CN213987262U - ADAS road test data recording system - Google Patents
ADAS road test data recording system Download PDFInfo
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- CN213987262U CN213987262U CN202023098010.3U CN202023098010U CN213987262U CN 213987262 U CN213987262 U CN 213987262U CN 202023098010 U CN202023098010 U CN 202023098010U CN 213987262 U CN213987262 U CN 213987262U
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Abstract
An ADAS road test data recording system comprises an ADAS sensor for collecting ADAS information; the ADAS ECU is used for operating the ADAS control algorithm, calculating and deciding according to the information acquired by the sensor and then outputting warning or control information; the vehicle body bus is used for recording the output information, the vehicle speed, the vehicle running state and the vehicle control state of the ADAS ECU; the data acquisition front end is used for realizing data acquisition of an ADAS sensor, an ADAS ECU and a vehicle body bus in road testing; the data storage equipment is used for storing the data collected by the data collection front end in a RAID disk array in a centralized manner; and the vehicle-mounted power supply equipment is used for supplying power to the data acquisition front end and the data storage equipment. The utility model discloses record ADAS road test data, then handle the playback and combine this kind of test method of software emulation to the record data again can overcome the not enough of current test mode.
Description
Technical Field
The utility model relates to an Advanced Driving Assistance System (ADAS) technical field, in particular to ADAS road test data recording system.
Background
At present, more and more ADAS (advanced driving assistance system) is mounted in mass production vehicles, and the ADAS is gradually penetrated into various middle-end configuration vehicles from the initial high-end configuration vehicles, and the ADAS is increasingly applied. The ADAS system captures driving environment through various sensors, and performs corresponding information prompt or automatic/semi-automatic intervention driving state for a driver based on output results of various auxiliary driving algorithms in the ADAS controller. In the current ADAS system, the sensors mainly include laser radar, camera, millimeter wave radar, ultrasonic radar, inertial measurement unit, etc. the ADAS controller senses the environment around the vehicle through the sensors, collects the data of various sensors, and identifies and tracks the surrounding objects through algorithm calculation and analysis, so that the driver can detect the danger in advance and take corresponding measures. The ADAS controller and control algorithm test is an important part in the real vehicle test, the existing ADAS controller and control algorithm test mainly takes pure software simulation and actual road test as main parts, and the test methods have the following limitations.
Firstly, a pure software simulation method is used for testing the ADAS controller and the control algorithm, and because the sensor model and the simulation scene in the simulation software can be close to the sensor data source of the actual road test environment as much as possible, but have a certain difference with the actual environment, some control algorithms have no problem in the simulation software, but have problems in the actual road, so that the testing effectiveness is not very high.
Secondly, the simple use of the actual road test requires a large investment in labor, physical and time costs. When the ADAS controller software and hardware need to be upgraded, repeated tests are also needed, which greatly increases the cost, and at the same time, the test is difficult to achieve a very high test coverage rate.
In view of this, it is important to record and store the ADAS road test data, and combine the road test data with the simulation test to perform the ADAS controller and algorithm test, and this test method can not only maximize the data fidelity of the road test, but also perform multiple repeated tests and improve the test coverage. The testing method of recording the ADAS road test data, processing and replaying the recorded data and combining software simulation can overcome some defects of the existing testing mode, so that the design of the ADAS road test data recording system with high synchronization precision is very important.
SUMMERY OF THE UTILITY MODEL
For overcoming the not enough among the above-mentioned prior art, the utility model aims to provide an ADAS road test data recording system. In order to achieve the above objects and other related objects, the present invention provides a technical solution: an ADAS roadway test data logging system, the data logging system comprising:
an ADAS sensor for acquiring ADAS information;
the ADAS ECU is used for operating an ADAS control algorithm, calculating and deciding according to the information acquired by the ADAS sensor and then outputting warning or control information;
the vehicle body bus is used for recording output information, vehicle speed, vehicle running state and vehicle control state of the ADAS ECU;
the data acquisition front end is used for realizing data acquisition of the ADAS sensor, the ADAS ECU and the vehicle body bus in road testing;
the data storage equipment is used for realizing the centralized storage of the data collected by the data collection front end in an easily-detached RAID disk array;
and the vehicle-mounted power supply equipment is used for supplying power to the data acquisition front end and the data storage equipment.
