CN111123883B - Dual-drive unmanned vehicle simulation method, device, equipment and computer readable medium - Google Patents
Dual-drive unmanned vehicle simulation method, device, equipment and computer readable medium Download PDFInfo
- Publication number
- CN111123883B CN111123883B CN201811276946.5A CN201811276946A CN111123883B CN 111123883 B CN111123883 B CN 111123883B CN 201811276946 A CN201811276946 A CN 201811276946A CN 111123883 B CN111123883 B CN 111123883B
- Authority
- CN
- China
- Prior art keywords
- simulation
- automatic driving
- driving system
- messages
- simulation system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention provides a method, a device, equipment and a computer readable medium for simulating a dual-drive unmanned vehicle, wherein the method comprises the following steps: accessing an automatic driving system needing simulation operation into a simulation system; messages generated by the simulation system and the automatic driving system are collected into a unified message management layer in a unified mode, and timestamps of the messages are updated to be consistent; and data communication messages of the simulation system and the automatic driving system are mutually converted, the messages of the simulation system are distributed to the automatic driving system, and the messages of the automatic driving system are distributed to the simulation system. The embodiment of the invention provides a method for setting a message management layer between a simulation system and an automatic driving system, which is convenient for mutual communication between the two systems, can ensure the uniformity of clocks and the accuracy of control.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a method, a device, equipment and a computer readable medium for simulating a dual-drive unmanned vehicle.
Background
Currently, with the development of unmanned technology, many automobile manufacturers gradually open corresponding unmanned vehicle control systems. For the control accuracy of the operating system of the unmanned vehicle, it is necessary to perform simulation calculation first and evaluate the performance parameters of the operating system.
In a typical simulation system, the simulation system generally provides standardized services in which independent driver modules are provided. When the accessed automatic driving algorithm is provided with a driving module, and when the driving module of the automatic driving algorithm is to be reserved, the problems of compatibility and synchronization of the simultaneous operation of the two driving modules need to be solved.
Disclosure of Invention
Embodiments of the present invention provide a method, an apparatus, a device, and a computer readable medium for simulating a dual-drive unmanned vehicle, so as to solve or alleviate one or more technical problems in the prior art.
In a first aspect, an embodiment of the present invention provides a dual-drive unmanned vehicle simulation method, including:
accessing an automatic driving system needing simulation operation into a simulation system;
messages generated by the simulation system and the automatic driving system are collected into a unified message management layer in a unified mode, and the time stamps of the messages are updated to be consistent;
and data communication messages of the simulation system and the automatic driving system are mutually converted, the messages of the simulation system are distributed to the automatic driving system, and the messages of the automatic driving system are distributed to the simulation system.
In one embodiment, the messages generated by the simulation system and the autopilot system include: drive commands and parameter data.
In one embodiment, the uniformly collecting messages generated by the simulation system and the automatic driving system into the uniform message management layer and updating the time stamps of the messages to be consistent includes:
and keeping the time stamp of the message of the simulation system, and updating the time stamp of the message of the automatic driving system to be consistent with the time stamp of the simulation system.
In one embodiment, the collecting messages generated by the simulation system and the automatic driving system into the unified message management layer and updating the time stamp of the messages includes:
and keeping the time stamp of the message of the automatic driving system, and updating the time stamp of the message of the simulation system to be consistent with the time stamp of the automatic driving system.
In one embodiment, before the step of uniformly collecting the messages generated by the simulation system and the automatic driving system into the uniform message management layer and updating the time stamps of the messages to be consistent, the method further includes:
and a unified message management layer is established between the simulation system and the automatic driving system.
In a second aspect, an embodiment of the present invention provides a dual-drive unmanned vehicle simulation apparatus, including:
the access module is used for accessing the automatic driving system needing simulation operation into the simulation system;
the updating module is used for uniformly collecting the messages generated by the simulation system and the automatic driving system into a uniform message management layer and updating the time stamps of the messages to be consistent;
and the distribution module is used for mutually converting the data communication messages of the simulation system and the automatic driving system, distributing the messages of the simulation system to the automatic driving system and distributing the messages of the automatic driving system to the simulation system.
