CN113570936A - Driver simulator interface processing method, remote control platform and system - Google Patents
Driver simulator interface processing method, remote control platform and system Download PDFInfo
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Abstract
The application relates to a driver simulator interface processing method, a remote control platform and a system. The interface processing method of the simulated driver comprises the following steps: the method comprises the steps of obtaining vehicle condition data uploaded by a controlled vehicle, converting the vehicle condition data into standard data through a set interface, converting the standard data into a first control instruction, and transmitting the first control instruction to a simulated driver in a simulated cockpit; and acquiring operation data sent by a simulated driver, converting the operation data into standard data through the setting interface, converting the standard data into a second control instruction, and issuing the second control instruction to the controlled vehicle. The scheme provided by the application can improve the interface universality, reduce the redundancy between the remote control platform and the controlled vehicle, and can be applied to different vehicle types.
Description
Technical Field
The application relates to the technical field of electric automobiles, in particular to a driver simulator interface processing method, a remote control platform and a system.
Background
At present, with the continuous development of automobile intellectualization, the automatic driving technology is gradually widely applied, and a new generation of cloud-based man-machine driving technology appears.
The 5G remote driving is characterized in that the intelligent vehicle is connected with the remote control platform and the simulation driver through a 5G network, and a driver carries out human-vehicle interaction in the simulation cockpit through the simulation driver to control the intelligent vehicle to realize remote driving. The remote control platform acquires vehicle running environment information, vehicle running state information and the like of the intelligent vehicle in real time, a driver remotely controls the intelligent vehicle according to the acquired information in the simulation cockpit, and the remote control platform acquires a control instruction of the driver in real time and sends the control instruction to a controller of the intelligent vehicle to realize remote driving.
In the related art, in order to feed back data of a controlled vehicle to a simulated driver or issue a control command of the simulated driver to the controlled vehicle in time, a remote control platform needs to perform a series of corresponding adaptation adjustments according to the model of the controlled vehicle, an interface for transmitting data of a power system and the like, so that the redundancy between the remote control platform and the controlled vehicle is increased, and the remote control platform is lack of universality when being applied to different vehicle types.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a driver simulator interface processing method, a remote control platform and a system, which can improve the interface universality and reduce the redundancy between the remote control platform and a controlled vehicle, and can be applied to different vehicle types.
The application provides a method for processing a simulated driver interface in a first aspect, which comprises the following steps:
the method comprises the steps of obtaining vehicle condition data uploaded by a controlled vehicle, converting the vehicle condition data into standard data through a set interface, converting the standard data into a first control instruction, and transmitting the first control instruction to a simulated driver in a simulated cockpit;
and acquiring operation data sent by a simulated driver, converting the operation data into standard data through the setting interface, converting the standard data into a second control instruction, and issuing the second control instruction to the controlled vehicle.
In one embodiment, the converting the vehicle condition data into standard data and then into a first control command through a setting interface includes: converting the vehicle condition data into first standard data through a first interface, and converting the first standard data into a first control instruction through a second interface; and/or the presence of a gas in the gas,
the converting the operation data into standard data and then into a second control instruction through the setting interface comprises: and converting the operation data into second standard data through the second interface, and converting the second standard data into a second control instruction through the first interface.
In an embodiment, the first interface is a preset data adapter interface, and the second interface is a preset general interface.
In one embodiment, the converting the vehicle condition data into the first standard data through the first interface includes: converting the vehicle condition data into first standard data according to a standard data packaging format through a first interface; and/or the presence of a gas in the gas,
the converting the operation data into second standard data through a second interface comprises: and converting the operation data into second standard data according to a standard data packaging format through a second interface.
In one embodiment, the standard data encapsulation format includes a pre-negotiated message frame ID, a checksum of the message frame, and a data field of the message frame.
In one embodiment, the obtaining of vehicle condition data uploaded by a controlled vehicle includes:
and monitoring vehicle data uploaded by a controlled vehicle, and acquiring the vehicle condition data after judging that the vehicle data is the vehicle condition data according to the message frame ID.
In one embodiment, the monitoring vehicle data uploaded by a controlled vehicle, and acquiring the vehicle condition data after determining that the vehicle data is the vehicle condition data according to a message frame ID includes:
and monitoring vehicle data uploaded by a controlled vehicle, judging that the vehicle data is vehicle condition data according to the message frame ID, and obtaining the vehicle condition data after the checksum of the message frame is verified.
In one embodiment, the vehicle condition data or the operational data comprises one or a combination of the following:
steering angle of steering wheel, accelerator pedal state, brake pedal state, turn light state, car light on-off state, gear state.
In one embodiment, the obtaining of vehicle condition data uploaded by a controlled vehicle includes: acquiring vehicle condition data uploaded by a controlled vehicle according to a preset periodic mode; and/or the presence of a gas in the gas,
the acquiring of the operation data sent by the simulated driver comprises the following steps: and acquiring operation data sent by the simulated driver through a Software Development Kit (SDK) according to a preset period mode.
