CN111710058A - Unmanned vehicle black box system and data acquisition method thereof - Google Patents
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Abstract
The invention provides a black box system of an unmanned vehicle and a data acquisition method thereof, belonging to the technical field of unmanned vehicles and comprising a shell, wherein the shell comprises a multi-channel high-speed synchronous acquisition unit, a central data processing unit, a real-time storage unit and a historical storage unit; the multi-channel high-speed synchronous acquisition unit is used for acquiring unmanned vehicle data under a plurality of channels, decision-making layer control instructions and execution layer output results; the central processing unit is used for processing the acquired channel data packets, synthesizing the data packets into a synthesized data packet for storage, the real-time storage unit is used for storing the real-time synthesized data packet in a short time according to time, and the history storage unit is used for storing the history synthesized data packet in a long time according to time. The system stores the collected and synthesized data packets according to time, so that technicians can analyze accident causes, provide bases for responsibility division for traffic management departments, and provide technical-improved data support for research and development personnel.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a data acquisition and storage method for an unmanned vehicle.
Background
The unmanned vehicle is a complex system, taking the BIT unmanned vehicle of Beijing university of science and engineering as an example, the architecture comprises: the system comprises an environment perception subsystem, a planning decision subsystem and a bottom control subsystem. The serious traffic accident can be caused by the occurrence of the loophole of each subsystem, taking the accident that the first automobile driven by the Uber automatically crashes pedestrians in the world as an example, the loophole of the vehicle with the accident is revealed by analyzing the details of the automobile driven by the Uber automatically 10 seconds before the collision, and the loophole simply comprises the following two types: firstly, the automobile senses and identifies a leak, 5.6 seconds before an accident occurs, the automobile radar detects a pedestrian and estimates the speed of the pedestrian, but the data processing system identifies the pedestrian as an automobile by mistake, and then the automatic driving system classifies objects to be disordered for a few degrees, so that a great amount of precious time is wasted; and secondly, a decision making bug is planned, the classification of the object by the Uber automatic driving system swings between 'automobile' and 'unknown', and the tracking history of the object cannot be provided when the object is changed every time, so that the automatic driving system predicts the path of the object to be static, cannot plan a reasonable avoidance path in time or brake in time, and finally causes an accident.
When the reason of accident occurrence is analyzed after the accident of the unmanned vehicle occurs. Whether the sensing module successfully detects and identifies the environmental target object needs to be judged according to the sensing detection result, whether the decision unit makes an error judgment before an accident occurs needs to be analyzed according to the decision control instruction, and whether the execution layer controls the longitudinal and transverse movement of the vehicle according to the requirement of the control instruction needs to be judged according to the output result of the execution layer.
Although the existing automobile driving recorder has a data recording function, the acquired data is single, only video information is stored, output data of an unmanned system sensing module, a decision module and an execution module are lacked, and the requirement for analyzing the accident reason of the unmanned vehicle is difficult to meet.
Therefore, the application provides a new unmanned vehicle black box system and a data acquisition method thereof.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a black box system for an unmanned vehicle and a data acquisition method thereof. The invention provides support for the traffic control department to divide accident responsibilities and technical personnel to carry out technical improvement through the analysis of accident reasons of hit-and-run vehicles.
In order to achieve the above purpose, the present invention provides the following technical solutions.
A black box system of an unmanned vehicle comprises a shell, and a multi-channel high-speed synchronous acquisition unit, a central data processing unit, a real-time storage unit and a history storage unit which are arranged in the shell;
the multi-channel high-speed synchronous acquisition unit is used for acquiring unmanned vehicle data under multiple channels, and the unmanned vehicle data comprises a sensing layer detection result, a decision layer control instruction and an execution layer output result;
the central processing unit is used for processing each channel data packet acquired by the multi-channel high-speed synchronous acquisition unit and synthesizing each data packet into a synthesized data packet for storage;
the real-time storage unit is used for storing real-time synthesized data packets in a short time according to time;
the history storage unit is used for storing the history synthetic data packet in a long time according to time.
Preferably, the sensing layer detection result comprises sensing front-end original data and a sensing back-end processing result; the perception front-end original data comprises a radar speed measurement data frame, a laser point cloud data frame, a digital image data frame, a vehicle position data frame and a vehicle attitude data frame; the perception back-end processing result comprises a radar obstacle detection result, an image target object identification result and a data fusion identification result;
the decision-making layer control command comprises a target speed, a target steering wheel corner and a target gear;
and the execution layer output result comprises the actual speed of the vehicle, the actual steering wheel angle and the actual gear.