In one embodiment, the messages generated by the simulation system and the autopilot system include: drive commands and parameter data.
In one embodiment, the update module is specifically configured to retain a timestamp of a message of the simulation system, and update the timestamp of the message of the automatic driving system to be consistent with the timestamp of the simulation system.
In one embodiment, the update module is specifically configured to keep a timestamp of a message of the autonomous driving system, and update the timestamp of the message of the simulation system to be consistent with the timestamp of the autonomous driving system.
In one embodiment, the apparatus further comprises: and the building module is used for building a unified message management layer between the simulation system and the automatic driving system.
In a third aspect, an embodiment of the present invention provides a dual-drive unmanned vehicle simulation apparatus, where functions of the apparatus may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described functions.
In one possible design, the dual-drive unmanned vehicle simulation apparatus includes a processor and a memory, the memory is used for storing a program for supporting the dual-drive unmanned vehicle simulation apparatus to execute the dual-drive unmanned vehicle simulation method according to the first aspect, and the processor is configured to execute the program stored in the memory. The dual-drive unmanned vehicle simulation device can also comprise a communication interface for communicating with other equipment or a communication network.
In a fourth aspect, embodiments of the present invention provide a computer-readable medium for storing computer software instructions for a dual drive unmanned vehicle simulation apparatus, including a program for performing the method of the first aspect.
In a fifth aspect, the present invention provides a computer program product, including a computer program, which when executed by a processor implements the method as described above.
The embodiment of the invention provides a method for setting a message management layer between a simulation system and an automatic driving system, which is convenient for mutual communication between the two systems, can ensure the uniformity of clocks and the accuracy of control.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the drawings and following detailed description.
Drawings
In the drawings, like reference characters designate like or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
FIG. 1 is a flow chart of a dual drive unmanned vehicle simulation method according to an embodiment of the present invention;
fig. 2 is a connection block diagram of a dual-drive unmanned vehicle simulation apparatus according to an embodiment of the present invention;
FIG. 3 is a connection block diagram of a dual-drive unmanned vehicle simulation apparatus according to another embodiment of the present invention;
fig. 4 is a block diagram of a dual-drive unmanned vehicle simulation apparatus according to another embodiment of the present invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive. The embodiment of the invention mainly provides a method and a device for simulating a double-drive unmanned vehicle, and the technical scheme is developed and described through the following embodiments respectively.
The invention provides a simulation method and a simulation device for a dual-drive unmanned vehicle, and the specific processing flow and principle of the simulation method and the simulation device for the dual-drive unmanned vehicle of the embodiment of the invention are described in detail below.
Fig. 1 is a flowchart of a simulation method of a dual-drive unmanned vehicle according to an embodiment of the present invention. The double-drive unmanned vehicle simulation method provided by the embodiment of the invention can comprise the following steps of:
s110: and (4) accessing an automatic driving system needing simulation operation into the simulation system.
And according to the automatic driving system submitted by the user, accessing the automatic driving system into the simulation system so as to carry out simulation operation on the automatic driving system in the simulation system.
S120: and uniformly collecting the messages generated by the simulation system and the automatic driving system into a uniform message management layer, and updating the time stamps of the messages to be consistent.
Wherein the messages generated by the simulation system and the autopilot system include: drive commands and parameter data. For example, the driving command may include a driving command to a steering system, a braking system, etc., and the parameter data may include current speed data, a number of revolutions, etc.
In one embodiment, if there is not yet a unified message management layer between the simulation system and the autopilot system, it is desirable to include the further steps of: and a unified message management layer is established between the simulation system and the automatic driving system. When the message management layer is built, a message receiving and sending interface can be built first, and then the message receiving and sending interface is in butt joint with the simulation system and the automatic driving system respectively, so that information of the simulation system and the automatic driving system can be conveniently received.
For example, if the autonomous driving system uses a ROS (machine operation system) and the simulation system uses a cybertron system, a message management layer needs to be built between the autonomous driving system and the simulation system to forward messages of the two systems to each other, so as to complete communication.
