WO2024051159A1

WO2024051159A1 - Circuit applicable to autonomous vehicle, and vehicle

Info

Publication number: WO2024051159A1
Application number: PCT/CN2023/086064
Authority: WO
Inventors: 李国锋; 张树民
Original assignee: 智道网联科技(北京)有限公司
Priority date: 2022-09-07
Filing date: 2023-04-04
Publication date: 2024-03-14
Also published as: CN115593328A

Abstract

The present disclosure relates to a circuit applicable to an autonomous vehicle, and a vehicle. The circuit comprises a high-precision positioning unit, a vehicle-mounted unit and an active power division circuit. The high-precision positioning unit comprises a first access end and a second access end, wherein the first access end is used for connecting a first active navigation antenna. The active power division circuit comprises a first connection end and two second connection ends, wherein the first connection end is used for connecting a second active navigation antenna, and the two second connection ends are connected to the second access end and the vehicle-mounted unit, respectively. The active power division circuit comprises: a power division circuit, and a gain compensation unit, which is connected to the power division circuit, wherein the gain compensation unit is used for adjusting the gain value of a line where the gain compensation unit is located, such that the gains of two access lines of the high-precision positioning unit are balanced. Only two navigation antennas need to be connected, so that the mounting space of a vehicle is saved on, and a high-precision positioning unit and a vehicle-mounted unit having better navigation signal transmission performance is ensured.

Description

Circuits and vehicles suitable for autonomous vehicles

Cross-references to related applications

This disclosure claims priority to the Chinese patent application with application number CN202211091520.9 and titled "Circuit and Vehicle Applicable to Autonomous Driving Vehicles" filed with the China Patent Office on September 7, 2022, the entire content of which is incorporated by reference. This disclosure is ongoing.

Technical field

The present disclosure relates to the field of vehicle technology, and in particular to a circuit and vehicle suitable for autonomous driving vehicles.

Background technique

In the field of vehicles, for example, for autonomous vehicles, the collaboration between vehicle-to-everything (V2X) technology and autonomous driving technology provides safety guarantees for the implementation of autonomous vehicles and assisted driving functions.

For autonomous vehicles, it is necessary to meet good communication performance, easy installation, simple and beautiful appearance, etc.

In autonomous vehicles, the high-precision positioning unit requires two high-precision navigation antennas, and the vehicle-mounted unit also requires one navigation antenna.

Contents of the invention

In order to solve or at least partially solve the technical problems of autonomous vehicles taking up more space and inconvenient installation due to multiple antennas and complex layouts, embodiments of the present disclosure provide a circuit and vehicle suitable for autonomous vehicles to Save antenna lines while ensuring signal transmission quality.

The present disclosure provides a circuit suitable for autonomous vehicles. The above circuit includes: high-precision positioning unit, vehicle-mounted unit and active power division circuit. The above-mentioned high-precision positioning unit includes a first access terminal and a second access terminal, and the above-mentioned first access terminal is used to connect the first active navigation antenna. The above-mentioned active power dividing circuit includes a first connection terminal and two second connection terminals. The above-mentioned first connection terminal is used to connect the second active navigation antenna; the above-mentioned two second connection terminals are respectively connected to the above-mentioned second access terminal. and the aforementioned vehicle-mounted units. The above-mentioned active power division circuit includes: a power division circuit, and a gain compensation unit connected to the above-mentioned power division circuit; the above-mentioned gain compensation unit is used to adjust the gain value of the line where it is located, so that the gain of the two access lines of the above-mentioned high-precision positioning unit balance.

Optionally, the gain compensation unit includes: a fixed-gain signal amplification unit connected between the first connection terminal and the power dividing circuit; a first attenuation unit connected between the power dividing circuit and the high-precision positioning unit. time; second decline The subtraction unit is connected between the above-mentioned power dividing circuit and the above-mentioned vehicle-mounted unit.

Optionally, the gain compensation unit includes an adjustable gain amplifier connected between the first connection end and the power dividing circuit.

Optionally, the above-mentioned circuit also includes: a power supply circuit, the above-mentioned power supply circuit includes: a first power supply unit, a second power supply unit, a selection unit and a power processing unit; the first power supply output end of the above-mentioned first power supply unit and The second power supply output terminal of the above-mentioned second power supply unit is connected to the input terminal of the above-mentioned power processing unit via the above-mentioned selection unit, and the two output terminals of the above-mentioned power processing unit are respectively connected to the above-mentioned gain compensation unit and the above-mentioned second active navigation antenna; When the first power supply unit and the second power supply unit selectively work, the selection unit connects the power supply signal corresponding to the power supply unit in the working state to the power processing unit; when the first power supply unit and the second power supply unit When the power supply units work at the same time, the selection unit connects the power supply signal corresponding to the power supply unit with a higher voltage to the power supply processing unit.