Preferably, the multi-channel high-speed synchronous acquisition unit is provided with at least four different types of data interfaces, and the data interfaces are used for acquiring data of different channels; the multi-channel high-speed synchronous acquisition unit is provided with a synchronous acquisition control chip and is used for receiving data of different formats simultaneously.
Preferably, the data interface includes:
the CAN bus interface is used for acquiring the output result of the execution layer containing the timestamp;
the first RS232 serial port interface is used for collecting the radar speed measurement data frame;
the second RS232 serial port interface is used for collecting the laser point cloud data frame;
the third RS232 serial port interface is used for collecting the vehicle position data frame;
the fourth RS232 serial port interface is used for collecting the vehicle attitude data frame;
a USB interface for collecting the digital image data frame;
a network interface for collecting the perception back-end processing result;
and the fifth RS232 serial port interface is used for acquiring the decision layer control instruction.
Preferably, the synchronous acquisition control chip is a Field Programmable Gate Array (FPGA); the FPGA integrates the functions of high-speed acquisition of serial port interface data, CAN interface data, USB interface data and network interface data and acquires data packets of all channels in parallel; generating 1kHz synchronous pulse inside the FPGA, and adding acquisition time for each data packet; and the field programmable gate array FPGA transmits data to the central processing unit through a PCI interface.
Preferably, the central processing unit is a Digital Signal Processing (DSP); the digital signal processing DSP is used for receiving each channel data packet collected by the field programmable gate array FPGA; the digital signal processing DSP searches the most similar data information packets through the acquisition time of each data packet and combines the data information packets into the synthetic data packet; and the digital signal processing DSP acquires the data transmitted by the field programmable gate array FPGA through a PCI interface.
Preferably, the system further comprises a power supply conversion unit for converting the vehicle-mounted 12V power supply into voltage required by the system; the shell is made of refractory materials, a buffer layer is arranged in the shell, and a waterproof layer is arranged outside the shell.
A data acquisition method of a black box system of an unmanned vehicle comprises the following steps:
the synchronous acquisition control chip acquires each channel data packet, and acquires each data information acquisition time with the accuracy of 1ms through internally generated 1kHz synchronous pulses;
the central processor searches the most similar data packets at the acquisition time, and uses the data packets as a synthesized data packet to realize high-precision multi-channel data synchronous acquisition;
preferably, the method further comprises the following steps:
the synchronous acquisition control chip acquires a data frame through a CAN interface and comprises a timestamp, so that the synthesized data packet comprises the vehicle time information;
the real-time memory stores data volume of five minutes according to the vehicle time information by time;
when the data volume of the real-time memory reaches the data volume of five minutes, the central processor transfers the data in the real-time memory to the historical memory;
and when the data volume in the history memory reaches the data volume of the appointed twenty-four hours, the history memory is overwritten again, and the data is stored according to time.
The invention has the beneficial effects that:
the unmanned vehicle black box system is applied to an unmanned vehicle, data packets of each channel are acquired in real time through the multi-channel high-speed synchronous acquisition unit, the acquisition time of each data packet is obtained, the data packets acquired at the most similar time of each channel are synthesized through the central processing unit to realize the synchronous acquisition of the multi-channel data packets, and the synthesized data packets within a certain time are stored through the real-time memory and the historical memory. By synthesizing the data information contained in the data packet, technicians can obtain the output results of the perception layer, the decision layer and the execution layer of the unmanned vehicle before an accident occurs, and can analyze and judge the accident reason according to the output results, provide a basis for certain responsibility division for traffic management departments, and provide data support for certain improved technology for research and development personnel.
The invention is further described with reference to the following figures and examples.
Drawings
FIG. 1: the invention discloses a general scheme block diagram of a black box system of an unmanned vehicle;
FIG. 2: the invention discloses an internal function diagram of a multi-channel high-speed synchronous acquisition unit of a black box system of an unmanned vehicle;
FIG. 3: the data flow diagram of the black box system of the unmanned vehicle in the embodiment of the invention is shown;
FIG. 4: the data acquisition and storage flow chart of the black box system of the unmanned vehicle in the embodiment of the invention;
FIG. 5: the circuit schematic diagram of the CAN interface of the black box system of the unmanned vehicle of the embodiment of the invention;
FIG. 6: the invention discloses a circuit schematic diagram of an RS232 interface of a black box system of an unmanned vehicle;
FIG. 7: the invention discloses a circuit schematic diagram of a USB interface of a black box system of an unmanned vehicle;
FIG. 8: the circuit schematic diagram of the network interface of the black box system of the unmanned vehicle of the embodiment of the invention;
FIG. 9: the PCI bus interface schematic diagram of the synchronous acquisition control chip of the black box system of the unmanned vehicle is disclosed by the embodiment of the invention;
FIG. 10: the central processor PCI bus interface schematic diagram of the black box subsystem of the unmanned vehicle of the embodiment of the invention;
FIG. 11: the central processor and the real-time storage unit interface schematic diagram of the black box system of the unmanned vehicle in the embodiment of the invention;
FIG. 12: the central processor of the black box subsystem of the unmanned vehicle and the historical storage unit interface schematic diagram of the embodiment of the invention;
FIG. 13: the invention discloses a power supply conversion system schematic diagram of a black box system of an unmanned vehicle.