In one embodiment, the acquiring operation data sent by the simulated driver comprises: acquiring operation data sent by the simulated driver through a steering wheel plug-in;
the converting the operation data into second standard data through the second interface comprises:
and after the steering wheel plug-in is adapted to the preset general interface and the acquired operation data is transmitted to the preset general interface, converting the operation data into second standard data through the preset general interface.
A second aspect of the present application provides a remote control platform, comprising:
the first processing module is used for acquiring vehicle condition data uploaded by a controlled vehicle, converting the vehicle condition data into standard data through a set interface, converting the standard data into a first control instruction, and transmitting the first control instruction to a simulated driver in a simulated cockpit;
and the second processing module is used for acquiring operation data sent by the simulated driver, converting the operation data into standard data through the setting interface, converting the standard data into a second control instruction, and issuing the second control instruction to the controlled vehicle.
In one embodiment, the first processing module converts the vehicle condition data into first standard data through a first interface, and converts the first standard data into a first control instruction through a second interface; and/or the presence of a gas in the gas,
the second processing module converts the operation data into second standard data through the second interface, and converts the second standard data into a second control instruction through the first interface.
In one embodiment, the first processing module converts the vehicle condition data into first standard data through a preset data adapter interface, and converts the first standard data into a first control instruction through a preset general interface; and/or the presence of a gas in the gas,
the second processing module converts the operation data into second standard data through the preset general interface, and converts the second standard data into a second control instruction through the preset data adapter interface.
In an embodiment, the second processing module obtains the operation data sent by the simulated driver through a steering wheel plug-in, adapts the steering wheel plug-in to the preset general interface, and converts the obtained operation data into second standard data through the preset general interface after transmitting the operation data to the preset general interface.
The third aspect of the application provides a remote driving system, which comprises a controlled vehicle, a simulated driver and the remote control platform.
A fourth aspect of the present application provides a non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform the above-mentioned method.
The technical scheme provided by the application can comprise the following beneficial effects:
according to the scheme provided by the application, the vehicle condition data are converted into standard data through a setting interface and then converted into a first control instruction, the first control instruction is transmitted to a simulation driver in a simulation cockpit, the operation data are converted into standard data through the setting interface and then converted into a second control instruction, and the second control instruction is issued to the controlled vehicle; therefore, a series of corresponding adaptive adjustment is not needed according to the model of the controlled vehicle, an interface for transmitting data of a power system and the like, and only standard data conversion and instruction conversion are needed to be carried out on the remote control platform through a set interface, so that the process that different vehicles adapt to the simulated driver is simplified, the relevance between the controlled vehicle and the simulated driver is weakened, the interface universality can be improved, the redundancy between the remote control platform and the controlled vehicle is reduced, and the method can be applied to different vehicle types.
Further, the scheme provided by the application can be that the vehicle condition data is converted into first standard data through a first interface, and the first standard data is converted into a first control instruction through a second interface; and/or converting the operation data into second standard data through the second interface, and converting the second standard data into a second control instruction through the first interface; the first interface may be a preset data adapter interface, and the second interface may be a preset general interface; therefore, standard data conversion and instruction conversion are realized through the set interface, and the interface universality is improved.
Further, the scheme provided by the application can acquire the operation data sent by the simulated driver through a steering wheel plug-in; and after the steering wheel plug-in is adapted to the preset general interface and the acquired operation data is transmitted to the preset general interface, converting the operation data into second standard data through the preset general interface. This makes it possible to apply to all the steering wheels simulating drivers and to any vehicle model to be controlled.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
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The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
FIG. 1 is a flow chart diagram illustrating a simulated driver interface processing method according to an embodiment of the present application;
FIG. 2 is a flow chart illustrating the transmission of simulated driver operation data to a controlled vehicle according to one embodiment of the present application;
FIG. 3 is a flow chart illustrating the transmission of vehicle condition data of a controlled vehicle to a simulated driver according to an embodiment of the present application;
fig. 4 is a system structure diagram including a generic interface GI and a data adapter interface DA according to an embodiment of the present application;
FIG. 5 is a class diagram of standard data shown in one embodiment of the present application;
fig. 6 is a class diagram of a generic interface GI shown in an embodiment of the present application;
FIG. 7 is a class diagram of a data adapter interface DA according to an embodiment of the present application;
FIG. 8 is a steering wheel diagram of a simulated driver according to an embodiment of the present application;
fig. 9 is a system structure diagram including a generic interface GI and a data adapter interface DA according to another embodiment of the present application;
FIG. 10 is a schematic structural diagram of a remote control platform according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a remote driving system according to an embodiment of the present application.
Detailed Description
Preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the related art, the remote control platform needs to perform a series of corresponding adaptability adjustments according to the model of the controlled vehicle, an interface for transmitting data by a power system and the like, and is lack of universality when applied to different vehicle types. In view of the above problems, embodiments of the present application provide a method for processing an interface of a driver simulator, which can improve the universality of the interface, reduce the redundancy between a remote control platform and a controlled vehicle, and can be applied to different vehicle types.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a method for processing a driver simulator interface according to an embodiment of the present disclosure.