The preferable technical scheme is as follows: the ADAS sensor comprises a laser radar, a camera, a millimeter wave radar, an ultrasonic radar and an inertia measurement unit.
The preferable technical scheme is as follows: the vehicle body bus comprises a CAN bus, a LIN bus and a FlexRay bus.
The preferable technical scheme is as follows: the data acquisition front end comprises various ADAS sensor acquisition modules, nanosecond-level synchronization modules and a power supply module, the synchronization modules support GPS/PPS input and connect synchronization signals to the various ADAS sensor acquisition modules through a plurality of synchronization ports, and the power supply module is used for supplying power to the ADAS sensor acquisition modules.
The preferable technical scheme is as follows: ADAS sensor acquisition module includes data acquisition core plate and data acquisition interface daughter board, data acquisition core plate with the data acquisition interface daughter board uses FMC interface connection, ADAS sensor acquisition module uses the same data acquisition core plate, and the data acquisition interface daughter board then uses different external interfaces according to the different functions of module.
The preferable technical scheme is as follows: the data acquisition core board uses an SOC integrated with an ARM hard core and an FPGA as a main chip; the data acquisition core board uses 10Gb Ethernet and 1Gb Ethernet as external data transmission interfaces; the data acquisition core board is provided with a synchronization port for connecting with the synchronization module; the data acquisition core board is provided with a power supply port for being connected with the power supply module.
The preferable technical scheme is as follows: ADAS sensor acquisition module includes laser radar collection module, camera collection module, millimeter wave radar collection module, ultrasonic radar collection module, serial ports collection module, CAN collection module and automobile body bus collection module, laser radar collection module with laser radar connects, camera collection module with the camera is connected, millimeter wave radar collection module with the millimeter wave radar is connected, ultrasonic radar collection module with ultrasonic radar connects, serial ports collection module with the inertia measuring unit is connected, CAN collection module with ADAS ECU connects, automobile body bus collection module with automobile body bus connects.
The preferable technical scheme is as follows: the data storage device comprises a storage host and a RAID disk array, wherein the storage host is connected with the data acquisition front end and stores the data acquired by the data acquisition front end in the RAID disk array in a centralized manner.
The preferable technical scheme is as follows: the DATA recording system performs a coupled signal acquisition of the RAW signal (RAW DATA) of the ADAS sensor.
The preferable technical scheme is as follows: the data recording system supports Network Attached Storage (NAS).
Because of the application of the technical scheme, the utility model discloses the beneficial effect who has does:
the ADAS road test data recording system can be used for carrying out high-precision synchronous data acquisition and storage on various ADAS sensors, ADAS ECU and automobile body bus data in automobile road tests. The ADAS sensor can be a sensor originally installed on the road test vehicle, and can also be an additionally installed sensor. The DATA recording system CAN carry out coupling type signal acquisition on original signals (RAW DATA) of the sensor, does not damage original vehicle communication links, and CAN acquire different interfaces such as a laser radar, various cameras, various millimeter-wave radars, an ultrasonic radar, an inertia measurement unit, an ADAS ECU, a vehicle body CAN bus, a vehicle body LIN bus, a vehicle body FlexRay bus and the like; various data acquisition modules in the data recording system use a unified data acquisition core board plus a data acquisition interface daughter board structure, and the two board cards are connected through an FMC interface. The multiple data acquisition modules can share the same data acquisition core board hardware, and the interface daughter card uses different external interfaces according to different functions of the modules; the data acquisition core board uses an SOC integrated with an ARM hard core and an FPGA as a main chip, so that the integration level of an acquisition system is improved, and the data acquisition core board uses a 10Gb Ethernet and a 1Gb Ethernet as external data transmission interfaces, is uniform and is also convenient to be in communication connection with data storage equipment; the data acquisition core board is provided with a synchronization port, a plurality of acquisition board cards can be time-tagged and synchronized at a time nanosecond level by combining a special synchronization module, the time tag precision and the synchronization precision can reach 10ns, and the synchronization module can receive GPS and PPS input; data storage devices in data recording systems use readily removable RAID storage arrays as the medium for data storage. The data recording system supports Network Attached Storage (NAS), can optimize the cost and reliability of the system, and provides flexibly expanded system storage depth; the recorded and stored data can be conveniently transmitted to a cloud server for various data service applications, such as data annotation, ADAS function verification, sensor evaluation, algorithm evaluation test, HIL test, model training and the like.