Optionally, the above selection unit includes: a first diode and a second diode. The first diode is connected between the first power supply output terminal and the input terminal of the power processing unit. The second diode is connected between the second power supply output terminal and the input terminal of the power processing unit.

Optionally, the power supply circuit reuses the respective access lines of the high-precision positioning unit and the vehicle-mounted unit, wherein the circuit further includes: a first capacitor, a second capacitor, a third capacitor and a fourth capacitor. The first capacitor is connected between the above-mentioned high-precision positioning unit and the above-mentioned power division circuit; the second capacitor is connected between the above-mentioned vehicle-mounted unit and the above-mentioned power division circuit; the third capacitor is connected between the above-mentioned first capacitor and the above-mentioned power division circuit ; The fourth capacitor is connected between the second capacitor and the power dividing circuit. The first power supply output terminal is connected between the first capacitor and the third capacitor; the second power supply output terminal is connected between the second capacitor and the fourth capacitor.

Optionally, the first power supply unit includes: a first power supply and a first inductor, and the output end of the first power supply is connected to the first power supply output end via the first inductor; the second power supply unit includes: a second power supply. and a second inductor, the output end of the second power supply is connected to the second power supply output end via the second inductor. The selection unit further includes: a third inductor and a fourth inductor. One end of the third inductor is connected between the first power supply output terminal and the third capacitor. The other end of the third inductor is connected to the first diode. tube; one end of the fourth inductor is connected between the second power supply output terminal and the fourth capacitor, and the other end of the fourth inductor is connected to the second diode.

Optionally, the power supply circuit is provided separately from the access lines of the high-precision positioning unit and the vehicle-mounted unit, wherein the first connection line between the first power supply output terminal and the first diode is connected to The access lines between the above-mentioned high-precision positioning unit and the above-mentioned power dividing circuit are two different lines. The second connection line between the above-mentioned second power supply output terminal and the above-mentioned second diode is the same as the above-mentioned vehicle-mounted unit and the above-mentioned power dividing circuit. The access lines between branch circuits are two different lines.

Optionally, the above circuit also includes: a first active navigation antenna and a second active navigation antenna. The first active navigation mentioned above The antenna is connected to the first access terminal. The above-mentioned second active navigation antenna is connected to the above-mentioned second access terminal.

The present disclosure provides a vehicle supporting autonomous driving. The above-mentioned vehicle includes the circuit as described above.

The above technical solutions provided by this disclosure have at least some or all of the following advantages:

By setting up an active power dividing circuit, the navigation signal received by the second active navigation antenna will be transmitted to the high-precision positioning unit and the vehicle-mounted unit respectively through the power dividing circuit in the active power dividing circuit. In this way, the high-precision positioning unit has two Navigation signal access lines, one access line is accessed by the first access end to the first active navigation antenna, and the other is accessed by the second access end through a branch of the active power dividing circuit The line of the second active navigation antenna; at the same time, the gain of the line is adjusted through the gain compensation unit in the active power division circuit, so that the gains of the two access lines of the high-precision positioning unit are balanced, thereby integrating the relevant technology The need to connect three navigation antennas is reduced to only two, which saves vehicle installation space and ensures that the high-precision positioning unit and vehicle-mounted unit have good navigation signal transmission performance.

Description of the drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly explain the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or related technologies will be briefly introduced below. It is obvious to those of ordinary skill in the art that , other drawings can also be obtained based on these drawings without exerting creative labor.

Figure 1 schematically shows a structural diagram of a circuit suitable for an autonomous vehicle according to an embodiment of the present disclosure;

FIG. 2A schematically shows a structural diagram of an active power dividing circuit according to an embodiment of the present disclosure;

FIG. 2B schematically shows a structural diagram of an active power dividing circuit according to another embodiment of the present disclosure;

Figure 3 schematically shows a structural diagram of a circuit suitable for an autonomous vehicle according to another embodiment of the present disclosure;

FIG. 4 schematically shows a structural diagram of a power supply circuit included in a circuit suitable for an autonomous vehicle according to an embodiment of the present disclosure;

FIG. 5A schematically shows a circuit state diagram of the power supply circuit included in the circuit suitable for autonomous driving vehicles according to an embodiment of the present disclosure when the first power supply unit and the second power supply unit selectively work. ;

5B schematically shows a circuit state diagram of the power supply circuit included in the circuit suitable for autonomous driving vehicles according to an embodiment of the present disclosure when the first power supply unit and the second power supply unit operate simultaneously;

Figure 6 schematically shows another structural schematic diagram of a power supply circuit included in a circuit suitable for autonomous vehicles according to an embodiment of the present disclosure;

7A schematically illustrates another circuit state of the power supply circuit included in the circuit suitable for autonomous driving vehicles according to an embodiment of the present disclosure when the first power supply unit and the second power supply unit selectively operate. schematic diagram; and

7B schematically shows another circuit state diagram of the power supply circuit included in the circuit suitable for autonomous driving vehicles according to an embodiment of the present disclosure when the first power supply unit and the second power supply unit operate simultaneously. .

