DE102022200705A1 - Control unit for driver assistance systems or systems for autonomous driving - Google Patents

Abstract

A control device for ADAS or AD systems comprises a central unit (10) with a main processor (11), a measurement data interface (20) with a logic module (21) and a system extension (30) with a co-processor (31). The measurement data interface (20) collects measurement data received from interfaces (12, 13, 14) to be processed by the main processor (11). The coprocessor (31) is intended to relieve the main processor (11) of this. The collected measurement data are therefore forwarded directly from the measurement data interface (20) to the co-processor (31), bypassing the main processor (11). This can be done either via additional interfaces of the central unit (10) or via a high-speed interface (33) of the system extension (30), which is designed as a single plug-in connection. The results of the processing of the measurement data determined by the coprocessor (31) are sent to the main processor (11) via an interface (32) between the central unit (10) and the system extension (30). This makes it possible to integrate and test different coprocessors (31) in the control unit during development before they are finally installed in the control unit at a later stage of development. The development, testing and evaluation work can thus be limited to the system extension (30), while the central unit (11) remains unchanged.

Description

The invention relates to a control unit for functions of driver assistance systems (Advanced Driver Assistance Systems, ADAS) or for systems for autonomous driving (Autonomous Driving, AD). Such control devices typically include a central unit with a main processor and with interfaces for receiving measurement data from sensors, other systems and/or a vehicle controller. The sensors are used to detect the vehicle environment and z. B. include cameras, radar or LIDAR systems. The other interfaces are used to exchange data with other electronic systems in the vehicle, e.g. B. a GPS receiver or a cellular module used. In addition, data from the vehicle controller, for example the drive controller or an electric steering system, can be processed via additional interfaces. The data received via the interfaces is essentially processed by the main processor, also known as the performance processor.

For the development of ADAS and AD functions, it is necessary to collect and record data of the interfaces and intermediate results from the main processor, especially on test drives in the course of development. Therefore, at least during the development phase, the control unit is supplemented by a measurement data interface, which collects the measurement data received from the interfaces in order to forward them to a measurement data acquisition or recording system.

The computing power of the main processor is often not sufficient for complex ADAS or AD functions. For this reason, control units for ADAS and/or AD usually have a system extension with a co-processor, which relieves the main processor. The coprocessor is connected via a powerful data interface, which is physically designed as a plug-in connection.

The development of a control unit for ADAS and AD requires a high level of development and testing effort; the development phase is correspondingly long. At the same time, the technical development of processors is progressing very quickly; each new generation of processors is more powerful and, in particular, allows faster processing of larger amounts of data. This applies not only to the main processor, but also in particular to the co-processor of the system extension. However, the development of a completely new control unit and the evaluation of each new processor would mean an immense amount of effort, which would hardly be possible.

The object of the invention is therefore to create a further developed, more powerful control device for ADAS and/or AD systems with a minimum of effort for tests and evaluation.

The invention is based on the idea of keeping the central unit of the control device with the main processor and all interfaces unchanged over several development steps and only rebuilding the system extension in order to test and evaluate new coprocessors.

The object is achieved according to the first patent claim in that the measurement data received from the interfaces of the central unit are forwarded directly to the coprocessor, bypassing the main processor, by means of a data connection between the measurement data interface and the coprocessor. This makes it possible to test various system extensions and in particular system extensions with new, more powerful co-processors in development without the measurement data from the sensors having to run through the main processor. The development, testing and evaluation work is thus limited to the system expansion, while the central unit remains untouched.

The data connection for forwarding the measurement data from the measurement data interface directly to the coprocessor can be implemented via a first interface for receiving the measurement data from the measurement data interface and a second interface for outputting the measurement data to the coprocessor. However, the system extension preferably has a high-speed interface for receiving the measurement data directly from the measurement data interface and for forwarding the received measurement data to the coprocessor. The measurement data interface preferably includes a programmable logic module that can be configured in such a way that different interface standards are supported with the same pins. This makes it possible to integrate and test different coprocessors in the control unit during development before they are finally installed in the control unit at a later stage of development. The measurement data interface can advantageously also be integrated into the central unit.

The control unit according to the invention with a central unit, measurement data interface and system extension is preferably designed on three printed circuit boards. The central unit is embodied on the first circuit board, the measurement data interface is embodied on the second circuit board, and the system extension is embodied on the third circuit board. The three circuit boards are arranged in parallel, with the circuit board containing the central processing unit in the middle between the other two circuit boards is arranged. The first interface for receiving the measurement data from the measurement data interface is in the form of a first plug connection, which connects the first circuit board of the central unit and the second circuit board of the measurement data interface to one another. The second interface for outputting the measurement data to the coprocessor is in the form of a second plug-in connection, which connects the first printed circuit board of the central unit to the third printed circuit board of the system extension.

