CN107463172A - It is a kind of that automated driving system is controlled based on the high in the clouds of SUMO and unified time axle - Google Patents
It is a kind of that automated driving system is controlled based on the high in the clouds of SUMO and unified time axle Download PDFInfo
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- CN107463172A CN107463172A CN201710600926.8A CN201710600926A CN107463172A CN 107463172 A CN107463172 A CN 107463172A CN 201710600926 A CN201710600926 A CN 201710600926A CN 107463172 A CN107463172 A CN 107463172A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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Abstract
Automated driving system, including driving client, application server, wagon control server, intelligent electric automobile and sensing equipment are controlled based on the high in the clouds of SUMO and unified time axle the invention discloses a kind of；The automated driving system assigns trip order using client of driving a vehicle, trip order parsing and encapsulation are carried out using application server, path planning and driving task division are carried out using the SUMO modules in wagon control server, utilizes GPS and correction module generation vehicle deviation rectifying instruction；Vehicle is instructed according to the driving assignment instructions and vehicle deviation rectifying of wagon control server and travelled.Application server, wagon control server, intelligent electric automobile use unified time axle in present system, and timestamp of the vehicle in instruction performs at the regulation moment.The present invention realizes high in the clouds control vehicle automatic running, while avoids network delay and instability problem, further simplifies system using SUMO and unified time axle, improves system reliability.
Description
Technical field
The invention belongs to automatic Pilot technical field, one kind based on SUMO (Simulation of UrbanMObility,
The Urban Traffic Simulation software increased income) and unified time axle high in the clouds control automated driving system.
Background technology
With the fast development of World Economics, Global Auto volume of production and marketing and car ownership improve year by year, and China is from 2009
Year steps into automotive society, is shown according to government department's relevant statistics, and automobile volume of production and marketing in 2015 is more than 24,500,000, wound
The new highest record in history, the continuous 7 years whole world first.At present, the whole world is particularly still being significantly increased in China, automobile volume of production and marketing, 2016
Automobile volume of production and marketing is estimated will be more than 26,500,000；A few years from now on, with automobile market intensified competition, vehicle price drops, and three or four
Five line city automobile sales volumes are substantially improved, and domestic automobile consumption market will also further expand.
But as the popularization of automobile, urban traffic pressure also gradually increase, the traffic problems in each city increasingly highlight；
Modern City Traffic is primarily present the Five problems such as traffic congestion, parking is difficult, traffic accident is more, air pollution, energy consumption height, this
Five problems contradiction is increasingly sharp, has had a strong impact on the normal operation of Traffic Systems.Cause the five big of above-mentioned urban transportation
The essential reason of problem is that the supply-demand relationship between path resource and vehicle driving is uneven, is supplied in urban transportation supply-demand relationship
Traffic resource to side is mainly urban transportation infrastructure, and this is hardware condition and the guarantee of Traffic Development；And how
The efficiently vehicle driving in management urban transportation, coordinate the supply-demand relationship of traffic resource, then influence Traffic Systems operation
It is good and bad.
Automatic Pilot is considered as to improve the most important means that urban transportation goes out line efficiency and safety, many cars enterprise and mutually
Networking enterprise all starts to set foot in automatic Pilot field, and major science and technology-oriented company, establishment type company and traditional vehicle factor, one-level are supplied
Highland is fought in unmanned field in commercial city.Such as the science and technology-oriented company such as Google, tesla, Zoox, masses, benz, Bosch, moral
Traditional vehicle factor such as Er Fu and Tier One supplier, California, USA pilotless automobile road test qualification is obtained, numerous and confused layout is certainly
Oneself unmanned general plan.Many enterprises both domestic and external and colleges and universities have also all started the research and demonstration of automatic driving vehicle, and
Obtain certain achievement；All it is the public affairs that this respect is on the forefront as the Google in the tesla and Internet enterprises in Automobile Enterprises
Department.
