CN216833523U

CN216833523U - Sensor gateway and autonomous driving vehicle

Info

Publication number: CN216833523U
Application number: CN202123438560.XU
Authority: CN
Inventors: 潘波
Original assignee: Beijing Xiaoma Ruixing Technology Co ltd
Current assignee: Beijing Xiaoma Ruixing Technology Co ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-06-28
Anticipated expiration: 2031-12-31

Abstract

The application provides a sensor gateway and an automatic driving vehicle, wherein the sensor gateway comprises a control chip, a serializer, a deserializer, an Ethernet interface, a PCIe interface and a CAN controller, wherein the first end of the serializer/deserializer is connected with the control chip, and the second end of the serializer/deserializer is used for being connected with a camera; the first end of the Ethernet interface is connected with the control chip, and the second end of the Ethernet interface is used for being connected with the laser radar; the PCIe interface is connected with the control chip; the CAN controller is provided with an SPI interface and is connected with the control chip. This sensor gateway has ethernet interface, PCIe interface and SPI interface, through being connected with the camera of serializer/deserializer in addition, is connected through ethernet interface and laser radar, has guaranteed that sensor gateway's interface is of more kind, can satisfy the communication requirement of multiple data transmission form.

Description

Sensor gateway and autonomous driving vehicle

Technical Field

The application relates to the field of sensors, in particular to a sensor gateway and an automatic driving vehicle.

Background

The sensor gateway is an important component in a sensor network system. The existing sensor gateway has a single communication mode and cannot meet the communication requirements of various existing data transmission modes.

The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.

SUMMERY OF THE UTILITY MODEL

The main objective of this application is to provide a sensor gateway and automatic driving vehicle to solve the problem that the sensor gateway among the prior art can't satisfy the communication requirement of multiple data transmission form.

In order to achieve the object, according to one aspect of the present application, there is provided a sensor gateway including a control chip, a serializer/deserializer, an ethernet interface, a PCIe (Peripheral Component Interconnect Express) interface, and a CAN (Controller Area Network) Controller, wherein a first end of the serializer/deserializer is connected to the control chip, and a second end of the serializer/deserializer is used for connecting to a camera; the first end of the Ethernet interface is connected with the control chip, and the second end of the Ethernet interface is used for being connected with the laser radar; the PCIe interface is connected with the control chip; the CAN controller is provided with an SPI (Serial Peripheral Interface) Interface and is connected with the control chip.

Optionally, the control chip includes an FPGA (Field Programmable Gate Array), the FPGA includes a PS (Processing System) module, a PL (Programmable Logic) module, and a first protocol conversion module, the PS module is connected to the ethernet interface, the PL module is respectively connected to the serializer/deserializer and the CAN controller, the first protocol conversion module is connected to the PCIe interface, and the first protocol conversion module is configured to convert data in a first predetermined format into data in a format recognizable to the PCIe interface.

Optionally, the FPGA further includes a second protocol conversion module, the sensor gateway further includes an ocla interface, the ocla interface is connected to the second protocol conversion module, and the second protocol conversion module is configured to convert data in a second predetermined format into format data that the ocla interface can recognize.

Optionally, the sensor gateway further includes a JTAG (Joint Test Action Group) interface, connected to the PS module.

Optionally, the control chip further includes an MCU (micro controller Unit), connected to the ethernet interface, and the MCU is configured to be connected to the communication connector.

Optionally, the MCU comprises a CAN interface.

Optionally, the sensor gateway further includes a memory, and the memory is connected to the control chip.

Optionally, the memory includes at least one of DDR4(Double data Rate), eMMC (Embedded multimedia Card), s-FLASH, and SD (Secure Digital) memory Card.

Optionally, the sensor gateway further includes a built-in power supply electrically connected to the control chip.

According to another aspect of the present application, there is provided an autonomous vehicle comprising any of the sensor gateways.

