CN107463172B - It is a kind of that automated driving system is controlled based on the cloud of SUMO and unified time axis - Google Patents
It is a kind of that automated driving system is controlled based on the cloud of SUMO and unified time axis Download PDFInfo
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- CN107463172B CN107463172B CN201710600926.8A CN201710600926A CN107463172B CN 107463172 B CN107463172 B CN 107463172B CN 201710600926 A CN201710600926 A CN 201710600926A CN 107463172 B CN107463172 B CN 107463172B
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- G05D1/02—Control of position or course in two dimensions
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Abstract
Automated driving system, including driving client, application server, vehicle control server, intelligent electric automobile and sensing equipment are controlled based on the cloud of SUMO and unified time axis the invention discloses a kind of；The automated driving system assigns trip order using driving client, trip order parsing and encapsulation are carried out using application server, path planning is carried out using the SUMO module in vehicle control server and driving task divides, and is generated vehicle deviation rectifying using GPS and correction module and is instructed；Vehicle is instructed according to the driving assignment instructions and vehicle deviation rectifying of vehicle control server and is travelled.Application server, vehicle control server, intelligent electric automobile use unified time axis in present system, and vehicle is executed according to the timestamp in instruction at the regulation moment.The present invention realizes cloud control vehicle automatic running, while avoiding network delay and instability problem, is further simplified system using SUMO and unified time axis, 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 of open source) and unified time axis cloud control automated driving system.
Background technique
With the fast development of world economy, Global Auto volume of production and marketing and car ownership improve year by year, and China is from 2009
Year steps into automotive society, shows 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.Currently, the whole world is especially in China, automobile volume of production and marketing is still being significantly increased, 2016
It will be more than 26,500,000 that automobile volume of production and marketing is estimated；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 is also by further expansion.
But popularizing with automobile, urban traffic pressure is also gradually increased, and the traffic problems in each city are increasingly prominent；
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 seriously affected the normal operation of Traffic Systems.Cause the five big of above-mentioned urban transportation
The essential reason of problem is the imbalance of the supply-demand relationship between path resource and vehicle driving, supplies in urban transportation supply-demand relationship
Traffic resource to side is mainly urban transportation infrastructure, this is hardware condition and the guarantee of Traffic Development；And how
The efficiently vehicle driving in management urban transportation, coordinates the supply-demand relationship of traffic resource, then influences Traffic Systems operation
Superiority and inferiority.
Automatic Pilot is considered as the most important means for improving urban transportation and going out line efficiency and safety, many vehicles 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, level-one 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
The tradition vehicle factor such as Er Fu and Tier One supplier, have obtained California, USA pilotless automobile road test qualification, and 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；It is all 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: to assist driving progress step by step as the vehicle of development main line
Load formula automatic Pilot technology and with internet artificial intelligence be develop main line net join formula automatic Pilot technology；With tesla and paddy
Song be representative vehicular automatic Pilot scheme presently, there are following deficiencies:
(1) vehicle relies solely on itself the sensing equipment being loaded with and perceives for traffic, and sensing equipment is expensive, perceived distance
It is limited, can not traffic conditions be arranged with control, it is limited to the improvement ability of traffic.
(2) vehicle is controlled by vehicle-mounted computer and is driven, high to the performance requirement of vehicle-mounted computer, and vehicle is at high price.
(3) automatic Pilot of the roaming type in the case of full working scope, traffic condition is complicated, and computationally intensive, safety can not be protected
Barrier.
Tesla and the nearest traffic accident of Google's autonomous driving vehicle are just embodying their shortcoming, and existing
Net connection formula automatic Pilot technology, the low volume data between automatic driving vehicle and server are communicated and are exchanged, realize basic
Network savvy, but there is still above (2), (3) two o'clock are insufficient.
Summary of the invention
In view of above-mentioned, automated driving system is controlled based on the cloud of SUMO and unified time axis the present invention provides a kind of,
It is able to solve the problem of traditional intelligence automobile memory space or computing capability deficiency, the cost of autonomous driving vehicle is effectively reduced,
Simultaneously convenient for introducing big data and intelligent algorithm.
