CN217561949U - Sensor access system and automatic driving system - Google Patents
Sensor access system and automatic driving system Download PDFInfo
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- CN217561949U CN217561949U CN202123389306.5U CN202123389306U CN217561949U CN 217561949 U CN217561949 U CN 217561949U CN 202123389306 U CN202123389306 U CN 202123389306U CN 217561949 U CN217561949 U CN 217561949U
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Abstract
The application discloses sensor access system and autopilot system belongs to autopilot technical field. The system comprises: an image sensor interface; a plurality of low speed data sensor interfaces; a high speed data bus; gigabit ethernet interfaces; and an SOC chip including: the FPGA unit receives the image data, converts the image data into PCIe protocol format data and receives low-speed data; the real-time processor receives the low-speed data from the FPGA unit through the high-speed data bus and carries out time service on the low-speed data; and at least one general processor which converts the time-service low-speed data into gigabit Ethernet protocol format data and transmits the gigabit Ethernet protocol format data to the server. According to the method and the device, the image data are processed through the FPGA unit, the processing requirements of a large amount of camera data are met, meanwhile, the time stamping and time service processing are carried out on other automatic driving data through the time service unit, the requirement of data synchronization is met, and the precision of subsequent data processing is improved.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to a sensor access system and an automatic driving system.
Background
In the field of automatic driving, in order for an automatic driving system to accurately control a vehicle, the running safety is ensured by acquiring and processing a large amount of automatic driving data. The requirements on the synchronism of data acquisition and the real-time performance of data processing are high. In order to improve the safety of automatic driving and the accuracy of vehicle control, a multi-channel camera is used for acquiring road image data, and meanwhile, the positioning data, the data acquired by an inertial measurement unit or an inertial navigation device are required to be processed in real time, and meanwhile, in order to calculate accurately, the data at the same time also needs to be processed synchronously. In the face of the requirements of huge data volume and real-time property and synchronism of data processing, the existing automatic driving system can not meet the corresponding requirements, and the problems of small data processing amount and incapability of effectively guiding automatic driving occur.
SUMMERY OF THE UTILITY MODEL
The application provides a sensor access system and an automatic driving system, aiming at the problems that in the prior art, the automatic driving data processing capacity is huge, strict time synchronization requirements exist, the automatic driving data processing efficiency is low, and errors are easy to occur.
In one aspect of the present application, a sensor access system is provided, including: an image sensor interface; a plurality of low speed data sensor interfaces; a high speed data bus; gigabit Ethernet interfaces; the SOC chip comprises an FPGA unit, a server and a plurality of low-speed data sensor interfaces, wherein the FPGA unit receives image data collected by a plurality of image sensors of the vehicle through the image sensor interfaces, converts the image data into PCIe protocol format data to be transmitted to the server, and receives low-speed data sensed by a plurality of low-speed data sensors of the vehicle through the low-speed data sensor interfaces; the real-time processor receives low-speed data from the FPGA unit through a high-speed data bus and utilizes a clock signal to time the low-speed data; and at least one general processor which converts the time-service low-speed data into gigabit Ethernet protocol format data to be transmitted to the server through the gigabit Ethernet interface.
Optionally, the method further includes: and the iPass interface is used for transmitting the PCIe protocol format data to the server.
Optionally, the method further includes: and the optical fiber interface is used for connecting with an optical fiber and exporting the PCIe protocol format data to the external memory.
Optionally, the method further includes: and the temperature compensation crystal oscillator is used as a clock source and generates a clock signal.
Optionally, the method further includes: and the real-time clock circuit is used as a standby clock source to generate a clock signal when the temperature compensation crystal oscillator does not work.
Optionally, the method further includes: and the real-time processor carries out time service on the laser radar data sensed by at least one laser radar by using a clock signal through the GPS protocol interface, and the laser radar data subjected to time service is directly transmitted to the server.
Optionally, the low speed data includes GPS information of the vehicle and environmental information around the vehicle, wherein the plurality of low speed data sensor interfaces include: at least one GPS sensor interface for transmitting GPS information sensed by the at least one GPS sensor; and a radar interface for transmitting environmental information sensed by the at least one millimeter wave radar and the at least one ultrasonic radar.