Referring to fig. 1, the method includes:
and S101, acquiring vehicle condition data uploaded by a controlled vehicle, converting the vehicle condition data into standard data through a set interface, converting the standard data into a first control instruction, and transmitting the first control instruction to a simulated driver in a simulated cockpit.
The vehicle condition data can be converted into first standard data through the first interface, and the first standard data can be converted into a first control instruction through the second interface. The first interface is a preset data adapter interface, and the second interface is a preset general interface.
The vehicle condition data can be converted into the first standard data through the first interface according to the standard data packaging format. The standard data encapsulation format includes a pre-negotiated message frame ID, a checksum of the message frame, and a data field of the message frame.
The vehicle condition data may include one or a combination of the following data: steering angle of steering wheel, accelerator pedal state, brake pedal state, turn light state, car light on-off state, gear state.
And S102, acquiring operation data sent by the simulated driver, converting the operation data into standard data through a set interface, converting the standard data into a second control instruction, and issuing the second control instruction to the controlled vehicle.
The operation data can be converted into second standard data through the second interface, and the second standard data can be converted into a second control instruction through the first interface.
The operation data can be converted into second standard data according to a standard data packaging format through the second interface. The standard data encapsulation format includes a pre-negotiated message frame ID, a checksum of the message frame, and a data field of the message frame.
Wherein the operation data may comprise one or a combination of the following: steering angle of steering wheel, accelerator pedal state, brake pedal state, turn light state, car light on-off state, gear state.
According to the scheme provided by the embodiment of the application, the vehicle condition data are converted into the standard data through the setting interface and then converted into the first control instruction, the first control instruction is transmitted to the simulated driver in the simulated cockpit, the operation data are converted into the standard data through the setting interface and then converted into the second control instruction, and the second control instruction is issued to the controlled vehicle; therefore, a series of corresponding adaptive adjustment is not needed according to the model of the controlled vehicle, an interface for transmitting data of a power system and the like, and only standard data conversion and instruction conversion are needed to be carried out on the remote control platform through a set interface, so that the process that different vehicles adapt to the simulated driver is simplified, the relevance between the controlled vehicle and the simulated driver is weakened, the interface universality can be improved, the redundancy between the remote control platform and the controlled vehicle is reduced, and the method can be applied to different vehicle types.
The technical solution of the present application is further described in more detail below with reference to fig. 2 and 3. In the embodiment of the application, operation data on a steering wheel, including a steering angle, a car light state, an accelerator pedal, gear information and the like, is read in a polling manner mainly through an SDK (Software Development Kit) of the steering wheel simulating a driver, and the operation data of the steering wheel is converted into a standard data format through a general interface GI (generic interface) provided by the application, wherein the operation data can be packaged according to a vehicle condition data format which can be received by a controlled vehicle, and the data format comprises an information frame ID, a checksum of the information frame and the like; and then, converting the standard data into a vehicle control command corresponding to the controlled vehicle, and determining whether to execute the vehicle control command by the controlled vehicle according to the ID of the message frame and the checksum of the message frame. Meanwhile, the remote control platform monitors the occurrence of a message frame ID event through a message monitoring event, converts vehicle condition data uploaded by a controlled vehicle into standard data of a standard data structure through a data adapter interface DA, converts the standard data into a control instruction of a steering wheel of a simulated driver through a general interface GI, and transmits the control instruction to the simulated driver so as to control and adjust the steering wheel of the simulated driver in the cockpit. According to the remote control system and the remote control method, the universal interface GI and the data adapter interface DA are added in the remote control platform, the relevance and the coupling between the steering wheel of the simulation driver and a controlled vehicle are reduced, the code logic of remote control is optimized, the convenience of 5G remote driving is greatly improved, and the 5G remote driving technology can be suitable for any vehicle type.
Fig. 2 is a flowchart illustrating transmission of operation data of a simulated driver to a controlled vehicle according to an embodiment of the present application. The simulated driver in the cockpit and the controlled vehicle establish wireless connection, and the wireless connection can be established based on a 5G network, for example.
The 5G remote driving is an automatic driving technology that realizes remote vehicle control through a 5G network. For example, various types of control information are transmitted to a controlled vehicle through a 5G network by operating a simulation driver to realize remote control. In the 5G era, the characteristics of extremely low time delay, ultrahigh reliability and large bandwidth of a 5G network make remote driving become a mature technical solution in driving technology. And 5G remote driving is carried out, so that one person can remotely control a plurality of controlled vehicles, or remote manual intervention is carried out when the controlled vehicles are abnormal. In the related art, a remote simulation driver needs to perform data conversion on control information read from an SDK of the simulation driver according to a vehicle condition instruction of a controlled vehicle, different vehicle types may have different vehicle condition instruction formats, and a remote control platform needs to perform different data conversion on the vehicle condition instruction formats of the different vehicle types. There is a strong redundancy between the remote control platform and the controlled vehicle, making this approach less versatile for all vehicle models.