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments These are some embodiments of the present disclosure, but not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those of ordinary skill in the art without any creative efforts fall within the scope of protection of this disclosure.

It should be noted that in this article, relational terms such as “first” and “second” are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these There is no such actual relationship or sequence between entities or operations. Furthermore, the terms "comprises," "comprises," or any other variation thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article, or apparatus that includes the stated element.

A first exemplary embodiment of the present disclosure provides a circuit suitable for an autonomous vehicle.

FIG. 1 schematically shows a structural diagram of a circuit suitable for an autonomous vehicle according to an embodiment of the present disclosure.

Referring to FIG. 1 , a circuit 100 suitable for autonomous vehicles provided by an embodiment of the present disclosure includes: a high-precision positioning unit 110 , a vehicle-mounted unit 120 and an active power division circuit 130 . The above-mentioned high-precision positioning unit 110 includes a first access terminal J ₁₁ and a second access terminal J ₁₂ . The above-mentioned first access terminal J ₁₁ is used to connect the first active navigation antenna T ₁ . The above-mentioned active power dividing circuit 130 includes a first connection terminal J ₃₁₀ and two second connection terminals, one of which is the second connection terminal J ₃₂₁ and the other is the second connection terminal J ₃₂₂ . The above-mentioned first connection terminal J ₃₁₀ is To connect the second active navigation antenna T ₂ ; the two second connection terminals are respectively connected to the second access terminal J ₁₂ and the vehicle-mounted unit 120 , for example, a second connection terminal J ₃₂₁ is connected in the example in Figure 1 At the above-mentioned second access terminal J ₁₂ , another second connection terminal J ₃₂₂ is connected to the above-mentioned vehicle-mounted unit 120 . The above-mentioned active power division circuit 130 includes: a power division circuit 131, and a gain compensation unit 132 connected to the above-mentioned power division circuit 131; the above-mentioned gain compensation unit 132 is used to adjust the gain value of the line where it is located, so that the two sides of the above-mentioned high-precision positioning unit 110 Gain balance of access lines.

Since the power dividing circuit provided in the transmission path of the navigation signal will separate the satellite (for example, Global Navigation Satellite System (GNSS) Or Global Positioning System (GPS) radio frequency signal is divided into two, so the navigation antenna used for access can only use active navigation antenna to ensure that the power attenuation of the received radio frequency navigation signal is not too low.

According to an embodiment of the present disclosure, the above-mentioned first active navigation antenna and the above-mentioned second active navigation antenna are used to access navigation data in one of the following positioning systems: Global Navigation Satellite System (GNSS System), Beidou System, Global Positioning System system (GPS system), etc. The above-mentioned high-precision positioning unit includes: RTK positioning equipment based on carrier phase difference technology, RTK stands for real-time dynamic carrier phase difference technology.

Referring to FIG. 1 , the high-precision positioning unit 110 has two access lines, one of which is represented by the first access line Lo ₁₁ , and the other access line is represented by the second access line Lo ₁₂ . The first access line Lo ₁₁ is a line between the first access end J ₁₁ of the high-precision positioning unit 110 and the first active navigation antenna T ₁ . The second access line Lo ₁₂ is the second access end J ₁₂ of the high-precision positioning unit 110 and is connected to the second active navigation via a branch of the active power dividing circuit 130 (for example, the upper branch is illustrated in FIG. 1 ). line between antennas T ₂ .

By setting up an active power dividing circuit, the navigation signal received by the second active navigation antenna will be transmitted to the high-precision positioning unit and the vehicle-mounted unit respectively through the power dividing circuit in the active power dividing circuit. In this way, the high-precision positioning unit has two Navigation signal access lines, one access line is accessed by the first access end to the first active navigation antenna, and the other is accessed by the second access end through a branch of the active power dividing circuit Circuit for the second active navigation antenna. Considering that the introduction of the power dividing circuit will lead to differences in the gains of the two access lines of the high-precision positioning unit, the circuit 100 provided by the embodiment of the present disclosure is provided with a gain compensation unit, and the gain of the line is adjusted based on the gain compensation unit. , so that the gains of the two access lines of the high-precision positioning unit are balanced, thereby reducing the need to access three navigation antennas in related technologies to only two navigation antennas, saving vehicle installation space and ensuring high-precision The positioning unit and the vehicle-mounted unit have better navigation signal transmission performance.

The power dividing circuit 131 may include a power dividing circuit constructed of resistors. For example, the power dividing circuit may include: a first resistor set on a trunk line and two second resistors of equal resistance set in parallel on a branch line. A second resistor achieves power sharing.

In some embodiments, the circuit 100 may not contain navigation antennas. For example, the first active navigation antenna T ₁ and the second active navigation antenna T ₂ are shown as dotted lines in FIG. 1 . When using the circuit 100 , there will be The source navigation antenna can be connected to the circuit 100 for use.