Optionally, the GPS information includes low-precision GPS information, and the at least one GPS sensor interface includes: a low-precision GPS sensor interface for transmitting low-precision GPS information sensed by at least one low-precision GPS sensor.
Optionally, the GPS information further includes high-precision GPS information, and the at least one GPS sensor interface further includes: a high-precision GPS sensor interface for transmitting high-precision GPS information sensed by the at least one inertial navigation sensor.
In one aspect of the present application, an autopilot system is provided, which includes a server and a sensor access system, wherein the sensor access system includes: an image sensor interface; a plurality of low speed data sensor interfaces; a high speed data bus; gigabit Ethernet interfaces; and an SOC chip including: the system comprises an FPGA unit, a plurality of low-speed data sensors and a plurality of image sensors, wherein the FPGA unit receives image data acquired by the plurality of image sensors of the vehicle through image sensor interfaces, converts the image data into PCIe protocol format data to be transmitted to a server, and receives low-speed data sensed by the plurality of low-speed data sensors of the vehicle through the plurality of low-speed data sensor interfaces; the real-time processor receives the low-speed data from the FPGA unit through the high-speed data bus and utilizes a clock signal to time the low-speed data; and the universal processor converts the time-service low-speed data into gigabit Ethernet protocol format data to be transmitted to the server through the gigabit Ethernet interface, wherein the server controls the vehicle according to the PCIe protocol format data and the gigabit Ethernet protocol format data.
The beneficial effect of this application is: according to the method, the image data received by the image sensor interface is processed through the FPGA unit, the processing requirements of a large amount of image data are met, meanwhile, the low-speed data received by the low-speed data sensor interface is subjected to time stamping and time service processing through the real-time processor, the requirement of data synchronization is met, the precision of subsequent data processing is improved, and the processing effect of the data in the automatic driving process is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 shows a schematic structural diagram of one embodiment of a sensor access system of the present application;
FIG. 2 illustrates an example of a sensor access system of the present application;
fig. 3 shows an embodiment of the present autopilot system.
Specific embodiments of the present application have been shown by way of example in the drawings and will be described in more detail below. The drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the concepts of the application by those skilled in the art with reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings (if any) are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances such that the embodiments of the application described herein may be implemented, for example, in sequences other than those illustrated or described herein. Moreover, the terms "comprises" and "comprising," as well as any variations thereof, are intended to cover a non-exclusive inclusion, such that a product or device that comprises a list of steps or elements is not necessarily limited to those elements explicitly listed, but may include other elements not expressly listed or inherent to such product or device.
In the field of automatic driving, in order for an automatic driving system to accurately control a vehicle, the running safety is ensured by acquiring and processing a large amount of automatic driving data. The requirements on the synchronism of data acquisition and the real-time performance of data processing are high. In order to improve the safety of automatic driving and the accuracy of vehicle control, a multi-channel camera is adopted to acquire image data, and meanwhile, the real-time processing of positioning data, inertial measurement units or inertial navigation equipment acquired data is required. In addition, in order to calculate accurately, data at the same time needs to be synchronized. In the face of the requirements of huge data volume and real-time property and synchronism of data processing, the existing automatic driving system cannot meet the requirements, so that the problem that the automatic driving cannot be effectively guided due to small data processing amount occurs finally.
In order to solve the problems, the application provides a sensor access system and an automatic driving system. The sensor access system includes: an image sensor interface; a plurality of low speed data sensor interfaces; a high speed data bus; gigabit Ethernet interfaces; and an SOC chip including: the system comprises an FPGA unit, a plurality of low-speed data sensors and a plurality of PCIe protocol format data processing units, wherein the FPGA unit receives image data collected by the plurality of image sensors of the vehicle through an image sensor interface, converts the image data into PCIe protocol format data to be transmitted to a server, and receives low-speed data sensed by the plurality of low-speed data sensors of the vehicle through a plurality of low-speed data sensor interfaces; the real-time processor receives the low-speed data from the FPGA unit through the high-speed data bus and utilizes a clock signal to time the low-speed data; and at least one general processor which converts the time-service low-speed data into gigabit Ethernet protocol format data to be transmitted to the server through the gigabit Ethernet interface.