By using the method provided by the application, the relevance between the controlled vehicle and the remote control platform is weakened, so that the interface universality can be improved, the redundancy between the remote control platform and the controlled vehicle is reduced, and the method can be applied to different vehicle types. The solution of the present application may be applied to a remote driving system, where the remote driving system may be shown in fig. 4, and fig. 4 is a system structure diagram including a generic interface GI and a data adapter interface DA according to an embodiment of the present application. Fig. 4 includes a controlled vehicle, a steering wheel simulating a driver, and a remote control platform. The dashed box of the remote control platform contains a generic interface GI and a data adapter interface DA, both of which are implemented and completed in the remote driving platform.
In the embodiment of the application, in the simulated driver in the cockpit, data on the steering wheel is obtained by polling the SDK carried by the steering wheel of the simulated driver, for example, one of the following data or a combination thereof: steering wheel steering angle, accelerator pedal state, brake pedal state, indicator state, car light on-off state, gear state etc. and the rethread is also general interface GI through the predetermined general interface that this application embodiment provided, with steering wheel data conversion to standard data format. And the remote control platform further encapsulates the data into a vehicle control command in a standard frame format according to the vehicle condition command format of the controlled vehicle, wherein the vehicle control command comprises a message frame ID, a checksum of a message frame and the like. And the remote control platform issues a vehicle control instruction to the controlled vehicle, and the controlled vehicle determines whether to receive and execute the message frame according to the ID of the message frame and the checksum of the message frame.
Referring to fig. 2, the process includes:
step S201, steering wheel data of the simulated driver is obtained.
When the remote control platform starts to take over the controlled vehicle, a steering wheel of a simulation driver in the cab is started and initialized, and the remote control platform polls every 10ms through the SDK provided by the steering wheel to acquire real-time data of the steering wheel. And simulating steering wheel data of the driver, namely simulating operation data of the driver. The steering wheel data (operation data) may include one or a combination of the following: steering wheel steering angle, accelerator pedal state, brake pedal state, turn signal state, light on-off state, gear state, etc.
Referring to fig. 8, a steering wheel diagram of a simulated driver according to an embodiment of the present application is shown. The steering wheel of the simulated driver in the cockpit may be a set steering wheel, such as but not limited to a racing car steering wheel. Considering that the steering wheel of the racing car and the steering wheel on the controlled vehicle have different structures, the mapping between the steering wheel and the vehicle control information can be carried out, and the mapping corresponds to the specific control function on the controlled vehicle. The mapping relationship is described, for example, with reference to the following:
the steering wheel 31 is used for corresponding to a steering wheel on a controlled vehicle, and corresponding data mapping is carried out on the steering angle of the steering wheel of the simulated driver and the steering angle of the controlled vehicle in the embodiment of the application, so that the steering angle of the steering wheel of the simulated driver really corresponds to the controlled vehicle;
"□" x "32 for D | N | P | R range of the controlled vehicle, e.g., [ a ] for D range of the controlled vehicle, [ □ ] for N range of the controlled vehicle, [ o ] for P range of the controlled vehicle, and [ x ] for R range of the controlled vehicle, respectively;
[ RETURN ] 33, for whistling vehicles when pressed;
[ SHIFTING PIECES ] 34&35 for respectively corresponding to left and right turn signals of a controlled vehicle. For example, 34 corresponds to the left turn signal of the controlled vehicle, and 35 corresponds to the right turn signal of the controlled vehicle;
l3, the double flashing of the controlled vehicle is used for corresponding, when the controlled vehicle has an emergency, the steering wheel of the simulated driver can open the double flashing to remind surrounding vehicles.
The data of the accelerator pedal and the brake pedal are converted into percentage forms so as to truly restore the stress of the accelerator and the brake pedal in a real vehicle.
Step S202, converting the steering wheel data into standard data with a standard data structure through the generic interface GI.
In the embodiment of the application, for the acquired steering wheel Data and the vehicle condition information uploaded by the controlled vehicle, the Data needs to be converted into a Standard Data format defined by Standard Data through a general interface GI and a Data adapter interface DA respectively.
In this step, data such as a steering angle of a steering wheel, an accelerator pedal state, a brake pedal state, a turn signal state, a car light on/off state, a shift position state, and the like, which are output by the steering wheel, are mapped to a standard structure defined by the generic interface GI through the generic interface GI.
Referring also to fig. 5, a class diagram of standard data is shown according to an embodiment of the present application. The Standard Data is defined as a Standard Data structure including variables related to vehicle control commands, such as fsep _ VehSpd (vehicle speed), fseps _ steering angle, fbbt _ BrakeTravel (brake pedal state), cVCU _ gearlevel (shift state), cVCU _ accdalsig (accelerator pedal state) and cVCU _ DriveMode (driving mode), cvtrunlampswst (left turn light state), cvtrunlampswst (right turn light state), cvighbeamsswst (hazard warning light switch state), and cvazardlamswst (high beam switch state).
Referring to fig. 6, it is a class diagram of a generic interface GI shown in an embodiment of the present application. Through interface conversion of the general interface GI, environment configuration and interface adaptation which save a large amount of time for the remote control platform to operate the newly added controlled vehicle are saved.