In other embodiments, the circuit 100 may include navigation antennas. For example, the first active navigation antenna T ₁ and the second active navigation antenna T ₂ are both connected to the circuit 100 . The first active navigation antenna is connected to the first access terminal. The above-mentioned second active navigation antenna is connected to the above-mentioned second access terminal.

Referring to Figure 1, the external terminal _J3 of the first access line Lo ₁₁ is also shown. The external terminal _J3 is used to access the first active conductor. The aerospace line T ₁ also shows the connection end J ₂ of the vehicle-mounted unit 120 and the third access line Lo ₂ . The third access line Lo ₂ is the connection end J ₂ of the vehicle-mounted unit 120 via the active power dividing circuit 130 Another branch (such as the one illustrated below in Figure 1) is connected to the line between the second active navigation antenna _T2 .

FIG. 2A schematically shows a structural diagram of an active power dividing circuit according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, with reference to the single-dotted line frame in FIG. 2A and as shown in FIG. 1 , the above-mentioned gain compensation unit 132 includes: a fixed-gain signal amplification unit SA ₁ , a first attenuation unit AT ₁ and a second attenuation unit Unit AT ₂ . The signal amplification unit SA ₁ is connected between the first connection terminal J ₃₁₀ and the power dividing circuit 131; the first attenuation unit AT ₁ is connected between the power dividing circuit 131 and the high-precision positioning unit 110; the second attenuation unit AT ₂ is connected between the power dividing circuit 131 and the vehicle-mounted unit 120 .

Referring to the navigation signal transmission direction indicated by the arrow in Figure 2A, the navigation signal received by the second active navigation antenna _T2 first reaches the signal amplification unit _SA1 and is amplified by the signal amplification unit _SA1 . SA ₁ can be constructed using a one-stage or two-stage noise amplifier (LNA) to ensure that the signal transmission line has a large enough gain; the amplified navigation signal reaches the power dividing circuit 131, and the power dividing circuit 131 can be implemented using a resistor power divider, for example. ; The two-channel navigation signals after power division pass through their corresponding attenuation units to reach the high-precision positioning unit 110 and the vehicle-mounted unit 120 at the subsequent stage.

In order to ensure the gain balance of the two navigation signal access lines (which can also be described as transmission lines or transmission links) of the high-precision positioning unit: the first access line Lo ₁₁ and the second access line Lo ₁₂ , in some implementations In this way, the total signal loss of the power dividing circuit 131 and the first attenuation unit AT ₁ is equal to the gain of the signal amplification unit SA ₁ , in which the gain change control can be performed by adjusting the attenuation amount of the first attenuation unit AT ₁ . At the same time, the gain of the third access line Lo ₂ can be adjusted by adjusting the attenuation amount of the second attenuation unit AT ₂ so that the gain of the third access line Lo ₂ reaches the set requirement.

FIG. 2B schematically shows a structural diagram of an active power dividing circuit according to another embodiment of the present disclosure.

According to another embodiment of the present disclosure, as shown in FIG. 2B , the above-mentioned gain compensation unit 132 includes an adjustable gain amplifier SA ₂ . The adjustable gain amplifier SA ₂ is connected between the first connection terminal J ₃₁₀ and the power dividing circuit 131 .

Referring to the navigation signal transmission direction indicated by the arrow in Figure 2B, the navigation signal received by the second active navigation antenna _T2 first reaches the adjustable gain amplifier _SA2 , and is amplified by the adjustable gain amplifier _SA2 ; after amplification The resulting navigation signal is transmitted to the power dividing circuit 131, and the power dividing circuit 131 performs power distribution on the navigation signal amplified by the adjustable gain amplifier SA _2. In this embodiment, the navigation signal is evenly divided into two channels; after power dividing The two navigation signals are correspondingly transmitted to the high-precision positioning unit 110 and the vehicle-mounted unit 120 of the subsequent stage.

In order to ensure the gain balance of the two navigation signal access lines (which can also be described as transmission lines or transmission links) of the high-precision positioning unit: the first access line Lo ₁₁ and the second access line Lo ₁₂ , in some implementations In this way, the signal loss of the power dividing circuit 131 is equal to the gain of the adjustable gain amplifier SA ₂ , which can be achieved by adjusting the adjustable gain amplifier SA ₂ gain for line gain control. At the same time, the gain of the third access line Lo ₂ will also meet the setting requirements as the adjustable gain amplifier SA ₂ changes. In this implementation, the gain setting value of the adjustable gain amplifier can meet the following two requirements at the same time: Three conditions: the gain between the first access line Lo ₁₁ and the second access line Lo ₁₂ is balanced, and the gain of the third access line Lo ₂ meets the set requirements.

On the basis of each of the above embodiments, in consideration of corresponding power supply to the active power dividing circuit, the embodiment of the present disclosure also improves the power supply circuit.

FIG. 3 schematically shows a structural diagram of a circuit suitable for an autonomous vehicle according to another embodiment of the present disclosure.

According to an embodiment of the present disclosure, as shown in FIG. 3 , the above-mentioned circuit 100 further includes: a power supply circuit 140 . The above-mentioned power supply circuit 140 includes: a first power supply unit 141, a second power supply unit 142, a selection unit 143 and a power processing unit 144; the first power supply output terminal J ₄₁ of the above-mentioned first power supply unit 141 and the above-mentioned second power supply unit 142 The second power supply output terminal J ₄₂ is connected to the input terminal of the above-mentioned power processing unit 144 via the above-mentioned selection unit 143. The two output terminals of the above-mentioned power processing unit 144 are respectively used to be connected to the above-mentioned gain compensation unit 132 and the above-mentioned second active Navigation antenna T ₂ . When the first power supply unit 141 and the second power supply unit 142 choose to work, the selection unit 143 receives the power supply signal corresponding to the power supply unit in the working state to the power processing unit 144; in the first power supply unit 141 and the second power supply unit 142 work at the same time, the selection unit connects the power supply signal corresponding to the power supply unit with a higher voltage to the power processing unit 144 .

According to the embodiment of the present disclosure, the power supply circuit 140 has two implementation methods. One is that the power supply circuit is provided separately from the access lines of the high-precision positioning unit and the vehicle-mounted unit. The other is that the power supply circuit 140 is implemented separately. The power supply circuit reuses the respective access lines of the above-mentioned high-precision positioning unit and the above-mentioned vehicle-mounted unit. Regardless of the method, power can be provided to the gain compensation unit 132 and the above-mentioned second active navigation antenna T ₂ .

In some embodiments, both the first active navigation antenna and the second active navigation antenna include: a navigation antenna and a signal amplifier, where the signal amplifier is, for example, a low noise amplifier (LNA).

The first power supply unit and the second power supply unit are used to provide DC power supply and provide an output voltage of, for example, 3V to 5V.

The following describes the circuit structure when the power supply circuit and the first access line Lo ₁₁ , the second access line Lo ₁₂ and the third access line Lo ₂ are arranged separately with reference to FIG. 4 , FIG. 5A and FIG. 5B .

FIG. 4 schematically shows a structural diagram of a power supply circuit included in a circuit suitable for an autonomous vehicle according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, referring to FIG. 4 , the above-mentioned selection unit 143 includes: a first diode D ₁ and a second diode D ₂ . The first diode D ₁ is connected between the first power supply output terminal J ₄₁ and the input terminal of the power processing unit 144 . The second diode D ₂ is connected between the second power supply output terminal J ₄₂ and the input terminal of the power processing unit 144 .

Referring to FIG. 4 , the power supply circuit 140 is provided separately from the access lines of the high-precision positioning unit 110 and the vehicle-mounted unit 120 , wherein the first power supply output terminal J ₄₁ and the first diode The first connection line Lo ₃ between D ₁ and the access line (corresponding to the second access line Lo ₁₂ ) between the high-precision positioning unit 110 and the power dividing circuit 131 are two different lines. The second connection line Lo ₄ between the second power supply output terminal J ₄₂ and the above-mentioned second diode D ₂ and the access line between the above-mentioned vehicle-mounted unit 120 and the above-mentioned power dividing circuit 131 (corresponding to the third access line Lo ₂ ) are two different lines.

FIG. 5A schematically shows a circuit state diagram of the power supply circuit included in the circuit suitable for autonomous driving vehicles according to an embodiment of the present disclosure when the first power supply unit and the second power supply unit selectively work. .

Referring to FIG. 5A , in the circuit 100 in which the power supply circuit 140 and the access lines of the high-precision positioning unit 110 and the vehicle-mounted unit 120 are separately provided, in the first power supply unit 141 and the second power supply When the unit 142 chooses to work, for example, the first power supply unit 141 indicated by "√" in FIG. 5A is in the working state, and the second power supply unit 142 indicated by "×" is not turned on. Since the first diode D ₁ and the second diode D ₂ are connected in parallel to the same connection point J ₄₃ . Due to the voltage drop in the line where the first power supply unit 141 is located, the first diode D ₁ is turned on, but the second power supply unit 142 is not turned on. , the second diode D ₂ is in a non-conducting state, and the potential generated at the connection point J ₄₃ is equal to the voltage drop generated by the turned-on first power supply unit 141 after passing through the first diode. At this time, the above-mentioned selection unit 143 is connected Input the power supply signal corresponding to the power supply unit in the working state (corresponding to the first power supply unit 141 here) to the above-mentioned power processing unit 144.

Similarly, when one of the first power supply unit 141 and the above-mentioned second power supply unit 142 is working with the second power supply unit 142, the second diode D ₂ is turned on and the first diode D ₁ is in a cut-off state. The potential generated at the connection point J ₄₃ is equal to the voltage drop generated by the turned-on second power supply unit 142 after passing through the second diode. At this time, the above-mentioned selection unit 143 is connected to the power supply unit in the working state (here corresponding to the second power supply unit unit 142) to the above-mentioned power processing unit 144.

FIG. 5B schematically shows a circuit state diagram of the power supply circuit included in the circuit suitable for autonomous vehicles according to an embodiment of the present disclosure when the first power supply unit and the second power supply unit operate simultaneously.

Referring to FIG. 5B , in the circuit 100 in which the power supply circuit 140 and the access lines of the high-precision positioning unit 110 and the vehicle-mounted unit 120 are separately provided, in the first power supply unit 141 and the second power supply unit In the case where the units 142 work simultaneously, “√” indicates the state in which the two power supply units work simultaneously in FIG. 5B . There is a difference in voltage between the first power supply unit and the second power supply unit. For example, the voltage of the first power supply unit 141 is X (for example, 5V), and the voltage of the second power supply unit 142 is Y (for example, 3V). X>Y, generally Generally speaking, the voltage drop of a diode is generally 0.3V. When the first power supply unit 141 and the second power supply unit 142 work simultaneously, the relatively high voltage X causes the first diode D ₁ to conduct For example, at this time, the potential of the connection point J ₄₃ is 4.7V. At this time, the potential of the connection point J ₄₃ is 4.7V. is greater than the voltage Y of the second power supply unit 142, the second diode _D2 is in a reverse cutoff state, so the selection unit 143 receives the power supply signal corresponding to the power supply unit with a higher voltage (here corresponding to the first power supply unit 141) to the power processing unit 144 described above.

FIG. 6 schematically shows another structural schematic diagram of a power supply circuit included in a circuit suitable for an autonomous vehicle according to an embodiment of the present disclosure.

According to another embodiment of the present disclosure, in order to improve line utilization and reduce the space occupied by the circuit, making the circuit structure more streamlined, as shown in FIG. 6 , the above-mentioned power supply circuit 140 multiplexes the above-mentioned high-precision positioning unit and The respective access lines of the above-mentioned vehicle-mounted units. The above circuit 100 also includes: a first capacitor C ₁ , a second capacitor C ₂ , a third capacitor C ₃ and a fourth capacitor C ₄ . The first capacitor C ₁ is connected between the high-precision positioning unit 110 and the power dividing circuit 131 ; the second capacitor C ₂ is connected between the vehicle-mounted unit 120 and the power dividing circuit 131 ; the third capacitor C ₃ is connected between the above-mentioned high-precision positioning unit 110 and the power dividing circuit 131 between the first capacitor C ₁ and the power dividing circuit 131 ; the fourth capacitor C ₄ is connected between the second capacitor C ₂ and the power dividing circuit 131 . The first power supply output terminal J ₄₁ of the above-mentioned first power supply unit 141 is connected between the above-mentioned first capacitor C ₁ and the above-mentioned third capacitor C ₃ ; the second power supply output terminal J ₄₂ of the above-mentioned second power supply unit 142 is connected to the above-mentioned third capacitor. between the second capacitor C ₂ and the above-mentioned fourth capacitor C ₄ .

The power supply circuit 140 multiplexes the second access line Lo ₁₂ and the third access line Lo _2. It is necessary to transmit the navigation signal and the power supply signal simultaneously in the same access line. By setting the above-mentioned first capacitor C ₁ and the third The second capacitor C ₂ , the third capacitor C ₃ and the fourth capacitor C ₄ can effectively isolate the DC signal and avoid damage caused by the transmission of the power supply signal to the power division circuit and the high-precision positioning unit, thus effectively avoiding the impact of the power supply transmission process on the navigation The impact of signal transmission paths,

According to the embodiment of the present disclosure, with reference to the dotted box in FIG. 6 , the first power supply unit 141 includes: a first power supply S ₁ and a first inductor L ₁ , and the output end of the first power supply S ₁ passes through the first inductor. L ₁ is connected to the first power supply output terminal J ₄₁ ; the second power supply unit 142 includes: a second power supply S ₂ and a second inductor L ₂ , and the output end of the second power supply S ₂ is connected through the second inductor L ₂ At the above-mentioned second power supply output terminal J ₄₂ . The selection unit 143 also includes: a third inductor L ₃ and a fourth inductor L ₄ . One end of the third inductor L ₃ is connected between the first power supply output terminal J ₄₁ and the third capacitor C ₃ . The other end of the inductor L ₃ is connected to the first diode D ₁ , specifically the anode of the first diode; one end of the fourth inductor L ₄ is connected to the second power supply output terminal J ₄₂ and the fourth capacitor. C ₄ , the other end of the fourth inductor L ₄ is connected to the second diode D ₂ , specifically the anode of the second diode.