The sensor access system of the application imports data acquired by different sensors by setting the image sensor interface and the plurality of low-speed data sensor interfaces, and meets the processing requirements of a large amount of data. And the high-integration SOC chip is arranged, and formats of automatic driving data such as image data and the like acquired by the multi-path camera are converted and output through the FPGA unit, so that the processing requirement on a large amount of data is met. And simultaneously, synchronous trigger control of a plurality of image sensors received by the image sensor interface is realized. The low-speed data received by the plurality of low-speed data sensor interfaces are time stamped for time service through the at least one real-time processor, so that the accuracy and stability of data calculation are ensured when the processing system processes the low-speed data, and the automatic driving of the vehicle is guided more accurately. At the same time, at least one real-time processor and at least one general-purpose processor satisfy the requirements for real-time processing of autopilot data
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. These several specific embodiments may be combined with each other below, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 shows a schematic structural diagram of an embodiment of the sensor access system of the present application.
In the embodiment shown in fig. 1, the sensor access system of the present application includes an image sensor interface 101 for interfacing with a plurality of image sensors of a vehicle, the image sensors including cameras, and receiving captured image data. And a plurality of low speed data sensor interfaces 102 for connecting with a plurality of low speed data sensors of the vehicle and receiving the low speed data collected by the low speed data sensors.
Optionally, the low speed data includes GPS information of the vehicle and environmental information around the vehicle, wherein the plurality of low speed data sensor interfaces include: at least one GPS sensor interface for transmitting GPS information sensed by at least one GPS sensor; and a radar interface for transmitting environmental information sensed by the at least one millimeter wave radar and the at least one ultrasonic radar.
In this alternative embodiment, the low speed data sensor port includes at least one GPS sensor interface for transmitting GPS information sensed by the GPS sensor; the low speed data sensor port includes a radar interface for transmitting environmental information, i.e., point cloud information, about the vehicle as sensed by the at least one millimeter wave radar and the at least one ultrasonic radar. Where the low speed data is only relative. Compared with image data, image data has a large data volume and needs to be processed at high speed and high efficiency, and GPS information and environment information of point clouds have a small data volume and do not need to be processed at high speed, but the real-time requirement is high.
Optionally, the GPS information includes low precision GPS information, and the at least one GPS sensor interface includes: a low-precision GPS sensor interface for transmitting low-precision GPS information sensed by at least one low-precision GPS sensor.
In this alternative embodiment, the GPS interface includes a low-precision GPS sensor interface for interfacing with a low-precision GPS sensor to receive corresponding low-precision GPS information. The low-precision GPS sensor comprises a GPS position measuring unit, an IMU inertial measuring unit and the like.
Optionally, the GPS information further includes high-precision GPS information, and the at least one GPS sensor interface further includes: and the high-precision GPS sensor interface is used for transmitting the high-precision GPS information sensed by the at least one inertial navigation sensor.
In this alternative embodiment, the GPS interface includes a high-accuracy GPS sensor interface for interfacing with a high-accuracy GPS sensor to receive corresponding high-accuracy GPS information. Wherein the high-precision GPS sensor comprises an inertial navigation system device.
In the embodiment shown in fig. 1, the sensor access system of the present application includes a high speed data bus 103 and a gigabit ethernet interface 104.
In the optional embodiment, the high-speed data bus is arranged between the FPGA unit and the real-time processor, so that the data can be transmitted quickly. The gigabit Ethernet interface mainly uploads image data and low-speed data processed by the SOC chip to the server, and the image data and the low-speed data are further processed by the server, so that automatic driving control is performed on the automatic driving vehicle.
In the embodiment shown in fig. 1, the sensor access system of the present application includes an SOC chip 105 including an FPGA unit 1051 that receives image data collected by a plurality of image sensors of a vehicle through an image sensor interface, converts the image data into PCIe protocol format data to be transmitted to a server, and receives low-speed data sensed by a plurality of low-speed data sensors of the vehicle through a plurality of low-speed data sensor interfaces.
