the fast channel to realize high frequency, such as 20 millisecond wave sensor data and the like, and non-critical signals, such as electric quantity sensor data and the like, can be transmitted in the slow channel;
the send bus fast channel is a channel that transmits one complete signal per frame, and the slow channel requires multiple frames to transmit one complete signal, i.e. the update frequencies are different.
Optionally, the two sides of the PCB substrate are a surface a and a surface B, the surface a is provided with a chip area in the middle, the surface B is provided with a chip heat dissipation area corresponding to the chip area, the chip heat dissipation area is rectangular and annular, the periphery of the chip heat dissipation area is provided with a centralized modulation area, the periphery of the centralized modulation area is provided with a modulation heat dissipation area, the periphery of the modulation heat dissipation area is provided with an interface area, the sensor input unit, the visual signal input unit, the audio signal input unit and the send bus are respectively arranged in the interface area at intervals, the frequency modulation data transmission module, the pulse width modulation transmission module, the digital switch modulation transmission module, the AI visual processing chip, the time sequence logic circuit module and the digital audio control processing chip are respectively arranged in the centralized modulation area at intervals, and the data processing chip and the instruction generation chip are arranged in the chip area.
Optionally, the chip heat dissipation area, the modulation heat dissipation area and the peripheral area of the chip area are uniformly distributed with water cooling radiators.
Through adopting above-mentioned technical scheme, the circuit board card adopts two-sided overall arrangement, and one side mainly arranges data processing chip and instruction and generates the chip, and the other side arranges each module of various input module and data modulation unit, and carries out multilayer encircling formula heat dissipation, can take away the heat of data processing chip and instruction generation chip high-efficiently, guarantees the reliability of chip work.
A modulator integrated circuit control method comprises the following specific steps:
and step 3, the data processing chip analyzes the data packet, performs operation based on an automatic driving algorithm, outputs an operation result, transmits the operation result to the instruction generating chip, generates an automobile control instruction by the instruction generating chip, and transmits the automobile control instruction to the automobile machine system.
By adopting the technical scheme, the sensor data of different modulation modes on the vehicle can be concentrated on one circuit board to realize concentrated modulation, so that the delay on a circuit, caused by the fact that digital data are required to be transmitted to a data processing chip, caused by the fact that different control boards are adopted to be separately modulated and misoperation caused by the delay are avoided, invalid redundant data are screened through a logic trigger model of a sequential logic circuit module, the operation amount of the data processing chip can be greatly reduced, the thermal downtime risk caused by the fact that the data processing chip is in a high-load operation environment for a long time can be avoided to a certain extent, and the response time of an automatic driving signal of the vehicle can be greatly improved.
Optionally, in step 2, the data modulating unit generates the data packet according to the time tag every 20 ms of the digital quantity signal.
By adopting the technical scheme, the digital quantity data is packed in a mode of 20 millisecond time interval, so that the logic screening of the sequential logic circuit module can be realized while the timeliness of the data is ensured.
Optionally, in step 3, the calculation result includes a throttle change amount, a direction change amount, a brake change amount and a light change amount according to the data packet data.
Optionally, in step 2, the sequential logic circuit module adopts a Mealy-type finite synchronous state machine.
By adopting the above technical scheme, the finite state machine is a model of a time sequence circuit, any time sequence circuit can be expressed as a finite state machine, and the finite state machine can be classified into a mely type (Mealy) and a mole type (Moore) according to the generation mode of an output signal. The output of the Mealy type state machine is related to the current state and the input, and the Mealy type finite synchronous state machine is adopted to more efficiently carry out the combined logic screening of the digital quantity signals, filter a large amount of invalid data and have extremely low error rate.
In summary, the present invention includes at least one of the following beneficial technical effects:
the invention can provide a modulator integrated circuit card and a control method thereof, the sensor data of different modulation modes on the vehicle are concentrated on one circuit board to realize concentrated modulation, thereby avoiding the delay on a circuit caused by the fact that digital data caused by the fact that different control boards are adopted to separately modulate are required to be transmitted to a data processing chip, greatly improving the response time of an automatic driving signal of the vehicle, improving the modulation integration level of an automobile control signal and reducing the cost of hardware; the logic triggering model of the sequential logic circuit module is used for screening invalid redundant data, so that the operation amount of the data processing chip can be greatly reduced, the thermal downtime risk caused by the fact that the data processing chip is in a high-load operation environment for a long time can be avoided to a certain extent, and the response time of an automatic driving signal of a vehicle can be greatly prolonged.
Drawings
FIG. 1 is a schematic diagram of the electrical device connection principle of a modulator integrated circuit card of the present invention;
FIG. 2 is a schematic diagram of an A-plane architecture of a modulator IC card according to the present invention;
fig. 3 is a schematic B-side structure of a modulator ic card according to the present invention.
Reference numerals illustrate: 1. a PCB substrate; 11. a chip region; 12. a chip heat dissipation area; 13. a concentrated modulation region; 14. modulating a heat dissipation area; 15. an interface region; 2. a sensor input unit; 3. a visual signal input unit; 4. a data modulation unit; 41. a frequency modulation type data transmission module; 42. a pulse width modulation transmission module; 43. a digital switch modulation transmission module; 44. AI vision processing chip; 45. a sequential logic circuit module; 46. a digital audio control processing chip; 5. a data processing chip; 6. an instruction generating chip; 7. an audio signal input unit; 8. a SENT bus; 9. a water-cooled radiator; 100. and a vehicle-mounted system.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The embodiment of the invention discloses a modulator integrated circuit card and a control method thereof.
Referring to fig. 1 to 3, a modulator integrated circuit card includes a PCB substrate 1, a sensor input unit 2, a visual signal input unit 3, a data modulation unit 4, a data processing chip 5, and an instruction generation chip 6;
the sensor input unit 2, the visual signal input unit 3 and the data modulation unit 4 are respectively used for inputting sensor signal data and visual signal data into the data modulation unit 4, the data modulation unit 4 comprises a frequency modulation type data transmission module 41, a pulse width modulation transmission module 42, a digital switch modulation transmission module 43 and an AI visual processing chip 44, the frequency modulation type data transmission module 41 is used for processing the sensor data based on frequency modulation, the pulse width modulation transmission module 42 is used for processing the sensor data based on pulse width modulation, the digital switch modulation transmission module 43 is used for processing the sensor data based on switching value, and the AI visual processing chip 44 is used for processing the visual signal data input by the visual signal input unit 3; the digital data output ends of the frequency modulation type data transmission module 41, the pulse width modulation transmission module 42, the digital switch modulation transmission module 43 and the AI vision processing chip 44 are respectively in communication connection with the data processing chip 5, the data processing chip 5 carries out logic judgment based on the time sequence of digital data input, and outputs the prepositive data based on a preset instruction model to the instruction generating chip 6, and the instruction generating chip 6 generates a control signal according to the prepositive data and transmits the control signal to the vehicle machine system 100.
The sensor data of different modulation modes of the sensors on the vehicle, such as a radar sensor, an ultrasonic sensor, a speed sensor and the like, are concentrated on one circuit board to realize concentrated modulation, the modulation is divided into a frequency modulation mode, a pulse width modulation mode, a digital switch modulation mode and an image modulation processing mode, the output timeliness of the modulated data can be realized to the greatest extent, the delay on a circuit, caused by the fact that the digital data are required to be transmitted to the data processing chip 5 due to the fact that different control boards are adopted for modulation is separated, can greatly improve the response time of the automatic driving signal of the vehicle, can also improve the modulation integration level of the automobile control signal, and reduces the cost of hardware.
The data modulation unit 4 further includes a sequential logic circuit module 45, where the sequential logic circuit module 45 is respectively in communication connection with the frequency modulation data transmission module 41, the pulse width modulation transmission module 42, the digital switch modulation transmission module 43 and the AI vision processing chip 44, and the sequential logic circuit module 45 screens digital quantity signals based on a sequential model and packages the digital quantity signals and transmits the digital quantity signals to the data processing chip 5.
The sequential logic circuit module 45 is arranged to monitor the digital quantity data processed by the frequency modulation type data transmission module 41, the pulse width modulation type transmission module 42, the digital switch modulation type transmission module 43 and the AI vision processing chip 44, and then the digital quantity is packed and transmitted to the data processing chip 5 to operate after reaching the set trigger logic, if the vehicle is in operation, the sensor data and the environmental data have small variation, the common scene is a high-speed cruising driving process, and the sequential logic circuit module 45 is adopted to filter a large amount of data without calculation, so that the sequential logic circuit module 45 is a pre-processing step of the data processing chip 5, the operation quantity of the data processing chip 5 can be greatly reduced, and the thermal downtime risk caused by the data processing chip 5 in a high-load operation environment for a long time can be avoided to a certain extent.
The system further comprises an audio signal input unit 7, wherein the audio signal input unit 7 is used for inputting data of the audio acquisition module 101 to the data modulation unit 4, the data modulation unit 4 further comprises a digital audio control processing chip 46, and the digital audio control processing chip 46 is used for processing and analyzing the audio data.
The audio signal input unit 7 is an important input signal in the autopilot link, and may be a voice control instruction in the vehicle or an external environmental sound, which are all data that must be referred to by the autopilot algorithm model, and similarly, the digital audio control processing chip 46 is integrated in the data modulation unit 4, so as to further improve the data integration level of the data modulation unit 4.
The sensor input unit 2, the visual signal input unit 3 and the audio signal input unit 7 are respectively connected with the data modulation unit 4 in a communication way through the SENT bus 8.
The SENT bus 8 is a unidirectional transmission protocol, data can only be transmitted from the sensor to the data modulation unit 4, the transmission is continuous without a request command, the SENT bus 8 is in the form of frames for transmitting data, or data packets, each frame is composed of pulses of different widths, i.e. nibbles;
the transmission of the SENT bus 8 data can be divided into a fast channel and a slow channel, the important signals are updated with the fast channel to realize high frequency, such as millisecond wave sensor data and the like, and for non-critical signals, such as electric quantity sensor data and the like, the signals can be transmitted in the slow channel;
the send bus 8 fast path is a path that transmits one complete signal per frame, and the slow path requires multiple frames to transmit one complete signal, i.e. the update frequencies are different.
The two sides of the PCB substrate 1 are respectively an A side and a B side, the middle part of the A side is provided with a chip area 11, the position of the B side corresponding to the chip area 11 is provided with a chip heat dissipation area 12, the chip heat dissipation area 12 is rectangular and annular, the periphery of the chip heat dissipation area is provided with a centralized modulation area 13, the periphery of the centralized modulation area 13 is provided with a modulation heat dissipation area 14, the periphery of the modulation heat dissipation area 14 is provided with an interface area 15, a sensor input unit 2, a visual signal input unit 3, an audio signal input unit 7 and a SENT bus 8 are respectively arranged in the interface area 15 at intervals, a frequency modulation type data transmission module 41, a pulse width modulation transmission module 42, a digital switch modulation transmission module 43, an AI visual processing chip 44, a time sequence logic circuit module 45 and a digital audio control processing chip 46 are respectively arranged in the centralized modulation area 13 at intervals, and the data processing chip 5 and the instruction generation chip 6 are arranged in the chip area 11.
The water-cooling radiator 9 is uniformly distributed in the peripheral areas of the chip heat dissipation area 12, the modulation heat dissipation area 14 and the chip area 11.
The circuit board card adopts double-sided layout, one surface is mainly provided with the data processing chip 5 and the instruction generating chip 6, and the other surface is provided with various input modules and various modules of the data modulation unit 4, and the heat dissipation of multi-layer surrounding type is carried out, so that the heat of the data processing chip 5 and the instruction generating chip 6 can be efficiently taken away, and the working reliability of the chip is ensured.
A modulator integrated circuit control method comprises the following specific steps:
and 3, the data processing chip 5 analyzes the data packet, performs operation based on an automatic driving algorithm, outputs an operation result, transmits the operation result to the instruction generating chip 6, and the instruction generating chip 6 generates an automobile control instruction and transmits the automobile control instruction to the automobile system 100.
The sensor data of different modulation modes on the vehicle can be concentrated on one circuit board to realize concentrated modulation, so that delay on a line, which is caused by the fact that digital data are required to be transmitted to the data processing chip 5, and misoperation caused by the delay are avoided, the invalid redundant data are screened through a logic triggering model of the sequential logic circuit module 45, the operation amount of the data processing chip 5 can be greatly reduced, the thermal downtime risk caused by the fact that the data processing chip 5 is in a high-load operation environment for a long time can be avoided to a certain extent, and the response time of an automatic driving signal of the vehicle can be greatly prolonged.
In step 2, the data modulating unit 4 generates data packets according to the time stamp every 20 ms of the digital quantity signal.
The logic screening of the sequential logic circuit module 45 can be realized while the timeliness of the data is ensured by packing the digital data in a mode of 20 millisecond time period interval.
In the step 3, the operation result comprises the throttle change amount, the direction change amount, the brake change amount and the lamplight change amount according to the data of the data packet.
In step 2, the sequential logic circuit module 45 adopts a Mealy-type finite synchronous state machine.
The finite state machine is a model of a sequential circuit, and any sequential circuit can be represented as a finite state machine, and the finite state machine can be classified into a mely type (Mealy) and a mole type (Moore) according to a generation manner of an output signal. The output of the Mealy type state machine is related to the current state and the input, and the Mealy type finite synchronous state machine is adopted to more efficiently carry out the combined logic screening of the digital quantity signals, filter a large amount of invalid data and have extremely low error rate.
The embodiment of the invention relates to a modulator integrated circuit card and a control method thereof, which are implemented according to the following principles:
in a specific car machine automatic driving scene, at a certain time point t, the millisecond wave radar sensor module monitors that the distance of a front object is 80 meters, the distance of a rear object is 100 meters, no object exists in a lateral direction of 5 meters, at the moment, the speed data monitored by the speed sensor is 50km/h, the visual camera does not monitor pedestrians, the front road is a straight road, the effective command voice data are not collected by the audio sensor in the car, and at the moment, the sensor input unit 2, the visual signal input unit 3 and the audio signal input unit 7 respectively transmit the monitoring data to the data modulation unit 4 through the SENT bus 8;
the data modulation unit 4 respectively converts different signals into digital quantity signals, packages the data between 20 ms time points, generates a data packet according to a time tag t by the digital quantity signals of an interval time period, and when a plurality of state triggers of the sequential logic circuit module 45 do not trigger state combination trigger logic, the data packet is transferred to a memory at the moment, the data processing chip 5 does not receive an effective data packet and is in an idle state;
when the time point t+1, the millisecond wave radar sensor module monitors that the distance between the front object is 20 m and is in a reduced trend, the distance between the rear object and the object is 80 m, no object exists in the lateral direction 5 m, at the moment, the speed data monitored by the speed sensor are 60km/h, the vision camera does not monitor pedestrians, the data modulation unit 4 respectively converts different signals into digital quantity signals and packages the data in 20 millisecond intervals, the digital quantity signals in the interval time period generate data packets according to the time label t+1, the speed state trigger A and the front vehicle distance state trigger B of the time sequence logic circuit module 45 are triggered, at the moment, the data packets are transmitted to the data processing chip 5, the data processing chip 5 analyzes the data packets and calculates based on an automatic driving algorithm, and the throttle change quantity of the calculation result is output: loosening; direction change amount: holding; brake variation: actively braking to a speed of 30km/h; light variation: the whole response process is controlled to be 200 milliseconds, the response speed is high, the data processing chip 5 transmits the operation result to the instruction generating chip 6, the instruction generating chip 6 generates an automobile control instruction and transmits the automobile control instruction to the automobile system 100, and the automobile system 100 executes the control instruction.
The above embodiments are not intended to limit the scope of the present invention, and therefore: all equivalent changes in structure, shape and principle of the invention should be covered in the scope of protection of the invention.
Claims (10)
1. A modulator integrated circuit card, characterized by: the device comprises a PCB substrate (1), a sensor input unit (2), a visual signal input unit (3), a data modulation unit (4), a data processing chip (5) and an instruction generation chip (6);
the sensor input unit (2), the visual signal input unit (3) and the data modulation unit (4) are respectively used for inputting sensor signal data and visual signal data into the data modulation unit (4), the data modulation unit (4) comprises a frequency modulation type data transmission module (41), a pulse width modulation type transmission module (42), a digital switch modulation type transmission module (43) and an AI visual processing chip (44), the frequency modulation type data transmission module (41) is used for processing sensor data based on frequency modulation, the pulse width modulation type transmission module (42) is used for processing sensor data based on pulse width modulation, the digital switch modulation type transmission module (43) is used for processing sensor data based on switching value, and the AI visual processing chip (44) is used for processing visual signal data input by the visual signal input unit (3); the frequency modulation type data transmission module (41), the pulse width modulation transmission module (42), the digital switch modulation transmission module (43) and the digital quantity data output end of the AI vision processing chip (44) are respectively in communication connection with the data processing chip (5), the data processing chip (5) carries out logic judgment based on the time sequence of digital quantity data input and outputs prepositive data based on a preset instruction model to the instruction generating chip (6), and the instruction generating chip (6) generates a control signal according to the prepositive data and transmits the control signal to the vehicle-mounted system (100).