In one embodiment, the time stamp of the message of the simulation system may be retained when the time stamp is updated, and the time stamp of the message of the automatic driving system may be updated to coincide with the time stamp of the simulation system. For example, the message timestamp of the cybertron system may be retained, while the message timestamp of the ROS system is updated to be consistent with the cybertron.
In another embodiment, the time stamp of the message of the autonomous driving system may be retained, and the time stamp of the message of the simulation system may be updated to coincide with the time stamp of the autonomous driving system. Similarly, for example, the message timestamp of the ROS system may be retained, while the message timestamp of the cybertron system is updated to be consistent with the ROS.
S130: and data communication messages of the simulation system and the automatic driving system are mutually converted, the messages of the simulation system are distributed to the automatic driving system, and the messages of the automatic driving system are distributed to the simulation system.
For example, the message format of the cybertron is converted to a message format conforming to the ROS, and then forwarded to the ROS's channel. And similarly, converting the message format of the ROS into a message format conforming to the cybertron, and forwarding the message format to a channel of the ROS to complete the mutual communication between the ROS and the channel.
The embodiment of the invention provides a method for setting a message management layer between a simulation system and an automatic driving system, which is convenient for mutual communication between the two systems, can ensure the unification of clocks and ensures the accuracy of control.
As shown in fig. 2, in another embodiment, there is also provided a dual drive unmanned vehicle simulation apparatus, including:
and the access module 110 is used for accessing the automatic driving system needing simulation operation into the simulation system.
The messages generated by the simulation system and the automatic driving system include: drive commands and parameter data.
And the updating module 120 is used for uniformly collecting the messages generated by the simulation system and the automatic driving system into a uniform message management layer and updating the time stamps of the messages to be consistent.
The distribution module 130 is configured to convert data communication messages of the simulation system and the automatic driving system into each other, distribute the messages of the simulation system to the automatic driving system, and distribute the messages of the automatic driving system to the simulation system.
In one embodiment, the update module 120 is specifically configured to keep a timestamp of the message of the simulation system, and update the timestamp of the message of the automatic driving system to be consistent with the timestamp of the simulation system.
In one embodiment, the update module 120 is specifically configured to keep a timestamp of a message of the autonomous driving system, and update the timestamp of the message of the simulation system to be consistent with the timestamp of the autonomous driving system.
As shown in fig. 3, in one embodiment, the dual drive unmanned vehicle simulation apparatus further comprises, if there is not yet a unified message management layer between the simulation system and the autonomous driving system: and the building module 140 is used for building a unified message management layer between the simulation system and the automatic driving system.
The principle of the dual-drive unmanned vehicle simulation device of the present embodiment is similar to that of the dual-drive unmanned vehicle simulation method of the above embodiment, and therefore, the description thereof is omitted.
In another embodiment, the present invention further provides a dual drive unmanned vehicle simulation apparatus, as shown in fig. 4, comprising: a memory 510 and a processor 520, the memory 510 having stored therein computer programs that are executable on the processor 520. The processor 520, when executing the computer program, implements the dual-drive unmanned vehicle simulation method in the above-described embodiments. The number of the memory 510 and the processor 520 may be one or more.
The apparatus further comprises:
the communication interface 530 is used for communicating with an external device to perform data interactive transmission.
If the memory 510, the processor 520, and the communication interface 530 are implemented independently, the memory 510, the processor 520, and the communication interface 530 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 4, but that does not indicate only one bus or one type of bus.
Optionally, in a specific implementation, if the memory 510, the processor 520, and the communication interface 530 are integrated on a chip, the memory 510, the processor 520, and the communication interface 530 may complete mutual communication through an internal interface.