In the embodiment, the SOC chip adopts a high-integration design, is convenient to deploy and high in processing speed, and meets the real-time requirement of automatic driving. An FPGA (Field Programmable Gate Array) unit 1051 receives image data collected by a plurality of image sensors of a vehicle through an image sensor interface, and completes conversion of a data format, converts the image data into data having a PCIe protocol format, and uploads the image data to a server in the data format for subsequent processing. The FPGA unit receives low-speed data sensed by a plurality of low-speed data sensors of the vehicle through a plurality of low-speed data sensor interfaces at the same time. The FPGA unit meets the data access function of various image sensor interfaces and a plurality of low-speed data sensor interfaces, converts the data format of the image data, has the characteristics of high data throughput and high operation speed, has higher data processing capacity compared with other ARM processing chips, and is suitable for application scenes of a large amount of image data of multi-path cameras, such as 12-path cameras and the like.
In the embodiment shown in fig. 1, the SOC chip in the sensor access system of the present application further includes at least one real-time processor 1052, which receives the low-speed data from the FPGA unit through the high-speed data bus and time-service the low-speed data by using a clock signal.
In this embodiment, in order to ensure the accuracy of the calculation of the automatic driving data during the automatic driving, the automatic driving data obtained by various sensors needs to be processed in a time-sharing manner to determine which automatic driving data belong to the same time. The real-time processor gives time to various automatic driving data in a time stamping mode to the various automatic driving data, so that the automatic driving data can be accurately processed subsequently. The real-time processor receives the low-speed data passing through the FPGA unit through the high-speed data bus and carries out time service on the low-speed data according to a clock signal.
Specifically, the real-time processor may employ a 2-core R5 processor. The processing capability is strong, and the real-time processing requirement of the GPS information data and the environmental information data can be met.
In the embodiment shown in fig. 1, the SOC chip in the sensor access system of the present application further includes at least one general processor 1053, which converts the timed low-speed data into gigabit ethernet protocol format data for transmission to the server through the gigabit ethernet interface.
In the embodiment, the general processor receives the low-speed data timed by the real-time processor through inter-core communication, arranges and packs the data, converts the data into gigabit Ethernet protocol format data finally, and transmits the gigabit Ethernet protocol format data to the server through the gigabit Ethernet interface.
Specifically, the data sorting unit adopts a 4-core a53 processor.
Optionally, the sensor access system of the present application further includes: and the iPass interface is used for transmitting the PCIe protocol format data to the server.
In this optional embodiment, the high-speed data transmission interface and the iPass interface are selected for the application to transmit PCIe protocol format data. Compared with a common PCIe interface, the strength of the iPASS interface is higher, and the capability of data transmission is better. For image data acquired by the camera, after the image data is subjected to data format conversion through the FPGA unit to obtain PCIe protocol format data, the data is directly output through an iPASS interface and transmitted to the server. Compared with a common PCIE interface, the quality of the iPASS interface is better and the strength is higher.
Optionally, the sensor access system of the present application further includes: and the optical fiber interface is used for connecting with an optical fiber and exporting the PCIe protocol format data to the external memory.
In this optional embodiment, the application is further provided with an optical fiber interface, where the optical fiber interface is used to perform a disk-dropping storage on PCIe protocol format data after format conversion is performed on the image data, so as to facilitate other processing processes on the image data. In the specific process, when the image data acquired by the camera needs to be stored in a data storage tray, the rapid storage work of a large amount of image data is realized through the optical fiber interface. The arrangement of the optical fiber interface ensures the speed of data storage, and can effectively meet the storage requirements of multiple cameras and a large amount of camera data.
Optionally, the sensor access system of the present application further includes: and the temperature compensation crystal oscillator is used as a clock source and generates a clock signal.
In the optional embodiment, in order to ensure the accuracy of time service of the real-time processor and provide an accurate time reference for the FPGA unit and the general-purpose processor, the sensor access system of the present application is provided with a Temperature compensated crystal Oscillator to provide an accurate clock signal, wherein the Temperature compensated crystal Oscillator TCXO (Temperature compensated X' total) Oscillator is a Temperature compensated quartz crystal resonator adopting a Temperature compensation method, and has the characteristics of high precision and the like.
Optionally, the sensor access system of the present application further includes: and the real-time clock circuit is used as a standby clock source to generate a clock signal when the temperature compensation crystal oscillator does not work.