By applying the technical scheme of the application, the sensor gateway comprises a control chip, a serializer/deserializer, an Ethernet interface, a PCIe interface and a CAN controller, wherein a first end of the serializer/deserializer is connected with the control chip, and a second end of the serializer/deserializer is used for being connected with a camera; the first end of the Ethernet interface is connected with the control chip, and the second end of the Ethernet interface is used for being connected with the laser radar; the PCIe interface is connected with the control chip; the CAN controller is provided with an SPI interface and is connected with the control chip. Compare the sensor gateway among the prior art can't satisfy the problem of the communication requirement of multiple data transmission form, this application sensor gateway, have ethernet interface, PCIe interface and SPI interface, in addition pass through serializer/deserializer be connected with the camera, through ethernet interface is connected with laser radar, has guaranteed sensor gateway's interface kind is more, can satisfy the communication requirement of multiple data transmission form to it is single to have solved sensor gateway's transmission data type among the prior art betterly, can't satisfy the problem of the communication requirement of multiple data transmission form.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:

FIG. 1 shows a sensor gateway schematic according to an embodiment of the present application.

Wherein the figures include the following reference numerals:

10. a control chip; 20. a serializer/deserializer; 30. an Ethernet interface; 40. a PCIe interface; 50. a CAN controller; 60. a camera; 70. a laser radar; 80. an Otorola interface; 90. a JTAG interface; 100. a communication connector; 110. a memory; 120. a built-in power supply; 101. an FPGA; 102. a PS module; 103. a PL module; 104. a first protocol conversion module; 105. a second protocol conversion module; 106. and (6) an MCU.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

In order to make the technical solutions better understood by those skilled in the art, 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 only partial 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.

It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.

As described in the background of the invention, the sensor gateway in the prior art cannot meet the communication requirements of various data transmission forms, and in order to solve the problems, the application provides a sensor gateway and an automatic driving vehicle.

According to an exemplary embodiment of the present application, there is provided a sensor gateway, as shown in fig. 1, the sensor gateway includes a control chip 10, a serializer/deserializer 20, an ethernet interface 30, a PCIe interface 40, and a CAN controller 50, wherein a first end of the serializer/deserializer 20 is connected to the control chip 10, and a second end of the serializer/deserializer 20 is configured to be connected to a camera 60; a first end of the ethernet interface 30 is connected to the control chip 10, and a second end of the ethernet interface 30 is used for connecting to the laser radar 70; the PCIe interface 40 is connected to the control chip 10; the CAN controller 50 has an SPI interface, and the CAN controller 50 is connected to the control chip 10.

The sensor gateway comprises a control chip, a serializer/deserializer, an Ethernet interface, a PCIe interface and a CAN controller, wherein a first end of the serializer/deserializer is connected with the control chip, and a second end of the serializer/deserializer is used for being connected with a camera; the first end of the Ethernet interface is connected with the control chip, and the second end of the Ethernet interface is used for being connected with a laser radar; the PCIe interface is connected with the control chip; above-mentioned CAN controller has the SPI interface, and above-mentioned CAN controller is connected with above-mentioned control chip. Compare the problem that the sensor gateway among the prior art can't satisfy the communication requirement of multiple data transmission form, the foretell sensor gateway of this application, ethernet interface has, PCIe interface and SPI interface, in addition through being connected with the camera of above-mentioned serializer/deserializer, be connected with laser radar through above-mentioned ethernet interface, the interface variety of having guaranteed above-mentioned sensor gateway is more, can satisfy the communication requirement of multiple data transmission form, thereby it is single to have solved the transmission data type of sensor gateway among the prior art betterly, can't satisfy the problem of the communication requirement of multiple data transmission form.

Specifically, the serializer/deserializer converts CSI (Camera Serial Interface) data into GMSL (Gigabit Multimedia Serial Links) Interface data, which is commonly used for transmission of audio, video, and control signals, and converts the GMSL Interface data into CSI data. When the sensor gateway is used in a vehicle-mounted system, the transmission rate of the ethernet interface is 1000M.

In a specific embodiment, the controller is configured to convert data transmitted by the SPI interface into data recognizable as a CAN interface and a CAN FD interface, and the sensor gateway is configured to be connected to a sensor requiring CAN communication through the controller.