Automatic Pilot technology is broadly divided into following Liang great factions at present：The progressive car for development main line step by step is driven with auxiliary
Load formula automatic Pilot technology and the net connection formula automatic Pilot technology using internet artificial intelligence as development main line；With tesla and paddy
Sing and presently, there are following deficiency for the vehicular automatic Pilot scheme of representative：
(1) vehicle only relies on the sensing equipment itself being loaded with and perceived for traffic, and sensing equipment is expensive, perceived distance
It is limited, control can not be arranged to traffic conditions, the improvement to traffic is limited in one's ability.
(2) vehicle is controlled by vehicle-mounted computer and driven, high to the performance requirement of vehicle-mounted computer, and vehicle price is high.
(3) automatic Pilot of the roaming type in the case of full working scope, traffic is complicated, and computationally intensive, security can not protect
Barrier.
Tesla and the nearest traffic accident of Google's autonomous driving vehicle are just embodying their weak point, and existing
Net connection formula automatic Pilot technology, the low volume data between automatic driving vehicle and server are communicated and exchanged, realize basic
Network savvy, but still it is old more than (2), (3) two points of deficiencies.
The content of the invention
In view of it is above-mentioned, automated driving system is controlled based on the high in the clouds of SUMO and unified time axle the invention provides a kind of,
The problem of can solve the problem that traditional intelligence automobile memory space or computing capability deficiency, the cost of autonomous driving vehicle is effectively reduced,
It is easy to introduce big data and intelligent algorithm simultaneously.
It is a kind of based on the high in the clouds of SUMO and unified time axle control automated driving system, including driving client, using clothes
Business device, wagon control server, intelligent electric automobile and sensing equipment；Wherein：
The driving client is used to provide a user Map Services, receives the trip order of user and provides a user car
Real time position state and movable information, the client be the interactive interface between user and application server；
The application server obtains the trip order of user by client of driving a vehicle and parsed, and then by user's car
Run-length data encapsulation after send to wagon control server, while pass through wagon control server obtain vehicle real-time position
Configuration state and movable information are simultaneously presented to driving client；
The run-length data includes beginning and end position, vehicle ID, timestamp and the starting point location of user's setting
Scheme ID；
The wagon control server internal has SUMO modules, after the run-length data of its acquisition user's vehicle according to the map
Run-length data is loaded onto in corresponding SUMO object interfaces by ID, is that user's vehicle plans suitable roadway by SUMO modules
Footpath, while got with certain time step-length on car speed, angle, position, the command information of timestamp and believe these
Breath is encapsulated as the traveling task of vehicle, the UTC (Temps for starting to perform for each traveling one task of task setting
Universel Coordonn é, Coordinated Universal Time(UTC)) time, and then by Transmission Control Protocol by a series of continuous traveling tasks and its
UTC time is handed down to vehicle and receives the real time position state of vehicle and movable information is transmitted to application server；
Timestamp in the traveling task reaches the time point of predetermined traveling-position for vehicle；
The intelligent electric automobile is user's vehicle, and the traveling task that it is issued to wagon control server is further thin
Change and each traveling task is performed according to UTC time to realize the automatic ride control of vehicle；
The sensing equipment is installed on intelligent electric automobile, and it obtains the real time position state and fortune of vehicle by sensing
Dynamic information is simultaneously uploaded to wagon control server.
Further, the wagon control server gets the real time position of vehicle, makes what it was provided with SUMO modules
Predetermined traveling-position is compared one UTC on the deviation signal and execution correction of vehicle shift distance and angle of generation
Time is simultaneously sent to vehicle, is voluntarily rectified a deviation according to the UTC time by vehicle.
Further, the application server includes web communication module, stroke generation module and data base administration mould
Block, wherein：
The web communication module is asked for response external, while also is responsible for external client or server transmitting-receiving clothes
Business data；The web communication module from driving client receive trip order after, call stroke generation module to instruction at
Run-length data after managing and being encapsulated is sent to wagon control server, while the real time position state of vehicle and motion are believed
Breath returns to driving client；
The stroke generation module is used to parse the trip order of user, obtain comprising beginning and end position,
Vehicle ID, timestamp and map ID where starting point run-length data, and then these Information encapsulations are passed through into Web into JSON forms
Communication module is sent to wagon control server；
The database management module is used for the data persistence in application server, there is provided to data in database
The function service increase, delete, change, looked into, provide basic data for other modules and support so that pass through between application server internal module
Database management module realizes data sharing.
Further, the wagon control server include web communication module, SUMO modules, sensing equipment management module,
Correction module, I/O module, vehicle management monitoring module and database management module, wherein：
The web communication module is asked for response external, while also is responsible for exterior vehicle or server transmitting-receiving service
Data；The web communication module calls SUMO modules to carry out information after receiving the run-length data of user's vehicle from application server
Processing, and the real time position state and movable information of vehicle are transmitted to application server；
Run-length data is loaded onto in corresponding SUMO object interfaces the SUMO modules by ID according to the map, passes through internal journey
Ordered pair information is that user's vehicle plans suitable planning driving path after being parsed and being handled, and is walked according to planning driving path with certain time
Long generation appoints on car speed, angle, position, the command information of timestamp and for the traveling of vehicle these Information encapsulations
Business, while the UTC time for starting to perform for each traveling one task of task setting, and then will be travelled by web communication module
Task and its UTC time are sent to vehicle；
The sensing equipment management module is used to manage vehicle sensory equipment and its sensing data, includes the note of sensing equipment
Volume, sensing equipment and the binding of vehicle and the processing of real-time sensory data；
The correction module is used for the real time position that vehicle is obtained by I/O module, it is provided with SUMO modules predetermined
Traveling-position is compared, and prediction generation future time step-length is on vehicle shift distance and the deviation of angle after regression fit
Signal and perform correction UTC time simultaneously vehicle is sent to by web communication module, by vehicle according to the UTC time voluntarily
Rectified a deviation；
The I/O module is communicated using Transmission Control Protocol with vehicle and its sensing equipment, after SUMO modules are encapsulated
Traveling task and its UTC time and correction module generation deviation signal and its UTC time be sent to vehicle, receive simultaneously
The vehicle real time position state and movable information that sensing equipment uploads；
The vehicle management monitoring module is used for vehicle management and vehicle monitoring, there is provided vehicle and its related accessory are increased,
The function service delete, change, looked into and monitoring and alarm to vehicle real-time status；
The database management module is used for the data persistence in wagon control server, there is provided to number in database
According to the function service for increasing, deleting, change, looking into, provide basic data for other modules and support so that wagon control server internal module
Between data sharing realized by database management module.
Further, the intelligent electric automobile include I/O communication module, task refinement module, instruction translation module and
Vehicle control module；Wherein, the I/O communication module is responsible for the network service between car end and wagon control server, realizes number
According to transmitting-receiving；The task refinement module receives the traveling task and right provided from wagon control server by I/O communication module
It is further fitted and refined；The instruction translation module is used to fine-grained traveling assignment instructions translating into corresponding car
Control instruction；The vehicle control module instructs the traveling of automatic excution vehicle to control according to UTC time and wagon control.
Further, the application server is custom made with the scene service mould for realizing respective service according to different application scene
Block.
Further, the time in the unified time axle is UTC time, and application server will carry the stroke time started
Run-length data be sent to wagon control server, wagon control server is when on the basis of the stroke time started plus delay
Between as first traveling task Starting Executing Time be UTC time, then each traveling task Starting Executing Time
It is incremented by according to time step from the UTC time；When first, which travels task Starting Executing Time, reaches, module thread of rectifying a deviation
Start, the gps coordinate that thread is picked up the car in Fixed Time Interval is compared with the predetermined traveling position coordinates in corresponding traveling task
Compared with calculating correction result, and it is encapsulated and is issued to vehicle for timed task, vehicle performs the task according to timestamp, so as to protect
Wagon control server, vehicle, GPS sensing equipments are demonstrate,proved under unified time axle.
Compared with prior art, the present invention has following advantageous effects：
(1) generation of stroke, the planning in path, vehicle traveling are appointed in automated driving system of the present invention based on high in the clouds control
The generation of business, the calculating of vehicle deviation rectifying are placed on long-range cloud server, and it is empty that this method can solve the storage of traditional intelligence automobile
Between or the problem of computing capability deficiency, effectively reduce the cost of autonomous driving vehicle, while be easy to introduce big data and artificial intelligence
Can algorithm.
(2) use of the invention increases income simulation software SUMO for path planning and vehicle traveling task division, SUMO softwares
In vehicle car-following model scheduling algorithm be by the reliable and stable method of long-time checking, use SUMO to reduce size of code
The reliability and stability of vehicle control algorithms are improved simultaneously.
(3) application server, wagon control server, intelligent electric automobile use unification in automated driving system of the present invention
Time shaft, intelligent electric automobile can cache a plurality of traveling assignment instructions, and being travelled and travelled at the time of stabbing the stipulated time will
The time asked, avoid the influence of network delay and unstable networks to autonomous driving vehicle.
(4) automated driving system of the present invention uses unified time axle, and the correction module of wagon control server can be in fixation
Moment wakes up and predicts that the vehicle shift amount of subsequent time is rectified a deviation, and reduces running memory, improves computational efficiency.
Brief description of the drawings
Fig. 1 is the structural representation of automated driving system of the present invention.
Embodiment
In order to more specifically describe the present invention, below in conjunction with the accompanying drawings and embodiment is to technical scheme
It is described in detail.
As shown in figure 1, the present invention is included based on the high in the clouds of SUMO and unified time axle control automated driving system：Driving visitor
Family end, application server, wagon control server, intelligent electric automobile and context sensing devices；Wherein, client of driving a vehicle is main
Stroke order is assigned by application server, obtains vehicle real time position and state, and obtains other related services and extension clothes
Business；Application server includes three web communication module, stroke generation module, database management module infrastructure service modules, simultaneously
Application server can possess different business logic modules according to concrete scene application；Wagon control server leads to including Web
Believe module, SUMO modules, GPS management modules, correction module, I/O module, vehicle management monitoring module, database management module；
Intelligent electric automobile includes I/O communication module, task refinement module, instruction translation module and vehicle control module；Sensing equipment bag
GPS and ultrasonic sensor etc. are included, obtains environmental information, calculates and realizes the functions such as positioning, avoidance.
Driving client is used to provide a user Map Services, obtains the stroke command of user, and provides a user in real time
Vehicle-state and movable information, it is the interactive interface of user and application server；The client can also as client its
In a module, be embedded in different application client, different application is owned by Function for Automatic Pilot.
The web communication module of application server is asked for response external, also is responsible for sending service to applications in addition
Request, communication protocol HTTP, transmission data format is JSON；Web communication module receives from driving client or server
After service request, call other business modules of application server to handle request, and return to request results, while work as and answer
When the support of external service is needed with server, externally sent after being packaged by Web modules to request data, obtain data
It is further processed afterwards according to service logic.
The stroke generation module of application server parses, only after client obtains run-length data to run-length data
Vehicle ID, map ID, starting point coordinate, terminal point coordinate and stroke generation timestamp are left, JSON forms is encapsulated into, leads to
Cross web communication module and be sent to wagon control server.
The database management module of application server is underlying services module, for by the data persistence in server,
It is responsible for the operation such as increasing the data in database, delete, changing, looking into, basic data support is provided for other business modules so that
Data sharing is realized by the module between application server internal module.
The function phase of the web communication module of wagon control server and the web communication module of application server is same, for ringing
Answer external request and send service request to applications, communication protocol HTTP, transmission data format is JSON；The Web
After communication module receives the run-length data of application server, SUMO modules and correction mould that new thread is used to call the vehicle are opened
Block, and timing sends the status data and exercise data of vehicle to application server.
SUMO modules are the nucleus modules of wagon control server, are responsible for overall Traffic flux detection and vehicle traveling control
System；After SUMO modules get run-length data, vehicle is loaded into specified map ID SUMO objects, the vehicle is set
Original position and target location, according to real-time traffic situation, suitable planning driving path is planned for vehicle, while it is each to obtain vehicle
The travel speed of individual time step, angle, position, task is encapsulated into, while starts to hold for each task setting task
Capable absolute UTC time；After vehicle traveling terminates, vehicle is removed from SUMO and terminates thread.
Sensing equipment management module is used to manage sensing equipment and sensing equipment data, includes registration, the sensing of sensor
The binding of device and vehicle and the processing of real-time sensing device data etc..
Module of rectifying a deviation thread after vehicle starts running is opened, and correction module timing obtains real-time vehicle from database
GPS coordinate data and the position data of term of reference, next time step vehicle is predicted after carrying out regression fit to data
Traveling deviation, and will rectify a deviation data and correction perform absolute UTC time be packaged into JSON forms.
I/O module enters row data communication using Transmission Control Protocol, and communication object is that the environmentally sensitives such as intelligent electric automobile and GPS are set
It is standby；After I/O module obtains the active information of intelligent electric automobile, TCP length links are safeguarded, vehicle is issued and travels task to car end,
And the feedback control uploaded according to car end travels mission dispatching, while the I/O module is used to receive the context sensing devices such as GPS
The data of biography, and call related service module to be handled, stored and fed back.
Vehicle management monitoring module is used to include vehicle and vehicle to vehicle management and vehicle monitoring, wherein vehicle management
The increasing of related accessory, the function service such as delete, change, looking into, vehicle monitoring includes the monitoring and alarm to vehicle real-time status.
The database management module of wagon control server is similar to the database management module function of application server, bears
Blame to the data in management database, providing data to modules in server supports, realizes the number between server internal module
According to it is shared while decouple intermodule；Simultaneously as requirement of real-time of the automatic Pilot for data, database management module
Comprising memory database and relevant database, memory database is used for the high-performance read-write for realizing data, and periodically by it
Portion's data are by relevant database persistence into disk.
The I/O communication module of intelligent electric automobile is responsible for the network service at car end and wagon control server, realizes data
Sending and receiving；The assignment instructions received from wagon control server are further fitted and refined by task refinement module, instruction
Translation module is responsible for translating into fine-grained assignment instructions into corresponding wagon control instruction, and vehicle control module then turn over by basis
Control instruction after translating performs automatic ride control to vehicle.
Sensing equipment includes the awareness apparatus being deployed in vehicle body and environment, including GPS location equipment, car speed perceive
Equipment etc., sensing equipment upload to the progress computing of wagon control server and storage after obtaining environmental data.
Specifically, the automatic Pilot process of present embodiment system is as follows：
(1) user selects destination by client of driving a vehicle, and assigns stroke order, order data is sent by http protocol
To application server；
(2) the web communication module of application server calls stroke generation module to be parsed after obtaining stroke order, extracts
Required travel information is sent to wagon control server after encapsulating again, and stores into database；
(3) after the web communication module of wagon control server obtains the travel information of application server, by information of vehicles plus
It is downloaded in specified SUMO, suitable planning driving path is planned for vehicle, while use SUMO, vehicle is obtained with certain time step-length
The information such as real-time speed, angle, position, are encapsulated the traveling task for vehicle, and task is issued to according to vehicle feedback control
Vehicle, while wagon control server obtains the real time position of vehicle from GPS, and carried out compared with the predetermined traveling-position of vehicle
Correction；
(4) intelligent electric automobile is after wagon control server obtains assignment instructions, task progress is further thin
Change, the vehicle traveling task after refinement is sent to instruction translation module, and finally controls vehicle according to finger in instruction control module
Order traveling；
(5) vehicle and environmental sensory data are uploaded to wagon control server, wagon control by the sensing equipment such as GPS in real time
Server is handled sensing data and is stored in database；
(6) user can be sent by client of driving a vehicle and check that vehicle-state instructs, and application server takes to wagon control
Business device sends request, and driving client is shown in after obtaining data.
The above-mentioned description to embodiment is understood that for ease of those skilled in the art and using the present invention.
Person skilled in the art obviously can easily make various modifications to above-described embodiment, and described herein general
Principle is applied in other embodiment without by performing creative labour.Therefore, the invention is not restricted to above-described embodiment, ability
For field technique personnel according to the announcement of the present invention, the improvement made for the present invention and modification all should be in protection scope of the present invention
Within.
Claims (7)
1. a kind of control automated driving system, including driving client, application service based on the high in the clouds of SUMO and unified time axle
Device, wagon control server, intelligent electric automobile and sensing equipment；It is characterized in that：
The driving client is used to provide a user Map Services, receives the trip order of user and provides a user vehicle
Real time position state and movable information, the client are the interactive interfaces between user and application server；
The application server obtains the trip order of user by client of driving a vehicle and parsed, and then by user's vehicle
Sent after run-length data encapsulation to wagon control server, while the real time position shape of vehicle is obtained by wagon control server
State and movable information are simultaneously presented to driving client；
Map ID where the run-length data includes beginning and end position, vehicle ID, timestamp and the starting point of user's setting；
The wagon control server internal has SUMO modules, and ID will according to the map after the run-length data of its acquisition user's vehicle
Run-length data is loaded onto in corresponding SUMO object interfaces, is that user's vehicle plans suitable planning driving path by SUMO modules,
Got with certain time step-length on car speed, angle, position, the command information of timestamp simultaneously and seal these information
The traveling task for vehicle is filled, the UTC time for starting to perform for each traveling one task of task setting, and then assisted by TCP
A series of continuous traveling tasks and its UTC time are handed down to vehicle and receive the real time position state and motion letter of vehicle by view
Breath is transmitted to application server；
Timestamp in the traveling task reaches the time point of predetermined traveling-position for vehicle；
The intelligent electric automobile is user's vehicle, and its traveling task issued to wagon control server further refines simultaneously
Each traveling task is performed according to UTC time to realize the automatic ride control of vehicle；
The sensing equipment is installed on intelligent electric automobile, and it obtains the real time position state of vehicle by sensing and motion is believed
Cease and be uploaded to wagon control server.
2. high in the clouds according to claim 1 controls automated driving system, it is characterised in that：The wagon control server obtains
The real time position of vehicle is got, makes its generation one compared with the predetermined traveling-position that SUMO modules provide inclined on vehicle
Move distance and angle deviation signal and perform correction UTC time simultaneously be sent to vehicle, by vehicle according to the UTC time from
Row is rectified a deviation.
3. high in the clouds according to claim 1 controls automated driving system, it is characterised in that：The application server includes
Web communication module, stroke generation module and database management module, wherein：
The web communication module is asked for response external, while also is responsible for external client or server transmitting-receiving service number
According to；The web communication module calls stroke generation module to handle simultaneously instruction after driving client receives trip order
Run-length data after being encapsulated is sent to wagon control server, while the real time position state and movable information of vehicle are returned
Back to driving client；
The stroke generation module is used to parse the trip order of user, obtains comprising beginning and end position, vehicle
ID, timestamp and map ID where starting point run-length data, and then these Information encapsulations are passed through into web communication into JSON forms
Module is sent to wagon control server；
The database management module is used for the data persistence in application server, there is provided data in database are increased, deleted,
The function service change, looked into, provide basic data for other modules and support so that pass through database between application server internal module
Management module realizes data sharing.
4. high in the clouds according to claim 2 controls automated driving system, it is characterised in that：The wagon control server bag
Include web communication module, SUMO modules, sensing equipment management module, correction module, I/O module, vehicle management monitoring module and
Database management module, wherein：
The web communication module is asked for response external, while also is responsible for exterior vehicle or server transmitting-receiving service data；
The web communication module calls SUMO modules to handle information after receiving the run-length data of user's vehicle from application server,
And the real time position state and movable information of vehicle are transmitted to application server；
Run-length data is loaded onto in corresponding SUMO object interfaces the SUMO modules by ID according to the map, passes through internal processes pair
Information is that user's vehicle plans suitable planning driving path after being parsed and being handled, and is given birth to according to planning driving path with certain time step-length
Into on car speed, angle, position, timestamp command information and by these Information encapsulations be vehicle traveling task, together
When for it is each traveling one task of task setting start perform UTC time, and then by web communication module will travel task and
Its UTC time is sent to vehicle；
The sensing equipment management module is used to manage vehicle sensory equipment and its sensing data, including sensing equipment registration,
The binding of sensing equipment and vehicle and the processing of real-time sensory data；
The correction module is used for the real time position that vehicle is obtained by I/O module, the predetermined traveling for making it be provided with SUMO modules
Position is compared, and prediction generation future time step-length is on vehicle shift distance and the deviation signal of angle after regression fit
And perform the UTC time of correction and vehicle is sent to by web communication module, voluntarily carried out according to the UTC time by vehicle
Correction；
The I/O module is communicated using Transmission Control Protocol with vehicle and its sensing equipment, for the row after SUMO modules are encapsulated
The deviation signal and its UTC time for sailing task and its UTC time and correction module generation are sent to vehicle, while receive sensing
The vehicle real time position state and movable information that equipment uploads；
The vehicle management monitoring module is used for vehicle management and vehicle monitoring, there is provided vehicle and its related accessory are increased, deleted,
The function service change, looked into and monitoring and alarm to vehicle real-time status；
The database management module is used for the data persistence in wagon control server, there is provided to data in database
The function service increase, delete, change, looked into, provide basic data for other modules and support so that wagon control server internal intermodule
Data sharing is realized by database management module.
5. high in the clouds according to claim 1 controls automated driving system, it is characterised in that：The intelligent electric automobile includes
I/O communication module, task refinement module, instruction translation module and vehicle control module；Wherein, the I/O communication module is responsible for
Network service between car end and wagon control server, realizes data transmit-receive；The task refinement module passes through I/O communication mould
Block receives the traveling task provided from wagon control server and it is further fitted and refined；The instruction translation mould
Block is used to fine-grained traveling assignment instructions translating into corresponding wagon control instruction；The vehicle control module is according to UTC
Time and the traveling control of wagon control instruction automatic excution vehicle.
6. high in the clouds according to claim 3 controls automated driving system, it is characterised in that：The application server is not according to
The scene service module for realizing respective service is custom made with application scenarios.
7. high in the clouds according to claim 2 controls automated driving system, it is characterised in that：In the unified time axle when
Between be UTC time, the run-length data with the stroke time started is sent to wagon control server, vehicle control by application server
Control server on the basis of the stroke time started plus time delay as first traveling task Starting Executing Time be
UTC time, Starting Executing Time of each subsequent traveling task are incremented by according to time step from the UTC time；When first
When individual traveling task Starting Executing Time reaches, correction module thread starts, and thread is sat in the GPS of Fixed Time Interval pick-up
Mark and correction result is calculated compared with the predetermined traveling position coordinates in corresponding traveling task, and be encapsulated as under timed task
Vehicle is sent to, vehicle performs the task according to timestamp, so as to ensure that wagon control server, vehicle, GPS sensing equipments are being united
Under one time shaft.
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