In this optional embodiment, the system of the present application is further provided with a real-time clock circuit, which is used as a standby clock source to provide a clock signal for a real-time processor and the like to perform a time service operation when the temperature compensation crystal oscillator fails and does not work. In order to avoid power failure, equipment failure and the like, the sensor access system is further provided with a Real-Time Clock (RTC), and when the Time reference unit fails, the Real-Time Clock can provide a Time signal for the whole sensor access system.
Optionally, the sensor access system of the present application further includes: and the real-time processor carries out time service on the laser radar data sensed by at least one laser radar by using a clock signal through the GPS protocol interface, and the laser radar data subjected to time service is directly transmitted to the server.
In this optional embodiment, for uploading GPS positioning data, millimeter wave radar data, ultrasonic radar data, and the like to the server, data format conversion is required, and after converting the data format into uniform ethernet format data, the data format conversion is transmitted to an external server for data processing. The data acquired by the laser radar can meet the requirement of data transmission due to the data format, so that processes such as data format conversion and the like do not need to be carried out, and only time service processing is needed. Therefore, the additionally arranged GPS protocol interface mainly carries out time service processing on the data. The GPS protocol interface is connected with the real-time processor, the clock signal provided by the temperature compensation crystal oscillator is utilized to carry out time service on the acquired data through the real-time processor after the data are acquired by the laser radar sensor, and the data are directly transmitted to the server for subsequent processing after the time service processing.
Optionally, the sensor access system of the present application further includes: the data storage interface is connected with the general processor and correspondingly stores the low-speed data according to the data storage requirement; and the debugging interface is connected with the general processor and is used for debugging and optimizing the sensor access system according to the system debugging requirement.
In this alternative embodiment, the automatic driving data including the image data or the low speed data is subjected to the landing storage by using the data storage interface mainly according to the requirement of data storage. And a text log and the like in the data processing process can also be stored. And the debugging interface is used for debugging and optimizing the sensor access system mainly according to the debugging requirement of the system.
Optionally, the image sensor interface is respectively connected with the multiple cameras, and transmits image data acquired by the cameras to the FPGA unit through a preset communication protocol, wherein the FPGA unit is connected with the image sensor interface through a first data line, and acquires the image data through the first data line; the FPGA unit is connected with the image sensor interface through a second data line, and synchronously controls the camera through the second data line and a time reference.
In this alternative embodiment, in an actual automotive vehicle, in order to acquire all-around information, multiple cameras are provided, arranged around the vehicle, for collecting relevant image data, for example, 12-way cameras are provided. The setting of multichannel camera, when carrying out the collection of road image, in order to guarantee the accuracy of autopilot operation, need guarantee the synchronism of the image data that the camera obtained. Therefore, the interface of the image sensor and the FPGA unit comprise a first data line for data communication and transmission of image data, and a second data line for synchronous control of the camera, so that synchronous control of multiple paths of cameras is realized, including synchronous triggering, synchronous exposure and other operations of the cameras. Therefore, the acquired image data is unified, and the accuracy of subsequent automatic driving data operation is ensured.
Specifically, the image sensor interface can adopt a standard MIPI interface and an I2C interface, and the transmission of image data acquired by a camera is carried out through a first data line connected with the FPGA unit; and the synchronous control of the multi-path camera is realized through a second data wire which is connected with the FPGA unit through an FSYNC interface in the image sensor interface. The image sensor interface can further comprise a reset RST interface which controls the multiple cameras to carry out reset operation when the multiple cameras fail. The image sensor interface can also comprise a standard I/O port for expanding other functions and realizing other functions.
It should be noted that the image sensor interface may be reasonably set according to a control requirement on the camera or a processing requirement on image data acquired by the camera in the automatic driving control process, and the specific type of the camera interface is not particularly limited in this application.
Fig. 2 shows an example of a sensor access system of the present application. The sensor access system of the present application is further described below in conjunction with the example of fig. 2.