In the figure: 1. a housing; 2. a multi-channel high-speed synchronous acquisition unit; 3. a central data processing unit; 4. implementing a storage unit; 5. and a history storage unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Examples
Fig. 1 is a block diagram of an overall solution of a black box system for an unmanned vehicle according to an embodiment of the present application, the black box system for an unmanned vehicle comprising: the device comprises a shell 1, wherein a multi-channel high-speed synchronous acquisition unit 2, a central data processing unit 3, a real-time storage unit 4 and a history storage unit 5 are arranged in the shell 1;
the multi-channel high-speed synchronous acquisition unit is used for acquiring unmanned vehicle data under multiple channels and transmitting the acquired data to the central data processing unit; the unmanned vehicle data comprises a sensing layer detection result, a decision layer control instruction and an execution layer output result;
the central processing unit is used for receiving and processing each channel data packet acquired by the multi-channel high-speed synchronous acquisition unit, synthesizing each data packet into a synthesized data packet and transmitting the synthesized data packet to the real-time storage unit and the historical storage unit for storage;
the real-time storage unit is used for storing real-time synthesized data packets within five minutes according to time;
the history storage unit is used for storing the history synthetic data packet in twenty-four hours according to time.
Further, the shell is made of refractory materials, a buffer layer is arranged in the shell, and a waterproof layer is arranged outside the shell; the method is used for protecting the internal structure, ensuring that the system can still work normally after a traffic accident happens, and the internal data information can be stored completely and can be used for analysis.
Further, the unmanned vehicle data includes: sensing layer detection results, decision layer control instructions and execution layer output results; the sensing layer detection result is used for judging whether the vehicle sensing module successfully detects the accident and identifies the environmental target, the decision layer control instruction is used for judging whether the vehicle decision module makes a reasonable and correct decision according to the sensing result before the accident occurs, and the execution layer output result is used for judging whether the vehicle execution module controls the longitudinal and transverse movement of the vehicle according to the decision instruction.
The sensing layer detection result comprises sensing front-end original data and a sensing rear-end processing result; the perception front-end original data comprises a radar speed measurement data frame, a laser point cloud data frame, a digital image data frame, a vehicle position data frame and a vehicle attitude data frame; the perception back-end processing result comprises a radar obstacle detection result, an image target object identification result and a data fusion identification result; the decision-making layer control command comprises a target speed, a target steering wheel corner and a target gear; the execution level output results include the actual speed of the vehicle, the actual steering wheel angle, and the actual gear.
In addition, the multi-channel high-speed synchronous acquisition unit adopts a field programmable gate array FPGA as a synchronous acquisition control chip; the synchronous acquisition control chip FPGA needs to establish different types of interface circuits to acquire required data.
In this embodiment, the following information is obtained through an RS232 serial interface: radar speed measurement data frames, laser point cloud data frames, vehicle position data frames, vehicle attitude data frames and decision layer control instructions; obtaining through a CAN bus interface: execution layer output results (with time stamp); obtaining through a network interface: sensing a back-end processing result; obtaining through a USB interface: a frame of digital image data.
Further, fig. 2 is a functional diagram of an internal part of a multi-channel high-speed synchronous acquisition unit according to an embodiment of the present application, where a programmable gate array FPGA is used as a synchronous acquisition control chip to achieve system synchronization to acquire data of each channel; the FPGA is connected with interface circuits of all external channels through IO interfaces, reading of corresponding interface data is achieved through internal program design, meanwhile, 1kHz synchronous pulse counting is generated inside the FPGA, a 4Byte register is used for storing synchronous pulse counting values, when each data packet is acquired, the 4Byte synchronous pulse counting values are added to the tail of the data packet, the time precision reaches 1 millisecond, and the acquisition time of each data message is effectively obtained;
the FPGA acquires a large amount of data and transmits the data to the central processing unit through the PCI bus interface, so that high-speed data transmission is realized;
further, fig. 3 is a data flow diagram of a black box system of the unmanned vehicle according to an embodiment of the present application, in which a data processing DSP is adopted as a central processing unit; the DSP is used for receiving data information acquired by the FPGA, searching each closest data packet as the same group of data and packaging the data packet into a synthetic data packet according to acquisition time information contained in the data packet, and effectively achieving the synchronous acquisition function of the multi-channel data packet.