The embodiment of the present application defines Public data variables of a generic interface GI, which include a tfeader (message header), a uiChecksum (checksum of message frame), and an sd (structure of standard data). The generic interface GI provides several functional interfaces for the remote control platform to call to obtain the status data of the steering wheel. For example, initializing the steering wheel with a function logicInit (), including the resilience force of the steering wheel, the steering angle range, and the like; acquiring real-time steering wheel data through a Logiupdate () function; acquiring the current driving mode of the steering wheel through getDriveMode (), wherein the remote driving platform can call different logic controls according to different driving modes; acquiring gear information of a current steering wheel through a getGearLev () function; the steering angle of the steering wheel can be controlled through a setAngle () function, so that the steering wheel is kept synchronous with the state of the controlled vehicle in real time; the rebound force of the steering wheel is set through the setEffects () function, and the rebound effect can be adjusted to be close to the rebound force of the steering wheel of a real vehicle.
And step S203, converting the standard data output by the general interface GI into a vehicle control command corresponding to the controlled vehicle through the data adapter interface DA.
And the remote driving platform receives the standard data output by the general interface GI and converts the standard data into a control instruction corresponding to the controlled vehicle, such as a vehicle control instruction, through the data adapter interface DA. The standard data includes the negotiated message frame ID of both parties, the checksum of the message frame, the data field of the message frame, and so on.
And step S204, the converted vehicle control command is issued to the controlled vehicle, so that the controlled vehicle receives the vehicle control command of the remote control platform and executes related operations.
And the remote control platform encapsulates the vehicle control instruction into a data frame and then issues the vehicle control instruction to the controlled vehicle so that the controlled vehicle receives the vehicle control instruction of the remote control platform and executes related operations.
As can be seen from this embodiment, for the operation data of the simulated driver, the acquired operation data of the simulated driver is converted into standard data in a general standard data format through the general interface GI, and the standard data is further converted into a vehicle control command corresponding to the controlled vehicle through the data adapter interface DA. Therefore, the relevance and the coupling between the steering wheel of the simulated driver and the controlled vehicle are reduced, and the code logic of remote control is optimized, so that the scheme provided by the embodiment of the application can be suitable for all vehicle types.
Fig. 3 is a flow chart illustrating the transmission of vehicle condition data of a controlled vehicle to a simulated driver according to an embodiment of the present application. The simulated driver in the cockpit and the controlled vehicle can establish wireless connection based on the 5G network.
In order to keep the synchronization of the vehicle condition data between the remote cockpit and the controlled vehicle, the controlled vehicle needs to upload the vehicle condition data of the controlled vehicle to the remote control platform in real time according to a preset periodic mode, for example, every 10 ms. And the remote control platform judges that the vehicle data uploaded by the controlled vehicle is the vehicle condition data according to the message frame ID, acquires the vehicle condition data after the checksum of the message frame passes verification, and triggers a signal processing function. The signal processing function of the vehicle condition data converts the received vehicle condition data of the controlled vehicle into standard data through the data adapter interface DA. Then, the standard data is converted into a control command, such as a steering wheel command, through the generic interface GI, and the steering wheel is manipulated to adjust the steering wheel state. By using the scheme provided by the embodiment of the application, the controlled vehicles registered on the remote control platform all use the universal interface GI and the data adapter interface DA, so that the remote control platform does not need to carry out specific interface design on each vehicle type, the coupling between the remote control platform and the controlled vehicle is reduced, and the popularization and the use of 5G remote driving are facilitated.
Referring to fig. 3, the process includes:
and S301, acquiring vehicle condition data uploaded by the controlled vehicle.
In this step, the remote control platform obtains vehicle condition data uploaded by the controlled vehicle in a preset periodic manner, for example, every 10 ms. The controlled vehicle can upload the vehicle condition data of the controlled vehicle in real time at regular time.
In a man-machine driving application scene, a controlled vehicle needs to upload vehicle data including information of a vehicle running environment, vehicle running state information and the like to a remote control platform in real time, so that a remote driver can issue an accurate vehicle control instruction according to the current environment of the controlled vehicle. However, when the driver starts the assistant driving technology for the controlled vehicle, the remote cockpit is in the observation mode, and when an emergency situation, such as an assistant driving algorithm, cannot be solved, such as a complex road condition, is encountered, the remote driver can take over the controlled vehicle, and the controlled vehicle can upload the current vehicle condition data to the remote control platform. The vehicle condition data may include a current steering wheel steering angle, an accelerator pedal state, a brake pedal state, a turn signal state, a lamp on-off state, a gear state, and the like. After the remote control platform acquires the vehicle condition data uploaded by the controlled vehicle, the vehicle condition data can be fed back to the simulated driver, so that the control information of the simulated driver, such as the steering angle of a steering wheel, the state of an accelerator pedal, the state of a brake pedal and the like, is consistent with the vehicle condition of the controlled vehicle.