In a particularly preferred embodiment, the first circuit board on which the central unit is formed has a recess, and the high-speed interface for receiving the measurement data from the measurement data interface and for forwarding it to the coprocessor is designed as a single plug-in connection, which leads through the recess in the first circuit board of the central unit and directly connects the second circuit board, on which the measurement data interface is located, to the third circuit board on which the system extension is formed.

Preferred developments of the invention are described in the dependent claims. It goes without saying that the features mentioned above and those still to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

• 1 ein Steuergerät für ADAS nach dem Stand der Technik, in einem Prinzipbild;
• 2a ein erstes erfindungsgemäßes Steuergerät für ADAS, in einem Prinzipbild;
• 2b den körperlichen Aufbau des Steuergeräts von 2a, in einem Vertikalschnitt;
• 3a ein zweites erfindungsgemäßes Steuergerät für ADAS, in einem Prinzipbild;
• 3b den körperlichen Aufbau des Steuergeräts von 3a, in einem Vertikalschnitt;
• 4 ein drittes erfindungsgemäßes Steuergerät für ADAS, in einem Prinzipbild.

A control device according to the prior art and three exemplary embodiments of the invention are explained below with reference to the attached figures. Show it:

• 1 a control unit for ADAS according to the prior art, in a schematic diagram;
• 2a a first inventive control device for ADAS, in a schematic diagram;
• 2 B the physical structure of the control unit 2a , in a vertical section;
• 3a a second control unit according to the invention for ADAS, in a schematic diagram;
• 3b the physical structure of the control unit 3a , in a vertical section;
• 4 a third control unit according to the invention for ADAS, in a schematic diagram.

The usual architecture of a control unit for ADAS or AD systems includes according to 1 a central unit 10 with main processor 11, a measurement data interface 20 with logic module 21 and a system extension 30 with co-processor 31.

The central unit 10 has a number of interfaces 12 for sensors 40 for detecting the vehicle environment, namely cameras 41, LIDAR systems 42 and radar sensors 43. A further system 44 can be connected via a further interface 13. An interface 14 is also used to receive data from a vehicle controller 45.

The processing of the data received from the interfaces 12, 13 and 14 is essentially carried out by the main processor 11. An infrastructure processor 17 is used for system control tasks such as e.g. B. startup, monitoring, secure data communication used. The infrastructure processor 17 can also forward information to the main processor 11.

The measurement data interface 20 receives the collected measurement data from the central unit 10 via an interface 22. The measurement data interface 20 is used to collect and record data from the interfaces and intermediate results from the main processor 11 during the development period. These data are passed on to a measurement data acquisition system 50 with a data memory 51 via a measurement data output 23 . The collected and recorded data are used in particular for online visualization in the vehicle to assess the functions and to identify weak points and errors, as well as for offline visualization in the laboratory, for simulating the interfaces and functions for the purpose of optimization and protection, for emulating the interfaces for hardware in the loop tests and for initializing simulation and hardware in the loop interface emulation systems and control units.

The coprocessor 31 of the system extension 30 is connected to the main processor 11 via an interface 32 . The co-processor 31 can therefore only receive the measurement data from the interfaces 12 , 13 , 14 indirectly via the main processor 11 . This leads to an unnecessary load on the main processor 11. When processing the measurement data, the relief of the main processor 11 by the co-processor 31 is therefore not optimal.

The first control device according to the invention 2a has in principle the same architecture as the control unit according to 1 . In this case, however, the collected measurement data is routed directly from the measurement data interface 20 to the coprocessor 31, bypassing the main processor 11. For this purpose, the central unit 10 has a first data interface 15 to the measurement data interface 21 and a second data interface 16 for forwarding or outputting the measurement data to the coprocessor 31. As a result, the coprocessor 31 can transmit the measurement data of the sensors 12, 13 and 14 and possibly also intermediate results of the main processor 11 and/or the infrastructure processor 17 without loading the main processor 11. The results of the data processing in the co-processor 31 can then be given to the main processor 11 via the interface 32 .

The physical structure of the control unit according to 2a is in 2 B visible and includes a first circuit board 18 on which the central unit 10 is constructed, a second circuit board 24 on which the measurement data interface 20 is constructed, and a third circuit board 24 on which the system extension 30 is constructed. The main processor 11, the co-processor 31 and the logic module 21 are each located on the top of the circuit board 18, 24 and 34, respectively.

All three circuit boards 18, 24 and 34 are parallel and spaced apart. The central unit 10 is located in the middle, the measurement data interface is arranged below and the system extension 30 is arranged above the central unit 10 .

The first data interface 15 (cf. 2a ) between the central unit 10 and the measurement data interface 20 is designed as a first plug-in connection 60 which connects the first circuit board 18 of the central unit 10 and the second circuit board 24 of the measurement data interface 20 to one another.

The second data interface 16 (cf. 2a ) between the central unit 10 and the system extension 30 is designed as a second plug-in connection 70 which connects the first printed circuit board 18 of the central unit 10 to the third printed circuit board 34 of the system extension 30 . In this way, the coprocessor 11 of the system extension 30 can directly receive the collected measurement data from the measurement data interface 20 via the first plug-in connection 60 and the second plug-in connection 70 without loading the main processor 11 .