Embodiments of the present invention provide a computer program product comprising a computer program/instructions which, when executed by a processor, implement a method as in any of the above embodiments.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
The computer readable medium described in embodiments of the present invention may be a computer readable signal medium or a computer readable storage medium or any combination of the two. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM). Additionally, the computer-readable storage medium may even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
In embodiments of the present invention, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, input method, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio Frequency (RF), etc., or any suitable combination of the preceding.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (11)
1. A dual-drive unmanned vehicle simulation method is characterized by comprising the following steps:
accessing an automatic driving system needing simulation operation into a simulation system;
a unified message management layer is established between the simulation system and the automatic driving system;
messages generated by the simulation system and the automatic driving system are collected into a unified message management layer in a unified mode, and the time stamps of the messages are updated to be consistent;
the data communication messages of the simulation system and the automatic driving system are mutually converted, the messages of the simulation system are distributed to the automatic driving system, and the messages of the automatic driving system are distributed to the simulation system;
the establishment process of the unified message management layer comprises the following steps:
constructing a message receiving and sending interface;
and the message receiving and sending interface is respectively connected with the simulation system and the automatic driving system.
2. The method of claim 1, wherein the messages generated by the simulation system and the autopilot system include: drive commands and parameter data.
3. The method of claim 1, wherein uniformly collecting messages generated by the simulation system and the automatic driving system into a uniform message management layer and updating timestamps of the messages to be consistent comprises:
and keeping the time stamp of the message of the simulation system, and updating the time stamp of the message of the automatic driving system to be consistent with the time stamp of the simulation system.
4. The method of claim 1, wherein the collecting messages generated by a simulation system and an automatic driving system into the unified message management layer and updating timestamps of the messages comprises:
and keeping the time stamp of the message of the automatic driving system, and updating the time stamp of the message of the simulation system to be consistent with the time stamp of the automatic driving system.
5. A dual drive unmanned vehicle simulation device, characterized by comprising:
the access module is used for accessing the automatic driving system needing simulation operation into the simulation system;
the building module is used for building a unified message management layer between the simulation system and the automatic driving system;
the updating module is used for uniformly collecting the messages generated by the simulation system and the automatic driving system into a uniform message management layer and updating the time stamps of the messages to be consistent;
the distribution module is used for mutually converting the data communication messages of the simulation system and the automatic driving system, distributing the messages of the simulation system to the automatic driving system and distributing the messages of the automatic driving system to the simulation system;
the establishment process of the unified message management layer comprises the following steps:
constructing a message receiving and sending interface;
and the message receiving and sending interface is respectively connected with the simulation system and the automatic driving system.
6. The apparatus of claim 5, wherein the messages generated by the simulation system and the autopilot system include: drive commands and parameter data.
7. The apparatus of claim 5, wherein the update module is specifically configured to retain a timestamp of a message of a simulation system, and update the timestamp of the message of the autonomous driving system to be consistent with the timestamp of the simulation system.
8. The apparatus of claim 5, wherein the update module is specifically configured to retain a timestamp of a message of an autonomous driving system, and update the timestamp of the message of the simulation system to coincide with the timestamp of the autonomous driving system.
9. A dual drive unmanned vehicle simulation apparatus, the apparatus comprising:
one or more processors;
storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the dual drive unmanned vehicle simulation method of any of claims 1-4.
10. A computer-readable medium storing a computer program, wherein the program, when executed by a processor, implements the dual drive unmanned vehicle simulation method of any of claims 1-4.