According to an embodiment of the present application, as shown in fig. 1, the control chip 10 includes an FPGA101, the FPGA101 includes a PS module 102, a PL module 103, and a first protocol conversion module 104, the PS module 102 is connected to the ethernet interface 30, the PL module 103 is respectively connected to the serializer/deserializer 20 and the CAN controller 50, the first protocol conversion module 104 is connected to the PCIe interface 40, and the first protocol conversion module 104 is configured to convert data in a first predetermined format into data in a format recognizable by the PCIe interface 40. The sensor gateway is connected with the Ethernet interface through the PS module, so that the PS module of the FPGA is ensured to receive the data acquired by the laser radar through the Ethernet interface, the PL module is respectively connected with the serializer/deserializer and the CAN controller, so that the PL module of the FPGA receives data collected by a camera through the serializer/deserializer, and the PL module of the FPGA receives data collected by the sensor supporting CAN communication through the CAN controller, the first protocol conversion module converts the data in the first preset format into the format data which can be identified by the PCIe interface, thereby ensuring that the FPGA can send the data out through the PCIe interface, therefore, the sensor gateway further ensures that the types of the interfaces of the sensor gateway are more, and further solves the problem that the conventional sensor gateway cannot meet the communication requirements of various data transmission modes.

In order to further ensure that the types of the interfaces of the sensor gateway are more, according to another specific embodiment of the present application, as shown in fig. 1, the FPGA101 further includes a second protocol conversion module 105, the sensor gateway further includes an okara interface 80, the okara interface 80 is connected to the second protocol conversion module 105, and the second protocol conversion module 105 is configured to convert data in a second predetermined format into format data that can be recognized by the okara interface 80. The second protocol conversion module converts the data in the second preset format into data in a format recognizable by the Oracle interface, so that the FPGA data can be sent out through the Oracle interface, thereby further ensuring more types of interfaces of the sensor gateway and further realizing the communication requirements of various data transmission forms.

In a specific embodiment of the present application, the FPGA performs preprocessing such as compression and format conversion on laser radar data received through the ethernet interface, camera data received through the serializer/deserializer, and data of other sensors received through the CAN controller, and then sends out the data through the ocla interface and the PCIe interface.

According to another embodiment of the present application, as shown in fig. 1, the sensor gateway further includes a JTAG interface 90 connected to the PS module 102. In this embodiment, the JTAG interface further ensures that the sensor gateway has a plurality of interface types.

Specifically, most advanced devices support the JTAG interface, which allows multiple devices to be connected in series, so that each device can be tested separately. In one embodiment, as shown in FIG. 1, the JTAG interface 90 is adapted to interface with a communication connector 100.

According to an embodiment of the present application, as shown in fig. 1, the control chip further includes an MCU106, the MCU106 is connected to the ethernet interface 30, and the MCU106 is used for connecting to the communication connector 100. In this embodiment, the sensor gateway adopts a dual processor, and the MCU may also receive the data of the lidar via the ethernet interface, and realize communication connection with other devices via the communication connector, thereby further ensuring a large data processing amount and a high data processing speed of the sensor network.

According to another specific embodiment of the present application, the MCU includes a CAN interface. Through above-mentioned CAN interface, above-mentioned MCU is connected with the sensor that needs CAN communication, has further guaranteed that the interface variety of above-mentioned sensor gateway is more to the problem that CAN't satisfy the communication requirement of multiple data transmission form has further been avoided.

According to a specific embodiment of the present application, as shown in fig. 1, the sensor gateway further includes a memory 110, and the memory 110 is connected to the control chip 10. Specifically, as shown in fig. 1, the memory 110 is connected to the FPGA101 and the MCU106, and the sensor gateway puts data received by the FPGA and the MCU and/or processed data into the memory, so as to ensure good data security and avoid data loss.

According to an embodiment of the present application, the memory includes at least one of DDR4, eMMC, s-FLASH, and SD memory card.

According to another embodiment of the present application, as shown in fig. 1, the sensor gateway further includes an internal power source 120, and the internal power source 120 is electrically connected to the control chip. The built-in power supply supplies power to other modules in the sensor gateway, and the other modules in the sensor gateway can work normally.

Of course, the sensor gateway may be powered by an external power supply device without providing a built-in power supply.

According to another exemplary embodiment of the present application, there is provided an autonomous vehicle comprising any of the sensor gateways described above.

