基于FPGA的自动驾驶HIL视频注入系统设计  

Design of Video Injection System for Autopilot HIL Simulation Based on FPGA

作　　者：丁晟 董天天 郑雪芳[1] 秦昌琪 DING Sheng;DONG Tiantian;ZHENG Xuefang;QIN Changqi(School of Microelectronics,Jiangsu Vocational College of Information Technology,Wuxi Jiangsu 214153,China;Maxscend Microelectronics Company Limited,Wuxi Jiangsu 214000,China)

机构地区：[1]江苏信息职业技术学院微电子学院,江苏无锡214153 [2]江苏卓胜微电子股份有限公司,江苏无锡214000

出　　处：《电子器件》2023年第4期1075-1082,共8页Chinese Journal of Electron Devices

基　　金：江苏省高等学校自然科学研究项目(19KJB510027);江苏省“333工程”科研资助项目计划(BRA2020318);江苏省专用集成电路设计重点实验室开发基金资助项目(2020KLOP005、2021KLOP005);江苏信息职业技术学院科研课题(JKYLX2019-12-205928、JSITJY202201);常州大学应用技术学院现代职教体系专本贯通教育教学改革2022年度研究课题(22ZBGT02);2022年无锡市科协软科学研究课题(KX-22-A19)。

摘　　要：针对在实验室内场条件下,对自动驾驶控制器(ADCU)进行视频场景构造的传统技术手段无法满足硬件在环(HIL)仿真要求的问题,设计了一套基于FPGA的自动驾驶HIL视频注入系统。该系统利用FPGA内丰富的可编程资源和外围高速接口,将计算机显卡输出的Displayport视频接口转换为车载摄像头低电压差分信号(LVDS)视频接口,从而实现了对ADCU控制器的原位视频注入,满足HIL仿真测试的要求。同时,为了增强视频注入的灵活性,在原始视频中叠加马赛克、泥点、水滴、噪点等特效。根据使用和实测结果,视频注入系统能够实现满足自动驾驶HIL仿真要求的视频注入功能,各类特效叠加效果满足用户要求,为实验室内场条件下的ADCU测试、调试及演示提供了重要的技术手段。In order to solve the problem that the traditional technology means of constructing video scene of autonomous driving control unit(ADCU)controller can’t meet the requirements of hardware in loop(HIL)simulation under the conditions of laboratory internal field,a set of automatic driving HIL video injection system based on FPGA is proposed.The system uses the abundant programmable resources in FP-GA and the peripheral high-speed interface to convert the Displayport video interface of the computer graphics card to the low-voltage dif-ferential signaling(LVDS)video interface of the vehicle camera,so as to realize the original video injection of the ADCU controller and meet the requirements of the HIL simulation test.Meanwhile,in order to enhance the flexibility of video injection,special effects such as mosaics,mud spots,water droplets and noise points are superimposed in the original video.According to the application and measurement results,the video injection system can realize the video injection function to meet the requirements of automatic driving HIL simulation,and the superimposed effects of various special effects meet the requirements of users,which provides an important technical means for the test,debugging and demonstration of ADCU under the conditions of laboratory infield.

关 键 词：视频注入 HIL 自动驾驶 ADCU FPGA 

分 类 号：U467.525[机械工程—车辆工程]