The second version of a control device according to the invention 3a has in principle the same architecture as the control units according to the 1 and 2 B . Instead of the data interface 15, 16 in 2 B However, here the data connection for forwarding the measurement data from the measurement data interface 20 does not run via the central unit 10, but via a single high-speed interface 33 between the measurement data interface 20 and the system extension 30.

How out 3b As can be seen, the high-speed interface 33 is physically realized by a single plug-in connection 80 which directly connects the printed circuit board 24 of the measurement data interface to the printed circuit board 34 of the system extension 30 . For this purpose, the printed circuit board 18 of the central unit 10 has a recess 19 through which the plug connection 80 passes. In this way, the measurement data go directly from the measurement data interface 20 to the system extension 30 and do not have to, as in the embodiment according to FIG 2a and 2 B , Are routed via the printed circuit board 18 of the central unit 10.

In the third version of a control device according to the invention 4 If the measurement data interface 20 is integrated into the central unit 10, it is therefore built on a common printed circuit board. Otherwise, this architecture corresponds to that of the control units described above 2a and 3a . Here, too, the system extension 30 is connected to the measurement data interface 20 by means of a high-speed interface 33 in order to forward the collected measurement data from the logic module 21 of the measurement data interface 20 directly to the coprocessor 31 .

The invention has been comprehensively described and explained with reference to the drawings and the description. The description and explanation are intended to be exemplary and not limiting. The invention is not limited to the disclosed embodiments. Other embodiments or variations will become apparent to those skilled in the art upon use of the present invention upon a study of the drawings, the disclosure, and the claims that follow.

In the claims, the words "comprising" and "having" do not exclude the presence of other elements or steps. The undefined article "a" or "an" does not exclude the presence of a plural. A single element or unit can perform the functions of several of the units recited in the claims. An element, unit, interface, device, and system may be partially or fully implemented in hardware and/or software. The mere naming of some measures in several different dependent patent claims should not be understood to mean that a combination of these measures cannot also be used to advantage.

Reference List

10

central unit

11

main processor

12

Interfaces (sensors)

13

interface (system)

14

interface (vehicle)

15

first data interface

16

second data interface

17

infrastructure processor

18

first circuit board (of 10)

19

recess (in 18)

20

measurement data interface

21

logic module

22

interface (central unit)

23

Measurement data output

24

second circuit board (of 20)

30

system extension

31

coprocessor

32

interface (main processor)

33

High-speed interface (measurement data interface)

34

third circuit board (of 30)

40

sensors

41

camera

42

LIDAR system

43

radar sensor

44

system

45

vehicle control

50

Measurement data acquisition system

51

data storage

60

first connector

70

second connector

80

single connector

Claims (7)

Control unit for driver assistance systems or systems for autonomous driving, with a central unit (10) comprising a main processor (11) and interfaces (12, 13, 14) for receiving measurement data from sensors (40), other systems (44) and/or a vehicle controller (45); a measurement data interface (20) for collecting the measurement data; a system extension (30) with a co-processor (31) for relieving the main processor (11); a data connection for forwarding the measurement data from the measurement data interface (20) directly to the co-processor (31). control unit claim 1 , wherein the central unit comprises a first data interface (15) for receiving the measurement data from the measurement data interface (20) and a second data interface (16) for outputting the measurement data to the coprocessor (31). control unit claim 1 , wherein the system extension comprises a high-speed interface (33) for receiving the measurement data from the measurement data interface (20) and for directly forwarding the measurement data to the coprocessor (31). Control device according to one of the preceding claims, wherein the measurement data interface (20) comprises a programmable logic module (21). Control device according to one of the preceding claims, in which the measurement data interface (20) is integrated into the central unit (10). Control unit according to one of claims 2 until 5 , wherein the central unit (10) is formed on a first printed circuit board (18); the measurement data interface (20) is formed on a second printed circuit board (24) which is arranged parallel under the first printed circuit board (18); the system extension (30) is formed on a third circuit board (34) which is arranged in parallel above the first circuit board (18); the first data interface (15) for receiving the measurement data from the measurement data interface (20) is designed as a first plug-in connection (60) which connects the first circuit board (18) of the central unit (10) and the second circuit board (24) of the measurement data interface (20) to one another; the second data interface (16) for outputting the measurement data to the coprocessor (31) is designed as a second plug-in connection (70) which connects the first printed circuit board (18) of the central unit (10) to the third printed circuit board (34) of the system extension (30). Control unit according to one of claims 3 until 5 , wherein the first circuit board (18) of the central unit (10) has a recess (19); the high-speed interface (33) for receiving the measurement data from the measurement data interface (20) and for forwarding the measurement data to the coprocessor (31) is designed as a single plug-in connection (80), which leads through the recess (19) in the first circuit board (18) of the central unit (10) and directly connects the second circuit board (24) of the measurement data interface (20) to the third circuit board (34) of the system extension (30).

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