It is a kind of based on the cloud of SUMO and unified time axis control automated driving system, including driving client, using clothes
Business device, vehicle control server, intelligent electric automobile and sensing equipment；Wherein:
The driving client receives the trip order of user and provides a user vehicle for providing a user Map Services
Real time position state and motion information, which is the interactive interface between user and application server；
The application server obtains the trip order of user by driving client and parses, and then by user's vehicle
Run-length data encapsulation after be sent to vehicle control server, while the real-time position of vehicle is obtained by vehicle control server
It sets state and motion information and presents to driving client；
The run-length data includes beginning and end position, vehicle ID, timestamp and starting point location set by user
Scheme ID；
The vehicle control server internal have SUMO module, obtain user's vehicle run-length data after according to the map
Run-length data is loaded onto corresponding SUMO object interface by ID, is that user's vehicle plans suitable roadway by SUMO module
Diameter, while being got with certain time step-length about car speed, angle, position, the command information of timestamp and believing these
Breath is encapsulated as the traveling task of vehicle, starts the UTC (Temps executed 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 motion information is transmitted to application server；
Timestamp in the traveling task is the time point that vehicle reaches predetermined traveling-position；
The intelligent electric automobile is user's vehicle, and the traveling task issued to vehicle control server is further thin
Change and each traveling task is executed to realize the automatic ride control of vehicle according to UTC time；
The sensing equipment is installed on intelligent electric automobile, and the real time position state and fortune of vehicle are obtained by sensing
Dynamic information is simultaneously uploaded to vehicle control server.
Further, the vehicle control server gets the real time position of vehicle, provides it with SUMO module
Predetermined traveling-position is compared the UTC for generating a deviation signal and execution correction about vehicle shift distance and angle
Time is simultaneously sent to vehicle, is voluntarily rectified a deviation by vehicle according to the UTC time.
Further, the application server includes web communication module, stroke generation module and data base administration mould
Block, in which:
The web communication module is requested for response external, while being also 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 vehicle control server, while the real time position state of vehicle and movement being believed
Breath returns to driving client；
The stroke generation module for being parsed to the trip order of user, obtain comprising beginning and end position,
The run-length data of vehicle ID, timestamp and map ID where starting point, and then these Information encapsulations are passed through into Web at JSON format
Communication module is sent to vehicle control server；
The database management module is used to provide the data persistence in application server to data in database
The function service increase, delete, change, looked into provides basic data for other modules and supports, so that passing through between application server internal module
Database management module realizes data sharing.
Further, the vehicle control server include web communication module, SUMO module, sensing equipment management module,
Correction module, I/O module, vehicle management monitoring module and database management module, in which:
The web communication module is requested for response external, while being also responsible for exterior vehicle or server transmitting-receiving service
Data；The web communication module calls SUMO module to carry out information after the run-length data that application server receives user's vehicle
Processing, and the real time position state and motion information of vehicle are transmitted to application server；
Run-length data is loaded onto corresponding SUMO object interface the SUMO module 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
It is long to generate about car speed, angle, position, the command information of timestamp and appoint the traveling that these Information encapsulations are vehicle
Business, while starting the UTC time executed for each traveling one task of task setting, and then will travel by web communication module
Task and its UTC time are sent to vehicle；
The sensing equipment management module is for managing vehicle sensory equipment and its sensing data, the note including sensing equipment
Volume, the binding of sensing equipment and vehicle and the processing of real-time sensory data；
The correction module is used to obtain the real time position of vehicle by I/O module, provides it with SUMO module predetermined
Traveling-position is compared, and prediction generates future time step-length about vehicle shift distance and the deviation of angle after regression fit
Signal and execute correction UTC time simultaneously vehicle is sent to by web communication module, by vehicle according to the UTC time voluntarily
It rectifies a deviation；
The I/O module is communicated with vehicle and its sensing equipment using Transmission Control Protocol, for will be after SUMO module encapsulates
Traveling task and its UTC time and correction module generate deviation signal and its UTC time be sent to vehicle, receive simultaneously
The vehicle real time position state and motion information that sensing equipment uploads；
The vehicle management monitoring module is used for vehicle management and vehicle monitoring, provide 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 to provide the data persistence in vehicle control server to number in database
According to the function service for increasing, deleting, change, looking into, basic data is provided for other modules and is supported, so that vehicle 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 communication between Che Duanyu vehicle control server, realizes number
According to transmitting-receiving；The task refinement module receives the traveling task provided from vehicle control server and right by I/O communication module
It is further fitted and refines；Described instruction translation module is used to fine-grained traveling assignment instructions translating into corresponding vehicle
Control instruction；The vehicle control module is controlled according to the traveling of UTC time and vehicle control instruction automatic excution vehicle.
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 axis is UTC time, and application server will have the stroke time started
Run-length data be sent to vehicle control server, vehicle control server on the basis of the stroke time started plus delay when
Between as first travel task Starting Executing Time, that is, UTC time, then each traveling task Starting Executing Time
It is incremental from the UTC time according to time step；When first traveling task Starting Executing Time reaches, module thread of rectifying a deviation
Starting, 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 calculate correction as a result, and be encapsulated and be issued to vehicle for timed task, vehicle executes the task according to timestamp, to protect
Vehicle control server, vehicle, GPS sensing equipment are demonstrate,proved under unified time axis.
Compared with prior art, the present invention has following advantageous effects:
(1) the present invention is based on the generation of stroke, the planning in path, vehicle drivings in the automated driving system of cloud control to appoint
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 computing capability deficiency problem, be effectively reduced the cost of autonomous driving vehicle, while convenient for introducing big data and artificial intelligence
It can algorithm.
(2) present invention is divided using open source simulation software SUMO for path planning and vehicle driving task, SUMO software
In vehicle car-following model scheduling algorithm be to use SUMO to reduce size of code by the reliable and stable method of long-time verifying
The reliability and stability of vehicle control algorithms are improved simultaneously.
(3) application server, vehicle 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, travelled and travelled at the time of stipulated time stamp and wanted
The time asked avoids the influence of network delay and unstable networks to autonomous driving vehicle.
(4) automated driving system of the present invention uses unified time axis, and the correction module of vehicle 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.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of automated driving system of the present invention.
Specific embodiment
In order to more specifically describe the present invention, with reference to the accompanying drawing and specific embodiment is to technical solution of the present invention
It is described in detail.
As shown in Figure 1, including: driving visitor the present invention is based on the cloud of SUMO and unified time axis control automated driving system
Family end, application server, vehicle control server, intelligent electric automobile and context sensing devices；Wherein, driving client is main
Stroke order is assigned by application server, obtains vehicle real time position and state, and obtains other related services and extends 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；Vehicle control server includes Web logical
Believe module, SUMO module, GPS management module, 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 packet
GPS and ultrasonic sensor etc. are included, environmental information is obtained, calculates and realizes the functions such as positioning, avoidance.
Driving client obtains the stroke command of user, and provide a user in real time for providing a user Map Services
Vehicle-state and motion information are the interactive interfaces of user and application server；The client can also be used as its of client
In a module, be embedded in different application client, different application made to be owned by Function for Automatic Pilot.
The web communication module of application server is requested for response external, is in addition also responsible for sending service to applications
Request, communication protocol HTTP, transmission data format are JSON；Web communication module is received from driving client or server
It after service request, calls other business modules of application server to handle request, and return to request results, while working as and answering
It when needing the support of external service with server, is externally sent after being packaged by Web module to request data, obtains data
It is further processed afterwards according to service logic.
After the stroke generation module of application server obtains run-length data from client, run-length data is parsed, only
It leaves vehicle ID, map ID, starting point coordinate, terminal point coordinate and stroke and generates timestamp, be encapsulated into JSON format, lead to
It crosses web communication module and is sent to vehicle 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, provides basic data for other business modules and support, so that
Data sharing is realized by the module between application server internal module.
The web communication module of vehicle control server and the function of web communication module of application server are identical, for ringing
It answers external request and sends service request, communication protocol HTTP to applications, transmission data format is JSON；The Web
After communication module receives the run-length data of application server, SUMO module 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 module is the nucleus module of vehicle control server, is responsible for whole Traffic flux detection and vehicle driving control
System；After SUMO module gets run-length data, vehicle is loaded into the SUMO object of specified map ID, which is set
Suitable planning driving path is planned according to real-time traffic situation for vehicle, while it is each to obtain vehicle in initial position and target position
The travel speed of a time step, angle, position are encapsulated into task, while starting to hold for each task setting task
Capable absolute UTC time；After vehicle driving, vehicle is removed from SUMO and terminates thread.
Sensing equipment management module is for managing sensing equipment and sensing equipment data, registration, sensing including sensor
Binding and the processing of real-time sensing device data of device and vehicle 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 predict next time step vehicle after carrying out regression fit to data
Traveling deviation, and will rectify a deviation data and correction execute absolute UTC time be packaged into JSON format.
I/O module carries out 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, the TCP long link is safeguarded, issue vehicle driving task to vehicle end,
And mission dispatching is travelled according to the feedback control that vehicle end uploads, while the I/O module is for receiving the context sensing devices such as GPS
The data of biography, and related service module is called to be handled, stored and fed back.
Vehicle management monitoring module is used for vehicle management and vehicle monitoring, and wherein vehicle management includes vehicle and vehicle
The increasing of related accessory, function services, the vehicle monitoring such as to delete, change, looking into include the monitoring and alarm to vehicle real-time status.
The database management module of vehicle control server is similar to the database management module function of application server, bears
It blames to the data in management database, provides data to modules in server and support, realize 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 read and write for realizing the high-performance of data, and periodically will be in 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 communication of Che Duanyu vehicle control server, realizes data
Sending and receiving；The assignment instructions received from vehicle control server are further fitted and are refined by task refinement module, instruction
Translation module is responsible for translating into fine-grained assignment instructions into corresponding vehicle control instruction, and vehicle control module then turn over by basis
Control instruction after translating executes automatic ride control to vehicle.
Sensing equipment includes the awareness apparatus being deployed in vehicle body and environment, including the perception of GPS positioning device, car speed
Equipment etc., sensing equipment upload to the progress operation of vehicle 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 driving client, assigns stroke order, and 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 vehicle control server after encapsulating again, and stores into database；
(3) after the web communication module of vehicle control server obtains the travel information of application server, by information of vehicles plus
It is downloaded in specified SUMO, plans suitable planning driving path for vehicle, while using 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 vehicle control server obtains the real time position of vehicle from GPS, and carries out compared with the predetermined traveling-position of vehicle
Correction；
(4) after intelligent electric automobile obtains assignment instructions from vehicle control server, task is carried out it is further thin
Change, the vehicle driving task after refinement is sent to instruction translation module, and finally in instruction control module control vehicle according to finger
Enable traveling；
(5) vehicle and environmental sensory data are uploaded to vehicle control server, vehicle control by the sensing equipments such as GPS in real time
Server handles sensing data and is stored in database；
(6) user can check that vehicle-state instructs by driving client transmission, and application server takes to vehicle control
Business device sends request, is shown in driving client after obtaining data.
The above-mentioned description to embodiment is for that can understand and apply the invention convenient for those skilled in the art.
Person skilled in the art obviously easily can make various modifications to above-described embodiment, and described herein general
Principle is applied in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, ability
Field technique personnel announcement according to 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 cloud of SUMO and unified time axis
Device, vehicle control server, intelligent electric automobile and sensing equipment；It is characterized by:
The driving client receives the trip order of user and provides a user vehicle for providing a user Map Services
Real time position state and motion information, the client are the interactive interfaces between user and application server；
The application server obtains the trip order of user by driving client and parses, and then by user's vehicle
It is sent to vehicle control server after run-length data encapsulation, while obtaining the real time position shape of vehicle by vehicle control server
State and motion information are simultaneously presented to driving client；
The run-length data includes beginning and end position, vehicle ID, timestamp and starting point place map ID set by user；
The vehicle control server internal have SUMO module, obtain user's vehicle run-length data after according to the map ID will
Run-length data is loaded onto corresponding SUMO object interface, is that user's vehicle plans suitable planning driving path by SUMO module,
It is got with certain time step-length about car speed, angle, position, the command information of timestamp simultaneously and seals these information
Dress is the traveling task of vehicle, starts the UTC time executed for each traveling one task of task setting, and then assist 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 movement letter of vehicle by view
Breath is transmitted to application server；
Timestamp in the traveling task is the time point that vehicle reaches predetermined traveling-position；
The intelligent electric automobile is user's vehicle, is further refined simultaneously to the traveling task that vehicle control server issues
Each traveling task is executed according to UTC time to realize the automatic ride control of vehicle；
The sensing equipment is installed on intelligent electric automobile, and the real time position state and movement letter of vehicle are obtained by sensing
It ceases and is uploaded to vehicle control server.