As shown in fig. 2, the sensor access system of the present application is used to access various automatic driving sensors, acquire corresponding automatic driving data, and perform subsequent processing. Wherein the sensor may comprise an image sensor, such as a multi-channel camera, which captures image data; the multi-path camera can adopt 12-path cameras, wherein the number of the cameras can be expanded to 16-path cameras according to the actual acquisition requirement, and the acquisition of image data is carried out. The camera is carried in the sensor access system of this application through corresponding switching interface board, carries out the transmission of image through interfaces such as corresponding MIPI/I2C between camera and the FPGA unit, carries out multichannel camera's synchro control through FSYNC interface, realizes the reset operation to multichannel camera through the RST interface to and still can set up extra IO interface, carry out the extension of other functions. Low speed data sensors, such as low precision GPS sensors, e.g., GPS/IMU, that collect position information and attitude information of the autonomous vehicle; high-precision GPS sensors, such as inertial navigation systems, are more accurate devices that also acquire position information and attitude information of autonomous vehicles. Wherein, the sensor related to the position information is connected to the sensor access system through a standard RS232 interface. The plurality of interfaces may be arranged to transmit the original data of the position information and the processed data, respectively, where the specific number of the interfaces and the types of the interfaces are not particularly limited in this application. In addition, the sensor access system of the application further comprises a radar interface, and the sensor can be connected with a point cloud sensor and comprises a millimeter wave radar and an ultrasonic radar. And after the two respectively acquire corresponding point cloud data, the point cloud data are connected to a sensor access system through a standard CAN interface to transmit the point cloud data. The point cloud data uploaded to the sensor access system can be original point cloud data or preprocessed point cloud data, and specific requirements can be reasonably set according to actual use scenes or processing requirements of equipment.
And the image data and the low-speed data collected by the sensor are connected to an FPGA unit in the sensor access system through corresponding interfaces. And in the FPGA unit, converting the data format. The FPGA unit in the SOC chip has strong data processing capacity and is suitable for setting a plurality of paths of cameras. Meanwhile, the FPGA unit synchronously controls the multiple cameras, controls the operations of synchronous triggering, synchronous exposure and the like of the multiple cameras, and meets the data synchronization requirement of automatic driving processing. And after passing through the FPGA unit, the image data is directly output through an iPass interface in a communication output port and uploaded to a server. And the low-speed data in the automatic driving data is transmitted to a real-time processor by the FPGA unit through a high-speed data bus to carry out time stamping and time service operation on the data. The real-time processor can select a 2-core R5 processor, wherein the R5 processor has strong data processing capacity and can well meet the real-time processing requirements of GPS data and point cloud data. After the time service operation of time stamping by the real-time processor, the low-speed data is transmitted to the general processor through inter-core communication, and the data is packed and sorted, wherein the general processor can select a 4-core A53 processor. The data processed by the general processor is arranged and packaged, and then transmitted to a corresponding communication output port, for example, a gigabit Ethernet interface, and the data is uploaded to a server.
The sensor access system further comprises a data storage interface, wherein the data storage interface can select a Serial Advanced Technology Attachment (SATA) interface and is connected with an SSD storage disk for data storage; the communication output port further comprises a debugging interface, wherein the debugging interface can be set to be a USB3.0 interface, and debugging and optimization of the sensor access system are carried out through the interface.
In addition, the sensor access system further comprises a GPS protocol interface which is mainly connected with the laser radar and used for timing point cloud data acquired by the laser radar.
The sensor access system of the present application further comprises a temperature compensated crystal oscillator TCXO and a real time clock circuit RTC. The clock signal is used for providing time service for the real-time processor in the SOC chip. Meanwhile, when the data is transmitted to the server through the gigabit Ethernet interface, the clock signal can be transmitted to the server through a PTP (precision time protocol) time service protocol while the data is transmitted, and the clock signal is also provided for the server.
The sensor access system processes the camera data through the FPGA unit, meets the processing requirements of a large amount of camera data, and meanwhile conducts time stamping and time service processing on other automatic driving data through the time service unit, so that the requirement of data synchronization is met, the precision of subsequent data processing is improved, and the processing effect of automatic driving is improved. Meanwhile, the processing chip has high integration and is convenient to deploy.
Fig. 3 shows an embodiment of the present autopilot system.