Drawings
Fig. 1 is a block diagram of the data recording system of the present invention.
Fig. 2 is the utility model discloses well data acquisition front end module structure block diagram of unifying.
Fig. 3 is a block diagram of the nanosecond level synchronization module according to the present invention.
Fig. 4 is a block diagram of the application service of the present invention.
Detailed Description
The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.
Example (b):
referring to fig. 1, the utility model provides a data recording system for ADAS road test, this data recording system includes ADAS sensor 1, ADAS ECU 2, automobile body bus 3, data acquisition front end 4, data storage equipment 5 and on-vehicle power supply unit 6. Wherein, ADAS sensor 1 includes on-vehicle various be used for ADAS function sensor, mainly includes: laser radar 11, camera 12, millimeter wave radar 13, ultrasonic radar 14, and inertial measurement unit 15.
The lidar sensor is a sensor that performs remote object detection and ranging using a laser light source and a receiver, and outputs point cloud data through an Ethernet (Ethernet) interface. The laser radar in the ADAS system has the advantages of wide detection angle, high precision, long measurement distance and the like.
The cameras include various vehicle-mounted cameras in the ADAS system, such as a forward-looking camera, a look-around camera, an infrared night-vision camera, a driver monitoring camera, and the like. The in-vehicle camera outputs image data through a GMSL or FPD interface.
The millimeter wave radar includes various millimeter wave radars in the ADAS system, such as a front radar, an angle radar, and the like. The front radar is generally installed in front of a vehicle bumper and used for detecting and measuring obstacles in front, and the distance measuring range is far. The angle radar is generally installed at a front left corner, a front right corner, a rear left corner and a rear right corner of the vehicle, and is used for detecting obstacles around the vehicle, and the distance measurement range is closer than that of the front radar. The millimeter wave radar outputs data through a CAN bus or an Ethernet (Ethernet) interface.
The ultrasonic radar is mainly used for detecting obstacles in short-distance and low-speed scenes in an ADAS system and is mainly used for an automatic parking system. The ultrasonic radar outputs data through a LIN or CAN interface.
The inertial measurement unit is mainly used in the ADAS system to determine heading, attitude, position, etc. of a vehicle, and it usually outputs data through an RS232 serial port interface.
The ADAS ECU 2 is a controller in the ADAS system, and is configured to run various ADAS control algorithms, perform calculations and decisions, and output warning or control information according to the collected information of the ADAS sensor 1 and the vehicle running state, and the ADAS ECU 2 generally outputs data through a CAN interface.
In the ADAS road test, besides data of laser radar, camera, millimeter wave radar, ultrasonic radar and inertia measurement unit, some information of the ADAS ECU 2 and the vehicle body, such as output information of the ADAS ECU 2, vehicle speed, vehicle running state, vehicle control state, etc., should be recorded, and the information needs to be acquired through the vehicle bus 3. The body bus 3 includes a CAN bus, a LIN bus, and a FlexRay bus. The ADAS road test data recording system also records the information output by the ADAS ECU 2 and the information collected by the vehicle body bus 3.
The data acquisition front end 4 mainly realizes data acquisition of various ADAS sensors 1, ADAS ECU 2 and automobile body bus 3 in road test.
The data storage device 5 comprises a storage host 51 and a RAID disk array 52, and the storage host 51 is connected with the data acquisition front end 4 and stores data acquired by the data acquisition front end 4 in the RAID disk array 52 in a centralized manner.