11. A computer program device comprising a computer program which, when executed by a processor, implements the method of any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811276946.5A CN111123883B (en) | 2018-10-30 | 2018-10-30 | Dual-drive unmanned vehicle simulation method, device, equipment and computer readable medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811276946.5A CN111123883B (en) | 2018-10-30 | 2018-10-30 | Dual-drive unmanned vehicle simulation method, device, equipment and computer readable medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111123883A CN111123883A (en) | 2020-05-08 |
| CN111123883B true CN111123883B (en) | 2023-03-31 |
Family
ID=70484333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811276946.5A Active CN111123883B (en) | 2018-10-30 | 2018-10-30 | Dual-drive unmanned vehicle simulation method, device, equipment and computer readable medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111123883B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111625949B (en) * | 2020-05-20 | 2023-09-29 | 北京百度网讯科技有限公司 | Simulation engine system, simulation processing method, device and medium |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103093059A (en) * | 2013-02-05 | 2013-05-08 | 中国电子科技集团公司电子科学研究院 | Real-time and efficient distributed semi-physical simulation system construction method |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010011215A1 (en) * | 1998-08-31 | 2001-08-02 | Scott A. Beeker | Network device simulation system and method |
| US7356455B2 (en) * | 2003-11-18 | 2008-04-08 | Quickturn Design Systems, Inc. | Optimized interface for simulation and visualization data transfer between an emulation system and a simulator |
| CN108241762A (en) * | 2016-12-26 | 2018-07-03 | 乐视汽车（北京）有限公司 | For the test system and test method of automatic Pilot analogue system |
| CN108241354B (en) * | 2016-12-26 | 2022-11-22 | 法法汽车(中国)有限公司 | Test method for automatic driving simulation system |
| CN106873397B (en) * | 2017-01-23 | 2020-02-14 | 同济大学 | Intelligent networking automobile hardware-in-loop acceleration loading simulation test system |
| CN106951627A (en) * | 2017-03-15 | 2017-07-14 | 北京百度网讯科技有限公司 | Emulation test method, device, equipment and the computer-readable recording medium of Vehicular automatic driving |
| CN108088686B (en) * | 2017-12-21 | 2020-11-20 | 驭势科技（浙江）有限公司 | Test simulation method and device, computer storage medium and electronic equipment |
| CN108681264A (en) * | 2018-08-10 | 2018-10-19 | 成都合纵连横数字科技有限公司 | A kind of intelligent vehicle digitalized artificial test device |
-
2018
- 2018-10-30 CN CN201811276946.5A patent/CN111123883B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103093059A (en) * | 2013-02-05 | 2013-05-08 | 中国电子科技集团公司电子科学研究院 | Real-time and efficient distributed semi-physical simulation system construction method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111123883A (en) | 2020-05-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110673964A (en) | Audio playing control method and device of vehicle-mounted system | |
| CN107368311B (en) | Method and system for communication among multiple fragments | |
| CN110351378A (en) | A kind of control method and system of internet of things equipment | |
| CN111694617B (en) | Processing method of network offline model, artificial intelligence processing device and related products | |
| CN110297608B (en) | Data processing method, device and storage medium | |
| EP4207707A1 (en) | Data transmission system, data transmission method, smart vehicle and device | |
| CN112261130A (en) | Vehicle, OTA (over the air) upgrading system and OTA upgrading method for vehicle | |
| CN114422436B (en) | Gateway, gateway control method, gateway control device, electronic equipment and storage medium | |
| CN112015489A (en) | Management method, device, storage medium and system for vehicle-mounted software | |
| CN111123728B (en) | Unmanned vehicle simulation method, device, equipment and computer readable medium | |
| CN110297722A (en) | Thread task communication method and Related product | |
| CN111123883B (en) | Dual-drive unmanned vehicle simulation method, device, equipment and computer readable medium | |
| CN108156485B (en) | Method, apparatus, storage medium and the terminal device of streaming media transcoding | |
| CN110099119B (en) | Data sharing method and device | |
| CN113986312B (en) | Software upgrading method and device, electronic equipment and computer readable storage medium | |
| CN116800835A (en) | Monitoring data acquisition method, device, equipment and medium | |
| CN106254440A (en) | The upgrade method of a kind of AP and device | |
| CN113810402B (en) | Multi-protocol adaptation method and system, computer device, storage medium | |
| CN214756745U (en) | Optical module circuit | |
| CN111123727B (en) | Unmanned vehicle simulation building method, device, equipment and computer readable medium | |
| CN112380411B (en) | Sensitive word processing method, device, electronic equipment, system and storage medium | |
| CN111740972B (en) | Method, device, equipment and storage medium for updating communication protocol stack information | |
| CN114448805A (en) | Virtual network equipment, virtual overlay network and configuration and message transmission method | |
| JP2013192092A (en) | On-vehicle device | |
| CN105407147A (en) | Method and device for downloading theme pack |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20211014 Address after: 105 / F, building 1, No. 10, Shangdi 10th Street, Haidian District, Beijing 100085 Applicant after: Apollo Intelligent Technology (Beijing) Co.,Ltd. Address before: 100085 Baidu Building, 10 Shangdi Tenth Street, Haidian District, Beijing Applicant before: BAIDU ONLINE NETWORK TECHNOLOGY (BEIJING) Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |