李升凯 吴长水

摘  要：为了给智能驾驶功能软件提供高算力、实时性强、接口丰富的软硬件解决方案，以实现超声波和视觉融合泊车为硬件平台开发目标，选取TI的TDA系列作为平台系统级芯片，选取英飞凌的TC277芯片作为实时控制芯片，设计了一款智能驾驶计算平台。所设计的硬件平台成功实现了12路超声波雷达、四路广角摄像头的数据采集，支持CAN、车载以太网、LIN通信。基于此硬件平台，按照AUTOSAR标准开发了计算平台与汽车底盘域控制器的高速CAN通信软件，可实现多报文周期性稳定收发，满足通信需求。本文所开发的智能驾驶计算平台为后续相关开发提供了基础。

关键词：智能驾驶;计算平台;TC277芯片;CAN通信;AUTOSAR

中图分类号：TP393     文献标识码：A

Intelligent Driving Hardware Computing Platform and

CAN Communication Software Design

LI Shengkai， WU Changshui

（School of Mechanical and Automotive Engineering， Shanghai University of Engineering Science， Shanghai 201620， China）

1443828638@qq.com; yantz_wu@163.com

Abstract： In order to provide software and hardware solutions with high computing power， strong real-time performance and rich interfaces for intelligent driving function software， this paper proposes to design an intelligent driving computing platform， which aims to realize the hardware platform development goal of parking with ultrasonic and visual fusion. TI's TDA （Texas Instruments' TDA） series is selected as the platform system-level chip， and Infineon's TC277 chip is used as a real-time control chip. The proposed hardware platform successfully realizes data acquisition of 12-channel ultrasonic radar and four-channel wide-angle camera， and it supports CAN （Controller Area Network）， vehicle Ethernet， LIN （Local Interconnect Network） communication. Based on this hardware platform， the high-speed CAN communication software between the computing platform and the vehicle chassis domain controller is developed based on AUTOSAR standard， which realizes the periodic and stable sending and receiving of multiple messages， and meets the communication requirements. The proposed intelligent driving computing platform provides the basis for the follow-up related development.

Keywords： intelligent driving; computing platform; TC277 chip; CAN communication; AUTOSAR

1   引言（Introduction）

隨着智能驾驶的迅速发展，软件定义汽车的时代已经到来。传统汽车的分布式电子电气架构已不能满足软件快速更新迭代的要求，汽车电子电气架构由分布式向集中式发展，形成了以域为单位的计算及控制单元，大大简化了汽车以往复杂的内部电子电气架构[1]。

在此背景下，全球各大传统车企、新势力车企、零部件供应商、半导体供应商及软件公司开始投身于智能驾驶的开发。而智能驾驶计算平台作为智能驾驶领域的“大脑”，对其软硬件进行开发具有战略意义。智能驾驶计算平台是结合车辆线控平台和大量多类型传感器的核心，须具有多接口类型的特点。多传感器数据融合、人工智能算法等技术对计算平台的接口及算力都有着更高的要求，因此目前智能驾驶计算平台都采用异构多核芯片作为核心处理器[2]。……