The data storage device 5 mainly realizes that data collected by the data collection front end 4 is stored in a RAID 52 disk array which is easy to detach in a centralized manner, and facilitates subsequent storage of data recorded in an ADAS road test to a cloud server, so that various data service applications are performed.
As shown in fig. 2, each ADAS sensor acquisition module 41 adopts a structure of a data acquisition interface daughter board 8 plus a data acquisition core board 7, the hardware of the data acquisition core board 7 in each ADAS sensor acquisition module 41 is the same, and the data acquisition interface daughter board 8 differs according to the different sensors to be connected.
Further, the data acquisition core board 7 uses an SOC 9 integrated with an ARM hard core and an FPGA as a main chip; the data acquisition core board 7 uses 10Gb Ethernet and 1Gb Ethernet as external data transmission interfaces 10; the data acquisition core board 7 is provided with a synchronization port 16 for connecting with the synchronization module 42; the data acquisition core board 7 has a power supply port 17 for connection with the power supply module 43.
The utility model provides a various ADAS sensor acquisition module 41 that the data acquisition front end contains support high accuracy time label and data synchronous acquisition, time label and synchronous precision can reach 10ns, FIG. 3 is nanosecond level synchronization module 42 in the data acquisition front end 4, synchronization module 42 supports GPS PPS input, synchronous port through synchronization module 42 is connected to various ADAS sensor acquisition module 41 in the data acquisition front end 4 with synchronizing signal, thereby realize the high accuracy synchronous acquisition of ADAS sensor data.
As shown in fig. 4, the data collected and recorded in the RAID easy-to-detach storage array 52 may be copied to the cloud server through the high-performance data copy server, and the application terminal may obtain the collected ADAS sensor raw data from the cloud server, so as to perform various data application developments, such as data annotation, ADAS function verification, sensor evaluation, algorithm evaluation test, HIL test, model training, and the like.
To sum up, the utility model provides an ADAS road test data recording system can carry out the synchronous data acquisition and the storage of high accuracy to various ADAS sensor, ADAS ECU and automobile body bus data in the test of automobile road. The ADAS sensor can be a sensor originally installed on the road test vehicle, and can also be an additionally installed sensor. The DATA recording system CAN carry out coupling type signal acquisition on original signals (RAW DATA) of the sensor, does not damage original vehicle communication links, and CAN acquire different interfaces such as a laser radar, various cameras, various millimeter-wave radars, an ultrasonic radar, an inertia measurement unit, an ADAS ECU, a vehicle body CAN bus, a vehicle body LIN bus, a vehicle body FlexRay bus and the like; various data acquisition modules in the data recording system use a unified data acquisition core board plus a data acquisition interface daughter board structure, and the two board cards are connected through an FMC interface. The multiple data acquisition modules can share the same data acquisition core board hardware, and the interface daughter card uses different external interfaces according to different functions of the modules; the data acquisition core board uses an SOC integrated with an ARM hard core and an FPGA as a main chip, so that the integration level of an acquisition system is improved, and the data acquisition core board uses a 10Gb Ethernet and a 1Gb Ethernet as external data transmission interfaces, is uniform and is also convenient to be in communication connection with data storage equipment; the data acquisition core board is provided with a synchronization port, a plurality of acquisition board cards can be time-tagged and synchronized at a time nanosecond level by combining a special synchronization module, the time tag precision and the synchronization precision can reach 10ns, and the synchronization module can receive GPS and PPS input; data storage devices in data recording systems use readily removable RAID storage arrays as the medium for data storage. The data recording system supports Network Attached Storage (NAS), can optimize the cost and reliability of the system, and provides flexibly expanded system storage depth; the recorded and stored data can be conveniently transmitted to a cloud server for various data service applications, such as data annotation, ADAS function verification, sensor evaluation, algorithm evaluation test, HIL test, model training and the like.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. An ADAS road test data logging system, the data logging system comprising:
an ADAS sensor for acquiring ADAS information;
the ADAS ECU is used for operating an ADAS control algorithm, calculating and deciding according to the information acquired by the ADAS sensor and then outputting warning or control information;
the vehicle body bus is used for recording output information, vehicle speed, vehicle running state and vehicle control state of the ADAS ECU;
the data acquisition front end is used for realizing data acquisition of the ADAS sensor, the ADAS ECU and the vehicle body bus in road testing;
the data storage equipment is used for realizing the centralized storage of the data collected by the data collection front end in an easily-detached RAID disk array;
and the vehicle-mounted power supply equipment is used for supplying power to the data acquisition front end and the data storage equipment.