In the embodiment shown in fig. 3, the automatic driving system of the present application includes a server and a sensor access system, and is characterized in that the sensor access system includes: an image sensor interface; a plurality of low speed data sensor interfaces; a high speed data bus; gigabit ethernet interfaces; and an SOC chip including: the system comprises an FPGA unit, a plurality of low-speed data sensors and a plurality of PCIe protocol format data processing units, wherein the FPGA unit receives image data collected by the plurality of image sensors of the vehicle through an image sensor interface, converts the image data into PCIe protocol format data to be transmitted to a server, and receives low-speed data sensed by the plurality of low-speed data sensors of the vehicle through a plurality of low-speed data sensor interfaces; the real-time processor receives low-speed data from the FPGA unit through a high-speed data bus and utilizes a clock signal to time the low-speed data; and at least one general processor which converts the time-service low-speed data into gigabit Ethernet protocol format data to be transmitted to the server through the gigabit Ethernet interface, wherein the server controls the vehicle according to the PCIe protocol format data and the gigabit Ethernet protocol format data
Optionally, the automatic driving system of the present application further includes: and the iPass interface is used for transmitting the PCIe protocol format data to the server.
In this optional embodiment, the high-speed data transmission interface and the iPass interface are selected for the application to transmit PCIe protocol format data. Compared with a common PCIe interface, the strength of the iPASS interface is higher, and the capability of data transmission is better. For image data acquired by the camera, after the image data is subjected to data format conversion by the FPGA unit to obtain PCIe protocol format data, the data is directly output through the iPASS interface, and the data is transmitted to the server. Compared with a common PCIE interface, the quality of the iPASS interface is higher and the strength is higher.
Optionally, the automatic driving system of the present application further includes: and the optical fiber interface is used for connecting with an optical fiber and exporting the PCIe protocol format data to the external memory.
In this optional embodiment, the application is further provided with an optical fiber interface, where the optical fiber interface is used to perform a disk dropping storage on PCIe protocol format data after format conversion is performed on the image data, so as to facilitate other processing processes on the image data. In a specific process, when data falling storage is required to be carried out on image data acquired by a camera, the rapid storage work of a large amount of image data is realized through an optical fiber interface. The arrangement of the optical fiber interface ensures the speed of data storage, and can effectively meet the storage requirements of multiple cameras and a large amount of camera data.
Optionally, the automatic driving system of the present application further includes: and the temperature compensation crystal oscillator is used as a clock source and generates a clock signal.
In the optional embodiment, in order to ensure the accuracy of time service of the real-time processor and provide an accurate time reference for the FPGA unit and the general-purpose processor, the sensor access system of the present application is provided with a Temperature compensated crystal Oscillator to provide an accurate clock signal, wherein the Temperature compensated crystal Oscillator TCXO (Temperature compensated X' total) Oscillator is a Temperature compensated quartz crystal resonator adopting a Temperature compensation method, and has the characteristics of high precision and the like.
Optionally, the automatic driving system of the present application further includes: and the real-time clock circuit is used as a standby clock source to generate a clock signal when the temperature compensation crystal oscillator does not work.
In this optional embodiment, the system of the present application is further provided with a real-time clock circuit, which is used as a standby clock source to provide a clock signal for a real-time processor and the like to perform a time service operation when the temperature compensation crystal oscillator fails and does not work. In order to avoid power failure, equipment failure and the like, the sensor access system is further provided with a Real-Time Clock (RTC), and when the Time reference unit fails, the Real-Time Clock can provide a Time signal for the whole sensor access system.
Optionally, the automatic driving system of the present application further includes: and the real-time processor is used for timing the laser radar data sensed by the at least one laser radar by using a clock signal through the GPS protocol interface, and the timed laser radar data is directly transmitted to the server.
In this optional embodiment, for uploading GPS positioning data, millimeter wave radar data, ultrasonic radar data, and the like to an external server, data format conversion is required, and after converting the data into uniform ethernet format data, the data is transmitted to the external server for data processing. The data acquired by the laser radar can meet the requirement of data transmission due to the data format, so that processes such as data format conversion and the like do not need to be carried out, and only time service processing is needed. Therefore, the additionally arranged GPS protocol interface mainly carries out time service processing on the data. The GPS protocol interface is connected with the real-time processor, the clock signal provided by the temperature compensation crystal oscillator is utilized to carry out time service on the acquired data through the real-time processor after the data are acquired by the laser radar sensor, and the data are directly transmitted to the server for subsequent processing after the time service processing.