2. A modulator integrated circuit card according to claim 1, wherein: the data modulation unit (4) further comprises a time sequence logic circuit module (45), the time sequence logic circuit module (45) is respectively in communication connection with the frequency modulation type data transmission module (41), the pulse width modulation transmission module (42), the digital switch modulation transmission module (43) and the AI vision processing chip (44), and the time sequence logic circuit module (45) filters digital quantity signals based on a time sequence model and then packages the digital quantity signals and transmits the digital quantity signals to the data processing chip (5).
3. A modulator integrated circuit card according to claim 2, wherein: the audio signal processing device comprises a data acquisition module (101), a data modulation unit (4), an audio signal input unit (7), a digital audio control processing chip (46) and a digital audio control processing chip (46), wherein the audio signal input unit (7) is used for inputting data of the audio acquisition module (101) to the data modulation unit (4), and the digital audio control processing chip (46) is used for processing and analyzing audio data.
4. A modulator integrated circuit card according to claim 3, wherein: the sensor comprises a sensor input unit (2), a visual signal input unit (3) and an audio signal input unit (7), and is also provided with a SENT bus (8), and the sensor input unit, the visual signal input unit and the audio signal input unit (7) are respectively in communication connection with a data modulation unit (4) through the SENT bus (8).
5. A modulator integrated circuit card as defined in claim 4 wherein: the two sides of the PCB substrate (1) are respectively an A side and a B side, the middle part of the A side is provided with a chip area (11), the B side is provided with a chip radiating area (12) corresponding to the chip area (11), the chip radiating area (12) is rectangular and annular, the periphery of the chip radiating area is provided with a concentrated modulation area (13), the periphery of the concentrated modulation area (13) is provided with a modulation radiating area (14), the periphery of the modulation radiating area (14) is provided with an interface area (15), a sensor input unit (2), a visual signal input unit (3), an audio signal input unit (7) and a SENT bus (8) are respectively arranged in the interface area (15) at intervals, and a frequency modulation data transmission module (41), a pulse width modulation transmission module (42), a digital switch modulation transmission module (43), an AI visual processing chip (44), a time sequence logic circuit module (45) and a digital audio control processing chip (46) are respectively arranged in the concentrated modulation area (13) at intervals, and a data processing chip (5) and an instruction generation chip (6) are arranged in the chip area (11).
6. A modulator integrated circuit card according to claim 5, wherein: and the chip heat dissipation areas (12), the modulation heat dissipation areas (14) and the peripheral areas of the chip area (11) are uniformly distributed with water-cooling radiators (9).
7. A method of controlling a modulator integrated circuit, comprising: the integrated circuit card of the modulator of claim 6 is adopted for centralized modulation processing, and the specific steps are as follows:
step 1, a sensor input unit (2), a visual signal input unit (3) and an audio signal input unit (7) respectively transmit monitoring data to a data modulation unit (4) through a SENT bus (8);
step 2, the data modulation unit (4) respectively converts different signals into digital quantity signals, generates data packets according to time labels by the digital quantity signals of interval time periods, the time sequence logic circuit module (45) sets a plurality of state triggers and sets state combination trigger logic based on clocks, and when the state combination trigger logic of the data packet trigger exists, the data packets are transmitted to the data processing chip (5);
and 3, the data processing chip (5) analyzes the data packet, performs operation based on an automatic driving algorithm, outputs an operation result, transmits the operation result to the instruction generating chip (6), and the instruction generating chip (6) generates an automobile control instruction and transmits the automobile control instruction to the automobile machine system (100).
8. The method of controlling a modulator integrated circuit according to claim 7, wherein: in step 2, the data modulating unit (4) generates data packets according to the time labels every 20 ms of digital quantity signals.
9. The method of controlling a modulator integrated circuit according to claim 7, wherein: in the step 3, the operation result comprises the throttle change amount, the direction change amount, the brake change amount and the lamplight change amount according to the data of the data packet.
10. The method of controlling a modulator integrated circuit according to claim 7, wherein: in step 2, the sequential logic circuit module (45) adopts a Mealy type finite synchronous state machine.
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