CN106998358A - Map sensor network method for establishing model and system based on MQTT and LCM - Google Patents
Map sensor network method for establishing model and system based on MQTT and LCM Download PDFInfo
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- CN106998358A CN106998358A CN201710181237.8A CN201710181237A CN106998358A CN 106998358 A CN106998358 A CN 106998358A CN 201710181237 A CN201710181237 A CN 201710181237A CN 106998358 A CN106998358 A CN 106998358A
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- map
- lcm
- mqtt
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- protocol communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
- H04L67/1095—Replication or mirroring of data, e.g. scheduling or transport for data synchronisation between network nodes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/14—Network analysis or design
- H04L41/145—Network analysis or design involving simulating, designing, planning or modelling of a network
Abstract
The present invention provides a kind of map sensor network method for establishing model and system based on MQTT and LCM, it is by setting up cloud server, the high accuracy data of track rank is stored in cloud server, simultaneously by setting up MQTT protocol communication paths between the ground map sensor on server and onboard system beyond the clouds, and set up between ground map sensor and application module LCM protocol communication paths；Ground map sensor is received newest effective map that high in the clouds is transmitted by MQTT protocol communication paths, and newest effective map is sent to by application module by LCM protocol communication paths, so as to be embodied as the map loading Reduction of Students' Study Load at car end；The MQTT protocol communication paths belong to udp protocol path with LCM protocol communication paths, substantial amounts of Internet resources need not be taken, so as to ensure the road conditions that high in the clouds can in real time be uploaded according to engine end, map datum is updated, so that it is guaranteed that the information that the application module of engine end is obtained all is closest to fact.
Description
Technical field
Field is interacted the present invention relates to the cartographic information of automatic Pilot industry, and in particular to a kind of based on MQTT's and LCM
Map sensor network method for establishing model and system.
Background technology
With the quick popularization of automobile, annual traffic accident is also more and more, and the driving safety problem of automobile turns into one
Individual very urgent problems, and in the active safety technologies of automobile, effectively using the prior information of high-precision space map,
Some potential risks are avoided in advance, are a very important active safety research and application direction.Meanwhile, towards the next generation certainly
The research of dynamic driving technology is also just in expansion like a raging fire, in unmanned technology, introduces and applies high-precision map
Information, carries out effective integration using the information of the prior information of high-precision spatial map, and other sensors, complements each other, from
And obtain more preferably perception and path planning, guidance capability.The problem such as adaptive cruise in some present forward positions, car
Road deviates early warning, automatic Pilot etc., it is necessary to the accurately diagram data of magnanimity, and at present these accurately diagram data be to deposit
It is placed on car end, but the limited storage space at car end, so requirement can not be met by being placed on car end.
The content of the invention
For the deficiency of technology at this stage, Reduction of Students' Study Load can be loaded for the map at car end it is an object of the invention to provide a kind of
Map sensor network method for establishing model and system based on MQTT and LCM.
A kind of map sensor network method for establishing model based on MQTT and LCM, the map based on MQTT and LCM
Sensor network method for establishing model comprises the following steps：
S1, cloud server is set up, the high accuracy data of track rank is stored in cloud server；
MQTT protocol communication paths are set up between ground map sensor on S2, beyond the clouds server and onboard system, on ground
LCM protocol communication paths are set up between map sensor and application module；
S3, map sensor pass through MQTT protocol communication paths receive cloud server transmit track rank high accuracy
Map, and the accurately figure of track rank is sent to by application module by LCM protocol communication paths.
A kind of map sensor network model based on MQTT and LCM sets up system, the map based on MQTT and LCM
Sensor network model, which sets up system, includes following functions module：
For the cloud server for the high accuracy data for storing track rank；
MQTT protocol communication paths are set up between ground map sensor on server and onboard system beyond the clouds
MQTT communication modules；
LCM communication modules for setting up LCM protocol communication paths between ground map sensor and application module；
Ground map sensor for handling real-time map data；
And graphical analysis is carried out to real-time map data and the application module of corresponding actions is performed；
Described ground map sensor receives newest effective map that high in the clouds is transmitted by MQTT protocol communication paths, and passes through
Newest effective map is sent to application module by LCM protocol communication paths.
The present invention provides a kind of map sensor network method for establishing model and system based on MQTT and LCM, and it passes through
Cloud server is set up, the high accuracy data of track rank is stored in cloud server, while passing through server beyond the clouds
Set up MQTT protocol communication paths between the ground map sensor on onboard system, and ground map sensor and application module it
Between set up LCM protocol communication paths；Ground map sensor is set to receive the newest effective of high in the clouds transmission by MQTT protocol communication paths
Map, and newest effective map is sent to by application module by LCM protocol communication paths, so that the map for being embodied as car end adds
Carry Reduction of Students' Study Load.
Brief description of the drawings
Fig. 1 is the stream of the map sensor network method for establishing model based on MQTT and LCM described in the embodiment of the present invention
Journey block diagram；
Fig. 2 is the mould that the map sensor network model based on MQTT and LCM sets up system described in the embodiment of the present invention
Block block diagram.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated, it will be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The MQTT agreements can be used for Internet, with stability height, the unconfined feature of size of data, in data volume
Under conditions of requiring greatly and to reliability.The LCM agreements are used for LAN, flexibly, simply, are allowing the situation of packet loss
Under, it is adaptable to the transmission process of local area network periodically data (such as sensor information).Therefore, the present invention utilizes MQTT's
Internet advantages and LCM LAN advantages, propose a kind of map sensor network model foundation side based on MQTT and LCM
Method, as shown in figure 1, the map sensor network method for establishing model based on MQTT and LCM comprises the following steps：
S1, cloud server is set up, the high accuracy data of track rank is stored in cloud server；
MQTT protocol communication paths are set up between ground map sensor on S2, beyond the clouds server and onboard system, on ground
LCM protocol communication paths are set up between map sensor and application module；
S3, map sensor newest effective map that high in the clouds is transmitted is received by MQTT protocol communication paths, and pass through LCM
Newest effective map is sent to application module by protocol communication path.
Specifically, firstly the need of application Ali's cloud or Amazon Cloud Server, the high accuracy data of track rank is uploaded
Stored into Cloud Server, and set up MQTT agreements between the ground map sensor on server and onboard system beyond the clouds and led to
Believe path, LCM protocol communication paths are set up between ground map sensor and application module；High in the clouds utilizes MQTT protocol communication paths
Map datum is issued to vehicular map sensor, the vehicular map sensor is received relatively using MQTT protocol communication paths
Diagram data, and newest effective map of reception is handled, effective map datum is sent to using LCM protocol communication paths
Application module, the application module carries out graphical analysis to effective map datum of reception and performs corresponding actions.
Because high accuracy data of the prior art is that car end is imported after the completion of advance collection of material, but road conditions are real-time
Change, to ensure that map datum that car end is obtained is nearest data, therefore the ground of the present invention based on MQTT and LCM
Map sensor method for establishing network model also includes step S4：
S4, gather newest traffic information in real time, generate newest effective map.
Map sensor gathers newest traffic information and is uploaded to Cloud Server in real time i.e. describedly, the cloud server root
The high accuracy data of track rank is updated according to real-time reception newest traffic information, newest effective map is generated, reuses
MQTT protocol communication paths are sent to ground map sensor, so that it is guaranteed that the information that the application module at car end is obtained all is closest to reality
Condition.
The present invention also provides a kind of map sensor network model based on MQTT and LCM and sets up system, described to be based on
MQTT and LCM map sensor network model, which sets up system, includes following functions module：
For the cloud server for the high accuracy data for storing track rank；
MQTT protocol communication paths are set up between ground map sensor on server and onboard system beyond the clouds
MQTT communication modules；
LCM communication modules for setting up LCM protocol communication paths between ground map sensor and application module；
Ground map sensor for handling real-time map data；
And graphical analysis is carried out to real-time map data and the application module of corresponding actions is performed；
Described ground map sensor receives newest effective map that high in the clouds is transmitted by MQTT protocol communication paths, and passes through
Newest effective map is sent to application module by LCM protocol communication paths.
Also include the real-time collecting unit for being used to gather newest traffic information in real time, the high in the clouds in described ground map sensor
Server includes being used for updating map datum according to newest traffic information, generates the map rejuvenation unit of newest effective map.
The real-time collecting unit gathers newest traffic information and is uploaded to Cloud Server in real time, and the cloud server according to connecing in real time
Receive newest traffic information to be updated the high accuracy data of track rank, generate newest effective map, be then forwarded to map biography
Sensor, so that it is guaranteed that the information that the application module at car end is obtained all is closest to fact.
The present invention provides a kind of map sensor network method for establishing model and system based on MQTT and LCM, and it passes through
Cloud server is set up, the high accuracy data of track rank is stored in cloud server, while passing through server beyond the clouds
Set up MQTT protocol communication paths between the ground map sensor on onboard system, and ground map sensor and application module it
Between set up LCM protocol communication paths；Ground map sensor is set to receive the newest effective of high in the clouds transmission by MQTT protocol communication paths
Map, and newest effective map is sent to by application module by LCM protocol communication paths, so that the map for being embodied as car end adds
Carry Reduction of Students' Study Load；The MQTT protocol communication paths belong to udp protocol path with LCM protocol communication paths, it is not necessary to take a large amount of
Internet resources, so as to ensure the road conditions that high in the clouds can in real time be uploaded according to engine end, map datum is updated, so that it is guaranteed that vehicle device
The information that the application module at end is obtained all is closest to fact.