2. An ADAS roadway test data logging system as claimed in claim 1, wherein: the ADAS sensor comprises a laser radar, a camera, a millimeter wave radar, an ultrasonic radar and an inertia measurement unit.
3. An ADAS roadway test data logging system as claimed in claim 1, wherein: the vehicle body bus comprises a CAN bus, a LIN bus and a FlexRay bus.
4. An ADAS roadway test data logging system as claimed in claim 2, wherein: the data acquisition front end contains various ADAS sensor acquisition modules, nanosecond level synchronization module and power module, synchronization module supports GPS/PPS input and is connected to each ADAS sensor acquisition module with synchronizing signal through a plurality of synchronous ports, power module is used for giving ADAS sensor acquisition module supplies power.
5. An ADAS road test data recording system according to claim 4, wherein: ADAS sensor acquisition module includes data acquisition core plate and data acquisition interface daughter board, data acquisition core plate with the data acquisition interface daughter board uses FMC interface connection, ADAS sensor acquisition module uses the same data acquisition core plate, and the data acquisition interface daughter board then uses different external interfaces according to the different functions of module.
6. An ADAS roadway test data logging system as claimed in claim 5, wherein: the data acquisition core board uses an SOC integrated with an ARM hard core and an FPGA as a main chip; the data acquisition core board uses 10Gb Ethernet and 1Gb Ethernet as external data transmission interfaces; the data acquisition core board is provided with a synchronization port for connecting with the synchronization module; the data acquisition core board is provided with a power supply port for being connected with the power supply module.
7. An ADAS road test data recording system according to claim 4, wherein: ADAS sensor acquisition module includes laser radar collection module, camera collection module, millimeter wave radar collection module, ultrasonic radar collection module, serial ports collection module, CAN collection module and automobile body bus collection module, laser radar collection module with laser radar connects, camera collection module with the camera is connected, millimeter wave radar collection module with the millimeter wave radar is connected, ultrasonic radar collection module with ultrasonic radar connects, serial ports collection module with the inertia measuring unit is connected, CAN collection module with ADAS ECU connects, automobile body bus collection module with automobile body bus connects.
8. An ADAS roadway test data logging system as claimed in claim 1, wherein: the data storage device comprises a storage host and a RAID disk array, wherein the storage host is connected with the data acquisition front end and stores the data acquired by the data acquisition front end in the RAID disk array in a centralized manner.
9. An ADAS roadway test data logging system as claimed in claim 1, wherein: the DATA recording system performs a coupled signal acquisition of the RAW signal (RAW DATA) of the ADAS sensor.
10. An ADAS roadway test data logging system as claimed in claim 1, wherein: the data recording system supports Network Attached Storage (NAS).
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| CN202023098010.3U CN213987262U (en) | 2020-12-21 | 2020-12-21 | ADAS road test data recording system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114205371A (en) * | 2021-11-29 | 2022-03-18 | 中汽研（天津）汽车工程研究院有限公司 | System and method for quickly interacting data between vehicle end and server end |
| CN115962961A (en) * | 2023-03-14 | 2023-04-14 | 苏州清研精准汽车科技有限公司 | System and method for testing ADAS signal display function |
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2020
- 2020-12-21 CN CN202023098010.3U patent/CN213987262U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114205371A (en) * | 2021-11-29 | 2022-03-18 | 中汽研（天津）汽车工程研究院有限公司 | System and method for quickly interacting data between vehicle end and server end |
| CN115962961A (en) * | 2023-03-14 | 2023-04-14 | 苏州清研精准汽车科技有限公司 | System and method for testing ADAS signal display function |
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Inventor after: Xu Chong Inventor after: Zheng Kai Inventor before: Xu Chong |
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