In addition, in the take-over control mode, when the steering command issued by the steering wheel of the simulated driver is to make a turn left, if the controlled vehicle is limited by the current road condition, for example, if there is an obstacle on the left side of the wheel, the controlled vehicle cannot make a turn left, and can only make a half turn left, at this time, the states of the steering wheel of the controlled vehicle and the simulated driver are not synchronous; when the network state is not good, such as a signal is not good, the network is interrupted or a delay exists in command issuing, the situation that the states of the steering wheel of the controlled vehicle and the simulated driver are inconsistent can also be caused. In order to ensure that the vehicle condition information of the controlled vehicle and the state of the steering wheel of the simulated driver in the remote cockpit are kept synchronous in real time, the controlled vehicle can generally send the vehicle condition data per se to the remote control platform according to a preset periodic mode, for example, every 10ms, so that the remote control platform can convert the received vehicle condition data into standard data with a standard data structure through a data adapter interface DA, and then convert the standard data into a control instruction of the steering wheel of the simulated driver through a general interface GI.
And step S302, monitoring vehicle data uploaded by the controlled vehicle through the message monitoring event.
The remote control platform registers the information monitoring event and continuously monitors various vehicle data uploaded by the controlled vehicle terminal through the information monitoring event.
And step S303, judging whether the vehicle data uploaded by the controlled vehicle is the vehicle condition data, if so, entering step S304, and if not, returning to step S302.
And the remote control platform judges the vehicle data uploaded by the controlled vehicle to be vehicle condition data according to the ID of the message frame, verifies the checksum of the message frame, continues to execute the step S304 after the verification is passed, and returns to the step S302 to continue monitoring if the verification is passed.
The vehicle condition data can be generally identified by setting a message frame ID, and the checksum of the message frame of the vehicle condition data can also be identified by a set value.
And step S304, converting the vehicle condition data into standard data of a standard data structure through the data adapter interface DA.
If the received vehicle data is the vehicle condition data, the remote control platform unpacks the received data frame through the data adapter interface DA, reads the vehicle condition data in the data frame, and converts the vehicle condition data into standard data of a standard data structure.
That is, through the above steps S302 to S304, the remote control platform monitors occurrence of a message frame ID event through a message monitoring event, identifies whether a data packet of the received vehicle data is vehicle condition data according to the message frame ID, and when the data packet is determined to be vehicle condition data, the remote control platform triggers a corresponding vehicle condition data processing function, calls the data adapter interface DA through the vehicle condition data processing function, and converts the vehicle condition data into standard data of a standard data structure through the data adapter interface DA.
Referring also to fig. 7, a class diagram of a data adapter interface DA is shown according to an embodiment of the present application. The Data adapter interface DA provides a mapstandards () function which converts the received vehicle condition Data into a Standard Data format Standard Data.
Step S305, converting the standard data into a steering command simulating a steering wheel of a driver through the generic interface GI.
The remote control platform converts the standard data into a control instruction of a steering wheel of a simulated driver through a general interface GI.
And S306, transmitting the converted control command of the steering wheel to the steering wheel so that the state of the steering wheel simulating the driver and the state of the controlled vehicle are kept synchronous.
The steering wheel can control and adjust the state of the steering wheel by sending the converted control command to the steering wheel, so that the states of the steering wheel and the controlled vehicle can be kept synchronous in real time.
It should be further noted that the above solution mainly applies, but is not limited to, the system structure shown in fig. 4 and including the generic interface GI and the data adapter interface DA. The system structure of the embodiment of the application can be further improved.
Referring to fig. 9, a system structure diagram including a generic interface GI and a data adapter interface DA according to another embodiment of the present application is shown. The scheme of the embodiment of the application can be suitable for steering wheels of all simulated drivers and any controlled vehicle models. In this embodiment, any type of steering wheel of the simulated driver may be used, and the steering wheel of the simulated driver may be started and the data may be acquired by the SDK through the steering wheel plug-in, and then adapted to the generic interface GI according to the model of the steering wheel of the simulated driver, where the operation data of the steering wheel of the simulated driver is converted into standard data of the generic standard data structure. And the remote control platform encapsulates the standard data into a data frame, wherein the data frame comprises an information frame ID, a checksum of the information frame and a data segment part of the information frame. The standard data are transmitted through the data adapter interface DA, the data adapter interface DA converts the standard data into vehicle control instructions in a vehicle control data format supported by the controlled vehicle according to the model of the controlled vehicle connected currently, and the controlled vehicle receives the vehicle control instructions and executes related instruction operation.
In summary, according to the scheme provided by the embodiment of the application, a universal driver simulator interface is designed, which is a universal interface GI and a data adapter interface DA for data conversion between the driver simulator and the controlled vehicle in the cockpit respectively. For the operation data of the simulated driver, the general interface GI is responsible for converting the acquired operation data of the simulated driver into standard data in a general standard data format, and the data adapter interface DA is responsible for converting the standard data into a vehicle control instruction corresponding to the controlled vehicle; for the vehicle condition data of the controlled vehicle, the data adapter interface DA is responsible for converting the acquired vehicle condition data of the controlled vehicle into standard data in a universal standard data format, and the universal interface GI is responsible for converting the standard data into a control command simulating a steering wheel of a driver. Therefore, when a newly registered controlled vehicle is added to the remote control platform, the logic code for data conversion does not need to be rewritten, the redundancy between the remote control platform and the controlled vehicle is reduced, and the scheme provided by the embodiment of the application can be suitable for all vehicle types.
In addition, the scheme provided by the embodiment of the application also reduces the coupling degree between the simulation driver and the controlled vehicle. For different vehicle types, each vehicle can upload data to the remote control platform by using a vehicle condition data structure defined by the vehicle, and the data adapter interface DA can convert the vehicle condition data of the controlled vehicle into standard data, so that the simulated driver can be suitable for different types of vehicles, the process that different vehicles adapt to the driving of the simulated driver can be simplified, and the relevance between the controlled vehicle and the simulated driver is weakened. The general interface GI and the data adapter interface DA are used for data conversion of a third party, so that the logic processing of the simulated driver of the cockpit and the data inside the controlled vehicle is simpler, the code efficiency is improved, and the iterative updating of the system is facilitated.
The above description details the interface processing method for the simulated driver shown in the embodiment of the present application, and accordingly, the embodiment of the present application further provides a corresponding remote control platform, a remote driving system, and a related device.
Fig. 10 is a schematic structural diagram of a remote control platform according to an embodiment of the present application. The remote control platform may be used to perform the methods described in the previous embodiments.
Referring to fig. 10, a remote control platform 100 includes: a first processing module 110 and a second processing module 111.
The first processing module 110 is configured to obtain vehicle condition data uploaded by a controlled vehicle, convert the vehicle condition data into standard data through a setting interface, convert the standard data into a first control instruction, and transmit the first control instruction to a simulated driver in a simulated cockpit.
And the second processing module 111 is configured to obtain operation data sent by the simulated driver, convert the operation data into standard data through the setting interface, convert the standard data into a second control instruction, and issue the second control instruction to the controlled vehicle.
The first processing module 110 converts the vehicle condition data into first standard data through the first interface, and converts the first standard data into a first control instruction through the second interface. The vehicle condition data can be converted into the first standard data through the first interface according to the standard data packaging format. The standard data encapsulation format includes a pre-negotiated message frame ID, a checksum of the message frame, and a data field of the message frame. The vehicle condition data may include one or a combination of the following data: steering angle of steering wheel, accelerator pedal state, brake pedal state, turn light state, car light on-off state, gear state.
The second processing module 111 converts the operation data into second standard data through the second interface, and converts the second standard data into a second control instruction through the first interface. The operation data can be converted into second standard data according to a standard data packaging format through the second interface. The standard data encapsulation format includes a pre-negotiated message frame ID, a checksum of the message frame, and a data field of the message frame. Wherein the operation data comprises one or a combination of the following data: steering angle of steering wheel, accelerator pedal state, brake pedal state, turn light state, car light on-off state, gear state.
The first interface is a preset data adapter interface, and the second interface is a preset general interface. The first processing module 110 converts the vehicle condition data into first standard data through a preset data adapter interface, and converts the first standard data into a first control instruction through a preset general interface. The second processing module 111 converts the operation data into second standard data through a preset general interface, and converts the second standard data into a second control instruction through a preset data adapter interface.
The second processing module 111 may further obtain operation data sent by the simulated driver through the steering wheel plug-in, adapt to the preset general interface in the steering wheel plug-in, and convert the obtained operation data into second standard data through the preset general interface after transmitting the operation data to the preset general interface.
The remote control platform provided by the embodiment of the application can convert the vehicle condition data into the standard data and then into the first control instruction through the setting interface, transmit the first control instruction to the simulated driver in the simulated cockpit, convert the operation data into the standard data and then into the second control instruction through the setting interface, and send the second control instruction to the controlled vehicle; therefore, a series of corresponding adaptive adjustment is not needed according to the model of the controlled vehicle, an interface for transmitting data of a power system and the like, and only standard data conversion and instruction conversion are needed to be carried out on the remote control platform through a set interface, so that the process that different vehicles adapt to the simulated driver is simplified, the relevance between the controlled vehicle and the simulated driver is weakened, the interface universality can be improved, the redundancy between the remote control platform and the controlled vehicle is reduced, and the method can be applied to different vehicle types.
Fig. 11 is a schematic structural diagram of a remote driving system according to an embodiment of the present application.
Referring to fig. 11, the present embodiment provides a remote driving system 120, where the remote driving system 120 includes: including a controlled vehicle 121, a simulated driver 122, and the remote control platform 100 described above. The structure and function of the remote control platform 100 can be seen in the description of fig. 10.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the applications disclosed herein may be implemented as electronic hardware, computer software, or combinations of both.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems and methods according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon executable code (or a computer program, or computer instruction code) which, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform some or all of the various steps of the above-described methods in accordance with the present application.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (16)
1. A method for processing an interface of a simulated driver is characterized by comprising the following steps:
the method comprises the steps of obtaining vehicle condition data uploaded by a controlled vehicle, converting the vehicle condition data into standard data through a set interface, converting the standard data into a first control instruction, and transmitting the first control instruction to a simulated driver in a simulated cockpit;
and acquiring operation data sent by a simulated driver, converting the operation data into standard data through the setting interface, converting the standard data into a second control instruction, and issuing the second control instruction to the controlled vehicle.
2. The method of claim 1, wherein:
the through setting for the interface with the vehicle condition data convert into first manipulation instruction after converting into standard data again, include: converting the vehicle condition data into first standard data through a first interface, and converting the first standard data into a first control instruction through a second interface; and/or the presence of a gas in the gas,
the converting the operation data into standard data and then into a second control instruction through the setting interface comprises: and converting the operation data into second standard data through the second interface, and converting the second standard data into a second control instruction through the first interface.
3. The method of claim 2, wherein:
the first interface is a preset data adapter interface, and the second interface is a preset general interface.
4. The method of claim 2, wherein:
the converting the vehicle condition data into first standard data through a first interface includes: converting the vehicle condition data into first standard data according to a standard data packaging format through a first interface; and/or the presence of a gas in the gas,
the converting the operation data into second standard data through a second interface comprises: and converting the operation data into second standard data according to a standard data packaging format through a second interface.
5. The method of claim 4, wherein:
the standard data encapsulation format comprises a pre-negotiated message frame ID, a checksum of the message frame and a data field of the message frame.
6. The method of claim 5, wherein the obtaining vehicle condition data uploaded by the controlled vehicle comprises:
and monitoring vehicle data uploaded by a controlled vehicle, and acquiring the vehicle condition data after judging that the vehicle data is the vehicle condition data according to the message frame ID.
7. The method according to claim 6, wherein the monitoring vehicle data uploaded by a controlled vehicle, and after determining that the vehicle data is vehicle condition data according to a message frame ID, acquiring the vehicle condition data comprises:
and monitoring vehicle data uploaded by a controlled vehicle, judging that the vehicle data is vehicle condition data according to the message frame ID, and obtaining the vehicle condition data after the checksum of the message frame is verified.
8. The method according to any one of claims 1 to 7, wherein the vehicle condition data or the operational data comprises one or a combination of the following:
steering angle of steering wheel, accelerator pedal state, brake pedal state, turn light state, car light on-off state, gear state.
9. The method according to any one of claims 1 to 7, wherein:
the acquiring of vehicle condition data uploaded by a controlled vehicle comprises the following steps: acquiring vehicle condition data uploaded by a controlled vehicle according to a preset periodic mode; and/or the presence of a gas in the gas,
the acquiring of the operation data sent by the simulated driver comprises the following steps: and acquiring operation data sent by the simulated driver through a Software Development Kit (SDK) according to a preset period mode.
10. The method according to any one of claims 3 to 7, wherein:
the acquiring of the operation data sent by the simulated driver comprises the following steps: acquiring operation data sent by the simulated driver through a steering wheel plug-in;
the converting the operation data into second standard data through the second interface comprises:
and after the steering wheel plug-in is adapted to the preset general interface and the acquired operation data is transmitted to the preset general interface, converting the operation data into second standard data through the preset general interface.
11. A remote control platform, comprising:
the first processing module is used for acquiring vehicle condition data uploaded by a controlled vehicle, converting the vehicle condition data into standard data through a set interface, converting the standard data into a first control instruction, and transmitting the first control instruction to a simulated driver in a simulated cockpit;
and the second processing module is used for acquiring operation data sent by the simulated driver, converting the operation data into standard data through the setting interface, converting the standard data into a second control instruction, and issuing the second control instruction to the controlled vehicle.
12. The remote control platform of claim 11, wherein:
the first processing module converts the vehicle condition data into first standard data through a first interface and converts the first standard data into a first control instruction through a second interface; and/or the presence of a gas in the gas,
the second processing module converts the operation data into second standard data through the second interface, and converts the second standard data into a second control instruction through the first interface.
13. The remote control platform of claim 12, wherein:
the first processing module converts the vehicle condition data into first standard data through a preset data adapter interface and converts the first standard data into a first control instruction through a preset general interface; and/or the presence of a gas in the gas,
the second processing module converts the operation data into second standard data through the preset general interface, and converts the second standard data into a second control instruction through the preset data adapter interface.
14. The remote control platform of claim 13, wherein:
the second processing module acquires the operation data sent by the simulated driver through a steering wheel plug-in, adapts to the preset general interface, and converts the operation data into second standard data through the preset general interface after transmitting the acquired operation data to the preset general interface.
15. A remote driving system, characterized by:
comprising a controlled vehicle, a simulated driver and a remote control platform according to any of claims 11 to 14.
16. A non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform the method of any one of claims 1-10.
Priority Applications (2)
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| CN202110832248.4A CN113570936A (en) | 2021-07-22 | 2021-07-22 | Driver simulator interface processing method, remote control platform and system |
| PCT/CN2022/106188 WO2023001090A1 (en) | 2021-07-22 | 2022-07-18 | Interface-based processing method for driving simulator, remote control platform, and system and storage medium |
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| CN202110832248.4A CN113570936A (en) | 2021-07-22 | 2021-07-22 | Driver simulator interface processing method, remote control platform and system |
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