In this embodiment, on the basis of setting the above-mentioned first capacitor C ₁ , second capacitor C ₂ , third capacitor C ₃ and fourth capacitor C ₄ , the first inductor L ₁ , the second inductor L ₂ and the third capacitor C 4 are further set. The third inductor L ₃ and the fourth inductor L ₄ , based on these inductors, can isolate the radio frequency signal and avoid the influence of the navigation signal connected from the power division circuit on the power supply path. When the power supply signal and the navigation signal are on the same transmission path, the navigation signal and the power supply signal can be realized without interfering with each other.

7A schematically illustrates power divisions included in a circuit suitable for an autonomous vehicle according to an embodiment of the present disclosure. Another schematic diagram of the circuit state of the power supply circuit when the first power supply unit and the second power supply unit alternatively work.

Referring to FIG. 7A , in the circuit 100 in which the power supply circuit 140 multiplexes the respective access lines of the high-precision positioning unit and the vehicle-mounted unit, one of the first power supply unit 141 and the second power supply unit 142 is selected. When working, for example, the first power supply unit 141 indicated by "√" in Figure 7A is in the working state, and the second power supply unit 142 indicated by "×" is not turned on. Since the first diode D ₁ and the second The diode D ₂ is connected in parallel to the same connection point J ₄₃ . Due to the voltage drop in the line where the first power supply unit 141 is located, the first diode D ₁ is turned on, but the second power supply unit 142 is not turned on. The diode D ₂ is in a non-conducting state (can also be described as a cut-off state), and the potential generated at the connection point J ₄₃ is equal to the voltage drop generated by the turned-on first power supply unit 141 after passing through the first diode. At this time, the above-mentioned The selection unit 143 _receives the power supply signal Dotted arrows are also used to illustrate the first navigation signal _{Xnavigation 1} transmitted along the second access line Lo ₁₂ and the second navigation signal Xnavigation ₂ transmitted along the third access line Lo _₂ in the case of multiplexing lines. , the first navigation signal Xnavigation ₁ is used to be input to the high-precision positioning unit 110 , and the second navigation signal Xnavigation ₂ is used to be input to the vehicle-mounted unit 120 .

Referring to FIG. 7B , in the circuit 100 in which the power supply circuit 140 multiplexes the respective access lines of the high-precision positioning unit and the vehicle-mounted unit, the first power supply unit 141 and the second power supply unit 142 work simultaneously. In the case of , “√” in Figure 7B indicates the state in which the two power supply units are working simultaneously. There is a difference in voltage between the first power supply unit and the second power supply unit. For example, the voltage of the first power supply unit 141 is X (for example, 5V), and the voltage of the second power supply unit 142 is Y (for example, 3V). X>Y, generally Generally speaking, the voltage drop of a diode is generally 0.3V. When the first power supply unit 141 and the second power supply unit 142 work simultaneously, the relatively high voltage X causes the first diode D ₁ to conduct For example, at this time, the potential of the connection point J ₄₃ is 4.7V. At this time, because the potential 4.7V of the connection point J ₄₃ is greater than the voltage Y of the second power supply unit 142, the second diode D ₂ is in a reverse blocking state, so The selection unit 143 _supplies the power supply signal Dotted arrows are also used to illustrate the first navigation signal _Xnavigation 1 transmitted along the second access line Lo ₁₂ and the second navigation signal Xnavigation ₂ transmitted along the third access line Lo ₂ in the case of multiplexing lines. ,Should The first navigation signal Xnavigation ₁ is used for input to the high-precision positioning unit 110 , and the second navigation signal Xnavigation ₂ is used for input to the vehicle-mounted unit 120 .

Based on the above embodiments, a capacitor is provided on the first access line Lo _11. The circuit also includes an antenna power supply unit. The antenna power supply unit includes a power supply and an inductor. The power supply output end of the power supply is connected to the capacitor and the inductor via the inductor. between the external terminals J ₃ , thereby realizing the power supply of the first active navigation antenna T ₁ and the synchronous transmission of navigation signals without affecting each other.

Based on the same technical concept, a second exemplary embodiment of the present disclosure also provides a vehicle supporting autonomous driving. The above-mentioned vehicle includes the circuit as described above.

The autonomous driving functions of the above-mentioned vehicles that support autonomous driving can coexist with regular driving functions, or, when the safety of autonomous driving technology is effectively guaranteed, such vehicles only have autonomous driving functions.

The above-mentioned vehicle is equipped with an active power dividing circuit, and the navigation signal received by the second active navigation antenna will be transmitted to the high-precision positioning unit and the vehicle-mounted unit respectively through the power dividing circuit in the active power dividing circuit. In this way, the high-precision positioning unit There are two access lines for navigation signals. One access line is a line connected by the first access end to the first active navigation antenna, and the other is a branch of the active power dividing circuit from the second access end. The line connected to the second active navigation antenna; at the same time, the gain of the line is adjusted through the gain compensation unit in the active power division circuit, so that the gains of the two access lines of the high-precision positioning unit are balanced, thus the relevant In the technology, the need to connect three navigation antennas is reduced to only two navigation antennas, which saves the installation space of the vehicle and ensures that the high-precision positioning unit and the vehicle-mounted unit have good navigation signal transmission performance.