The autonomous vehicle described above, comprising any of the sensor gateways described above. Compare the sensor gateway among the prior art can't satisfy the problem of the communication requirement of multiple data transmission form, the sensor gateway of the above-mentioned automatic driving vehicle of this application, ethernet interface has, PCIe interface and SPI interface, in addition be connected with the camera through above-mentioned serializer/deserializer, be connected with laser radar through above-mentioned ethernet interface, the interface type of having guaranteed above-mentioned sensor gateway is more, can satisfy the communication requirement of multiple data transmission form, thereby sensor gateway's transmission data type is single among the prior art has been solved betterly, can't satisfy the problem of the communication requirement of multiple data transmission form.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:

1) the sensor gateway comprises a control chip, a serializer/deserializer, an Ethernet interface, a PCIe interface and a CAN controller, wherein a first end of the serializer/deserializer is connected with the control chip, and a second end of the serializer/deserializer is used for being connected with a camera; the first end of the Ethernet interface is connected with the control chip, and the second end of the Ethernet interface is used for being connected with a laser radar; the PCIe interface is connected with the control chip; above-mentioned CAN controller has the SPI interface, and above-mentioned CAN controller is connected with above-mentioned control chip. Compare the problem that the sensor gateway among the prior art can't satisfy the communication requirement of multiple data transmission form, the foretell sensor gateway of this application, ethernet interface has, PCIe interface and SPI interface, in addition through being connected with the camera of above-mentioned serializer/deserializer, be connected with laser radar through above-mentioned ethernet interface, the interface variety of having guaranteed above-mentioned sensor gateway is more, can satisfy the communication requirement of multiple data transmission form, thereby it is single to have solved the transmission data type of sensor gateway among the prior art betterly, can't satisfy the problem of the communication requirement of multiple data transmission form.

2) The autonomous vehicle of the present application includes any of the sensor gateways described above. Compare the sensor gateway among the prior art can't satisfy the problem of the communication requirement of multiple data transmission form, the sensor gateway of the above-mentioned automatic driving vehicle of this application, ethernet interface has, PCIe interface and SPI interface, in addition be connected with the camera through above-mentioned serializer/deserializer, be connected with laser radar through above-mentioned ethernet interface, the interface type of having guaranteed above-mentioned sensor gateway is more, can satisfy the communication requirement of multiple data transmission form, thereby sensor gateway's transmission data type is single among the prior art has been solved betterly, can't satisfy the problem of the communication requirement of multiple data transmission form.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A sensor gateway, comprising:

a control chip;

a first end of the serializer/deserializer is connected with the control chip, and a second end of the serializer/deserializer is used for being connected with a camera;

the first end of the Ethernet interface is connected with the control chip, and the second end of the Ethernet interface is used for being connected with the laser radar;

the PCIe interface is connected with the control chip;

and the CAN controller is provided with an SPI interface and is connected with the control chip.

2. The sensor gateway of claim 1, wherein the control chip comprises:

the FPGA comprises a PS module, a PL module and a first protocol conversion module, wherein the PS module is connected with the Ethernet interface, the PL module is respectively connected with the serializer/deserializer and the CAN controller, the first protocol conversion module is connected with the PCIe interface, and the first protocol conversion module is used for converting data in a first preset format into format data which CAN be identified by the PCIe interface.

3. The sensor gateway of claim 2, wherein the FPGA further comprises a second protocol conversion module, the sensor gateway further comprising:

and the Ordoku interface is connected with the second protocol conversion module, and the second protocol conversion module is used for converting the data in a second preset format into the data in a format which can be identified by the Ordoku interface.

4. The sensor gateway of claim 2, further comprising:

and the JTAG interface is connected with the PS module.

5. The sensor gateway of any of claims 1 to 4, wherein the control chip further comprises:

and the MCU is connected with the Ethernet interface and is used for being connected with the communication connector.

6. The sensor gateway of claim 5, wherein the MCU comprises a CAN interface.

7. The sensor gateway of any one of claims 1 to 4, further comprising:

and the memory is connected with the control chip.

8. The sensor gateway of claim 7, wherein the memory comprises at least one of DDR4, eMMC, s-FLASH, and SD memory cards.

9. The sensor gateway of any one of claims 1 to 4, further comprising:

and the built-in power supply is electrically connected with the control chip.

10. An autonomous vehicle, comprising: the sensor gateway of any one of claims 1 to 9.