The automatic driving system processes the camera data through the FPGA unit, meets the processing requirements of a large amount of camera data, and meanwhile conducts timestamp time service processing on other automatic driving data through the time service unit, so that the requirement of data synchronization is met, the precision of subsequent data processing is improved, and the processing effect of automatic driving is improved. Meanwhile, the processing chip has high integration and is convenient to deploy.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is only a logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above description is only an example of the present application, and is not intended to limit the scope of the present application, and all equivalent structural changes made by using the contents of the specification and drawings, or any other related technical fields, are all included in the scope of the present application.
Claims (10)
1. A sensor access system, comprising:
an image sensor interface;
a plurality of low speed data sensor interfaces;
a high speed data bus;
gigabit Ethernet interfaces; and
an SOC chip, comprising:
FPGA cell of
Receive image data collected by a plurality of image sensors of a vehicle through the image sensor interface and convert the image data into PCIe protocol format data for transmission to a server, an
Receiving, by the plurality of low speed data sensor interfaces, low speed data sensed by a plurality of low speed data sensors of the vehicle;
the FPGA unit of the real-time processor receives the low-speed data from the FPGA unit through the high-speed data bus and utilizes a clock signal to time the low-speed data; and
at least one general processor, which converts the time-service low-speed data into gigabit Ethernet protocol format data for transmission to the server through the gigabit Ethernet interface.
2. The sensor access system of claim 1, wherein the image sensor interface FPGA unit image sensor interface further comprises:
and the FPGA unit iPASS interface transmits the PCIe protocol format data to the server through the FPGA unit.
3. The sensor access system of claim 1, further comprising:
and the optical fiber interface is used for connecting with an optical fiber and exporting the PCIe protocol format data to an external memory.
4. The sensor access system of claim 1, further comprising:
a temperature compensated crystal oscillator as a clock source generating the clock signal.
5. The sensor access system of claim 4, further comprising:
a real-time clock circuit that generates the clock signal as a standby clock source when the temperature compensated crystal oscillator is not operating.
6. The sensor access system of claim 1, further comprising:
and the real-time processor utilizes the clock signal to time the laser radar data sensed by at least one laser radar through the GPS protocol interface, and the time-timed laser radar data are directly transmitted to the server.
7. The sensor access system of claim 1, wherein the low speed data comprises GPS information of the vehicle and environmental information surrounding the vehicle, wherein the plurality of low speed data sensor interfaces comprises:
at least one GPS sensor interface for transmitting the GPS information sensed by at least one GPS sensor; and
a radar interface for transmitting the environmental information sensed by at least one millimeter wave radar and at least one ultrasonic radar.
8. The sensor access system of claim 7, wherein the GPS information comprises low precision GPS information, the at least one GPS sensor interface comprising:
a low-precision GPS sensor interface for transmitting the low-precision GPS information sensed by at least one low-precision GPS sensor.
9. The sensor access system of claim 8, wherein the GPS information further comprises high precision GPS information, the at least one GPS sensor interface further comprising:
a high precision GPS sensor interface for transmitting the high precision GPS information sensed by at least one inertial navigation sensor.
10. An autopilot system comprising a server and a sensor access system, wherein the sensor access system comprises:
an image sensor interface;
a plurality of low speed data sensor interfaces;
a high speed data bus;
gigabit Ethernet interfaces; and
an SOC chip, comprising:
FPGA cell of
Receive image data collected by a plurality of image sensors of a vehicle through the image sensor interface and convert the image data into PCIe protocol format data for transmission to the server, and
receiving low speed data sensed by a plurality of low speed data sensors of the vehicle through the plurality of low speed data sensor interfaces;
the real-time processor receives the low-speed data from the FPGA unit through the high-speed data bus and utilizes a clock signal to time the low-speed data; and
at least one general purpose processor that converts the timed low-speed data into gigabit Ethernet protocol format data for transmission to the server through the gigabit Ethernet interface,
and the server controls the vehicle according to the PCIe protocol format data and the gigabit Ethernet protocol format data.
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