Apparatus above embodiment is one-to-one, the simple part of device embodiment with embodiment of the method, real referring to method
Apply example.
The embodiment of each in this specification is described by the way of progressive, and what each embodiment was stressed is and other
Between the difference of embodiment, each embodiment identical similar portion mutually referring to.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes the composition and step of each example according to feature in the above description.This
A little functions are performed with hardware or software mode actually, depending on the application-specific and design constraint of technical scheme.Specially
Industry technical staff can realize described function to each specific application using distinct methods, but this realization is not
The scope of the present invention should be exceeded.
Directly it can be held with reference to the step of the method or algorithm that the embodiments described herein is described with hardware, processor
Capable software module, or the two combination are implemented.Software module can be placed in random access memory, internal memory, read-only storage,
Institute is public in electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In the storage medium for any other forms known.
Embodiments of the invention are described above in conjunction with accompanying drawing, but the invention is not limited in above-mentioned specific
Embodiment, above-mentioned embodiment is only schematical, rather than restricted, one of ordinary skill in the art
Under the enlightenment of the present invention, in the case of present inventive concept and scope of the claimed protection is not departed from, it can also make a lot
Form, these are belonged within the protection of the present invention.
Claims (4)
1. a kind of map sensor network method for establishing model based on MQTT and LCM, it is characterised in that it is described based on MQTT and
LCM map sensor network method for establishing model comprises the following steps：
S1, cloud server is set up, the high accuracy data of track rank is stored in cloud server；
MQTT protocol communication paths are set up between ground map sensor on S2, beyond the clouds server and onboard system, are passed in map
LCM protocol communication paths are set up between sensor and application module；
S3, map sensor by MQTT protocol communication paths receive cloud server transmit track rank accurately
Figure, and the accurately figure of track rank is sent to by application module by LCM protocol communication paths.
2. the map sensor network method for establishing model based on MQTT and LCM according to claim 1, it is characterised in that
S4, gather newest traffic information in real time, generate newest effective map.
3. a kind of map sensor network model based on MQTT and LCM sets up system, it is characterised in that it is described based on MQTT and
LCM map sensor network model, which sets up system, includes following functions module：
For the cloud server for the high accuracy data for storing track rank；
The MQTT that MQTT protocol communication paths are set up between ground map sensor on server and onboard system beyond the clouds leads to
Believe module；
LCM communication modules for setting up LCM protocol communication paths between ground map sensor and application module；
Ground map sensor for handling real-time map data；
And graphical analysis is carried out to real-time map data and the application module of corresponding actions is performed；
Described ground map sensor receives newest effective map that high in the clouds is transmitted by MQTT protocol communication paths, and is assisted by LCM
Newest effective map is sent to application module by view communication path.
4. the map sensor network model based on MQTT and LCM sets up system according to claim 1, it is characterised in that
Also include in described ground map sensor in the real-time collecting unit for being used to gather newest traffic information in real time, the cloud server
Including for updating map datum according to newest traffic information, generating the map rejuvenation unit of newest effective map.
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| CN201710181237.8A CN106998358A (en) | 2017-03-24 | 2017-03-24 | Map sensor network method for establishing model and system based on MQTT and LCM |
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| CN201710181237.8A CN106998358A (en) | 2017-03-24 | 2017-03-24 | Map sensor network method for establishing model and system based on MQTT and LCM |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109974720A (en) * | 2018-11-27 | 2019-07-05 | 财团法人车辆研究测试中心 | Dynamic map data sorter and its method |
| CN117119022A (en) * | 2023-10-25 | 2023-11-24 | 广东百德朗科技有限公司 | Energy consumption data processing method, system, equipment and medium based on MQTT protocol |
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| CN106441319A (en) * | 2016-09-23 | 2017-02-22 | 中国科学院合肥物质科学研究院 | System and method for generating lane-level navigation map of unmanned vehicle |
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Patent Citations (4)
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109974720A (en) * | 2018-11-27 | 2019-07-05 | 财团法人车辆研究测试中心 | Dynamic map data sorter and its method |
| CN117119022A (en) * | 2023-10-25 | 2023-11-24 | 广东百德朗科技有限公司 | Energy consumption data processing method, system, equipment and medium based on MQTT protocol |
| CN117119022B (en) * | 2023-10-25 | 2024-01-30 | 广东百德朗科技有限公司 | Energy consumption data processing method, system, equipment and medium based on MQTT protocol |
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Application publication date: 20170801 |