Various embodiments mentioned in this disclosure may be combined with each other to form new embodiments. Any number of the various units mentioned in the above embodiments can be combined and implemented in one unit, or any one of the units can be split into multiple units. Alternatively, at least part of the functions of one or more units in these modules may be combined with at least part of the functions of other units and implemented in one unit. At least one of the above various units may be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integration circuit (ASIC), or can be implemented by hardware or firmware in any other reasonable way to integrate or package the circuit, or by a combination of software and hardware, or a combination of software and firmware.

The above are only specific embodiments of the present disclosure, enabling those skilled in the art to understand or implement the technical concepts of the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be practiced in other embodiments without departing from the spirit or scope of the disclosure. Therefore, the present disclosure is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

A circuit suitable for autonomous vehicles, including: a high-precision positioning unit, a vehicle-mounted unit and an active power division circuit;

The high-precision positioning unit includes a first access end and a second access end, and the first access end is used to connect the first active navigation antenna;

The active power dividing circuit includes a first connection terminal and two second connection terminals. The first connection terminal is used to connect a second active navigation antenna; the two second connection terminals are respectively connected to the first two access terminals and the vehicle-mounted unit;

The active power dividing circuit includes: a power dividing circuit, and a gain compensation unit connected to the power dividing circuit; the gain compensation unit is used to adjust the gain value of the line so that the two connections of the high-precision positioning unit gain balance of the input line.
The circuit of claim 1, wherein the gain compensation unit includes:

A fixed-gain signal amplification unit connected between the first connection terminal and the power dividing circuit;

A first attenuation unit connected between the power dividing circuit and the high-precision positioning unit;

The second attenuation unit is connected between the power dividing circuit and the vehicle-mounted unit.
The circuit of claim 1, wherein the gain compensation unit includes:

An adjustable gain amplifier is connected between the first connection terminal and the power dividing circuit.
The circuit according to any one of claims 1-3, further comprising: a power division power supply circuit, the power division power supply circuit includes: a first power supply unit, a second power supply unit, a selection unit and a power processing unit;

The first power supply output end of the first power supply unit and the second power supply output end of the second power supply unit are connected to the input end of the power processing unit via the selection unit, and the two outputs of the power processing unit Terminals are respectively used to connect to the gain compensation unit and the second active navigation antenna;

When the first power supply unit and the second power supply unit choose to work, the selection unit connects the power supply signal corresponding to the power supply unit in the working state to the power processing unit;

When the first power supply unit and the second power supply unit work simultaneously, the selection unit connects the power supply signal corresponding to the power supply unit with a higher voltage to the power processing unit.
The circuit of claim 4, wherein the selection unit includes:

A first diode connected between the first power supply output terminal and the input terminal of the power processing unit;

A second diode is connected between the second power supply output terminal and the input terminal of the power processing unit.
The circuit according to claim 5, wherein the power supply circuit multiplexes the respective access lines of the high-precision positioning unit and the vehicle-mounted unit, wherein the circuit further includes:

A first capacitor connected between the high-precision positioning unit and the power dividing circuit;

a second capacitor connected between the vehicle-mounted unit and the power dividing circuit;

A third capacitor connected between the first capacitor and the power dividing circuit;

A fourth capacitor connected between the second capacitor and the power dividing circuit;

The first power supply output terminal is connected between the first capacitor and the third capacitor;

The second power supply output terminal is connected between the second capacitor and the fourth capacitor.
The circuit of claim 6, wherein,

The first power supply unit includes: a first power supply and a first inductor, the output end of the first power supply is connected to the first power supply output end via the first inductor;

The second power supply unit includes: a second power supply and a second inductor, the output end of the second power supply is connected to the second power supply output end via the second inductor;

The selection unit further includes: a third inductor and a fourth inductor, one end of the third inductor is connected between the first power supply output terminal and the third capacitor, and the other end of the third inductor is connected to The first diode; one end of the fourth inductor is connected between the second power supply output terminal and the fourth capacitor, and the other end of the fourth inductor is connected to the second diode .
The circuit according to claim 5, wherein the power supply circuit is provided separately from the access lines of the high-precision positioning unit and the vehicle-mounted unit, wherein the first power supply output end and the third The first connection line between a diode and the access line between the high-precision positioning unit and the power dividing circuit are two different lines, and the second power supply output end and the second second The second connection line between the pole tubes and the access line between the vehicle-mounted unit and the power dividing circuit are two different lines.
The circuit of claim 1, further comprising:

A first active navigation antenna connected to the first access terminal;

A second active navigation antenna is connected to the second access terminal.
A vehicle supporting autonomous driving includes the circuit described in any one of claims 1-9.