In addition, in this embodiment, a PCI bus is used to transmit data between the FPGA and the DSP.
In this embodiment, the data information obtained by the FPGA through the CAN interface includes a timestamp, and CAN be used as time information of a synthesized data packet; through the time information, the real-time memory stores the real-time synthesized data packet within five minutes in real time, the real-time memory stores the data volume reaching five minutes, the data in the real-time memory is transferred to the historical memory, and when the historical memory stores the data volume reaching twenty-four hours, the data is re-covered, so that the function of storing according to time is effectively realized.
In this embodiment, a Spartan-3 series XC3S400 chip of Xilinx corporation is used as an FPGA synchronous acquisition control chip, a TMS320VC5402 chip of TI corporation is used as a data processing DSP, a ferroelectric memory FM25CL64 is used as a real-time storage unit, and a hard disk is used as a history storage unit.
Further, fig. 5 is a schematic diagram of a CAN interface circuit according to an embodiment of the present disclosure, in which a CAN driver PCA82C250 and a CAN controller SJA1000 are used to implement a CAN interface; in the CAN interface, a bidirectional bus transceiver 74ALVC164245 is adopted to convert a 5V TTL level signal of the SJA1000 into a 3.3V standard signal, and the signal is connected with a pin of an FPGA.
Fig. 6 is a schematic diagram of an RS232 interface circuit according to an embodiment of the present disclosure, in this embodiment, a MAX232 is used as a level conversion chip to convert an RS232 signal into a TTL signal, which is connected to an FPGA pin.
Fig. 7 is a schematic diagram of a USB interface circuit according to an embodiment of the present application, in which an FT245RL is used as a USB interface chip to implement a USB interface.
Fig. 8 is a schematic diagram of a network interface circuit according to an embodiment of the present application, referring to fig. 8, in this embodiment, a W5300 chip is used to implement a network interface, and a network isolation transformer T1-6T is used between the interface chip and a network port RJ45 to enhance the anti-interference capability of signals and protect the interface circuit.
Fig. 9 is a schematic diagram of a PCI bus interface of a synchronous acquisition control chip according to an embodiment of the present application, and fig. 10 is a schematic diagram of a PCI bus interface of a central processor according to an embodiment of the present application; in this embodiment, a PCI interface chip PCI9052 is used to implement an interface between the FPGA and the DSP and a PCI bus.
Fig. 11 is a schematic diagram of an interface between a central processor and a real-time memory unit according to an embodiment of the present invention, in which a ferroelectric memory FM25CL64 is used as a real-time memory.
Fig. 12 is a schematic diagram of an interface between a central processor and a history storage unit according to an embodiment of the present invention, in this embodiment, a hard disk is used as a history storage, and since an IDE interface is generally used as a hard disk controller, in this embodiment, this SN74ALVCL64245 is used as a level shifter; ispLSll032E is used as a control core to provide read-write logic and decoding functions for the read-write of the DSP, and an interface between the DSP and the history storage unit is realized.
Fig. 13 is a schematic diagram of a power conversion system according to an embodiment of the present application, and since the system of the present embodiment requires 5V and 3.3V voltages, a DC-DC conversion chip MC34063 is used to convert a vehicle-mounted 12V voltage into a voltage required by the system, so as to provide a system power supply.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A black box system of an unmanned vehicle is characterized by comprising a shell, and a multi-channel high-speed synchronous acquisition unit, a central data processing unit, a real-time storage unit and a history storage unit which are arranged in the shell;
the multi-channel high-speed synchronous acquisition unit is used for acquiring unmanned vehicle data under multiple channels, and the unmanned vehicle data comprises a sensing layer detection result, a decision layer control instruction and an execution layer output result;
the central processing unit is used for processing each channel data packet acquired by the multi-channel high-speed synchronous acquisition unit and synthesizing each data packet into a synthesized data packet for storage;
the real-time storage unit is used for storing real-time synthesized data packets in a short time according to time;
the history storage unit is used for storing the history synthetic data packet in a long time according to time.
2. The unmanned vehicle black box system of claim 1, wherein the sensing layer detection results comprise sensing front end raw data and sensing rear end processing results; the perception front-end original data comprises a radar speed measurement data frame, a laser point cloud data frame, a digital image data frame, a vehicle position data frame and a vehicle attitude data frame; the perception back-end processing result comprises a radar obstacle detection result, an image target object identification result and a data fusion identification result;
the decision-making layer control command comprises a target speed, a target steering wheel corner and a target gear;
and the execution layer output result comprises the actual speed of the vehicle, the actual steering wheel angle and the actual gear.
3. The unmanned vehicle black box system of claim 2, wherein the multi-channel high speed synchronous acquisition unit has at least four different types of data interfaces for acquiring data of different channels; the multi-channel high-speed synchronous acquisition unit is provided with a synchronous acquisition control chip and is used for receiving data of different formats simultaneously.
4. The unmanned vehicle black box system of claim 3, wherein the data interface comprises:
the CAN bus interface is used for acquiring the output result of the execution layer containing the timestamp;
the first RS232 serial port interface is used for collecting the radar speed measurement data frame;
the second RS232 serial port interface is used for collecting the laser point cloud data frame;
the third RS232 serial port interface is used for collecting the vehicle position data frame;
the fourth RS232 serial port interface is used for collecting the vehicle attitude data frame;
a USB interface for collecting the digital image data frame;
a network interface for collecting the perception back-end processing result;
and the fifth RS232 serial port interface is used for acquiring the decision layer control instruction.
5. The unmanned vehicle black box system of claim 4, wherein the synchronous acquisition control chip is a Field Programmable Gate Array (FPGA); the FPGA integrates the functions of high-speed acquisition of serial port interface data, CAN interface data, USB interface data and network interface data and acquires data packets of all channels in parallel; generating 1kHz synchronous pulse inside the FPGA, and adding acquisition time for each data packet; and the field programmable gate array FPGA transmits data to the central processing unit through a PCI interface.
6. The unmanned vehicle black box system of claim 5, wherein said central processing unit is a digital signal processing DSP; the digital signal processing DSP is used for receiving each channel data packet collected by the field programmable gate array FPGA; the digital signal processing DSP searches the most similar data information packets through the acquisition time of each data packet and combines the data information packets into the synthetic data packet; and the digital signal processing DSP acquires the data transmitted by the field programmable gate array FPGA through a PCI interface.
7. The unmanned vehicle black box system of claim 6, further comprising a power conversion unit for converting an on-board 12V power supply to a system required voltage; the shell is made of refractory materials, a buffer layer is arranged in the shell, and a waterproof layer is arranged outside the shell.
8. A method of data acquisition of a black box system for unmanned vehicles according to any of claims 1 to 7, comprising:
the synchronous acquisition control chip acquires each channel data packet, and acquires each data information acquisition time with the accuracy of 1ms through internally generated 1kHz synchronous pulses;
and the central processor searches the most similar data packets at the acquisition time, and uses the data packets as a synthesized data packet to realize high-precision multichannel data synchronous acquisition.
9. The method of acquiring data from a black box system of an unmanned vehicle as claimed in claim 8, further comprising:
the synchronous acquisition control chip acquires a data frame through a CAN interface and comprises a timestamp, so that the synthesized data packet comprises the vehicle time information;
the real-time memory stores data volume of five minutes according to the vehicle time information by time;
when the data volume of the real-time memory reaches the data volume of five minutes, the central processor transfers the data in the real-time memory to the historical memory;
and when the data volume in the history memory reaches the data volume of the appointed twenty-four hours, the history memory is overwritten again, and the data is stored according to time.
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| CN112731909A (en) * | 2021-01-07 | 2021-04-30 | 东风电子科技股份有限公司 | Method, system, device, processor and storage medium for realizing fault data record reading of vehicle motor controller |
| CN114572138A (en) * | 2022-03-15 | 2022-06-03 | 东风汽车集团股份有限公司 | Self-checking method, device and equipment for accident fault of automatic driving vehicle and storage medium |
| CN114459373A (en) * | 2022-04-13 | 2022-05-10 | 中交三航局第三工程有限公司 | Intelligent monitoring system of integrated bridge girder erection machine |
| CN115225422A (en) * | 2022-06-30 | 2022-10-21 | 际络科技(上海)有限公司 | Vehicle CAN bus data acquisition method and device |
| CN115225422B (en) * | 2022-06-30 | 2023-10-03 | 际络科技(上海)有限公司 | Vehicle CAN bus data acquisition method and device |
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