2. cloud according to claim 1 controls automated driving system, it is characterised in that: the vehicle control server obtains
The real time position for getting vehicle, it is inclined about vehicle that the predetermined traveling-position for providing it with SUMO module is compared generation one
Move distance and angle deviation signal and execute correction UTC time simultaneously be sent to vehicle, by vehicle according to the UTC time from
Row is rectified a deviation.
3. cloud 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, in which:
The web communication module is requested for response external, while being also responsible for external client or server transmitting-receiving service number
According to；The web communication module from driving client receive trip order after, call stroke generation module instruction is handled simultaneously
Run-length data after being encapsulated is sent to vehicle control server, while the real time position state and motion information of vehicle being returned
Back to driving client；
The stroke generation module is obtained for parsing to the trip order of user comprising beginning and end position, vehicle
The run-length data of ID, timestamp and map ID where starting point, and then these Information encapsulations are passed through into web communication at JSON format
Module is sent to vehicle control server；
The database management module be used for by the data persistence in application server, provide data in database are increased, are deleted,
The function service change, looked into provides basic data for other modules in application server and supports, so that application server internal mode
Data sharing is realized by database management module between block.
4. cloud according to claim 2 controls automated driving system, it is characterised in that: the vehicle control server packet
Include web communication module, SUMO module, sensing equipment management module, correction module, I/O module, vehicle management monitoring module and
Database management module, in which:
The web communication module is requested for response external, while being also responsible for receiving and dispatching service data to exterior vehicle or server；
The web communication module calls SUMO module to handle information after the run-length data that application server receives user's vehicle,
And the real time position state and motion information of vehicle are transmitted to application server；
Run-length data is loaded onto corresponding SUMO object interface the SUMO module 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, raw with certain time step-length according to planning driving path
At about 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 execute UTC time, and then by web communication module will travel task and
Its UTC time is sent to vehicle；
The sensing equipment management module for managing vehicle sensory equipment and its sensing data, registration including sensing equipment,
The binding of sensing equipment and vehicle and the processing of real-time sensory data；
The correction module is used to obtain the real time position of vehicle, the predetermined traveling for providing it with SUMO module by I/O module
Position is compared, and prediction generates future time step-length about vehicle shift distance and the deviation signal of angle after regression fit
And execute the UTC time of correction and vehicle is sent to by web communication module, it is voluntarily carried out by vehicle according to the UTC time
Correction；
The I/O module is communicated using Transmission Control Protocol with vehicle and its sensing equipment, for the row after encapsulating SUMO module
The deviation signal and its UTC time for sailing task and its UTC time and correction module generation are sent to vehicle, while receiving sensing
The vehicle real time position state and motion information that equipment uploads；
The vehicle management monitoring module be used for vehicle management and vehicle monitoring, provide 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 to provide the data persistence in vehicle control server to data in database
The function service increase, delete, change, looked into provides basic data for other modules in vehicle control server and supports, so that vehicle control
Data sharing is realized by database management module between control server internal module.
5. cloud 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
Data transmit-receive is realized in network communication between Che Duanyu vehicle control server；The task refinement module passes through I/O communication mould
Block receives the traveling task provided from vehicle control server and it is further fitted and is refined；Described instruction translates mould
Block translates into corresponding vehicle control instruction for that will travel assignment instructions；The vehicle control module is according to UTC time and vehicle
The traveling control of control instruction automatic excution vehicle.
6. cloud 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. cloud according to claim 2 controls automated driving system, it is characterised in that: in the unified time axis when
Between be UTC time, application server will be sent to vehicle control server, vehicle control with the run-length data of stroke time started
Control server adds the Starting Executing Time that delay time travels task as first on the basis of the stroke time started
UTC time, then the Starting Executing Time of each traveling task is incremental from the UTC time according to time step；When first
When a traveling task Starting Executing Time reaches, correction module thread starting, thread is sat in the GPS of Fixed Time Interval pick-up
It marks and calculates correction compared with the predetermined traveling position coordinates in corresponding traveling task as a result, and being encapsulated as under timed task
It is sent to vehicle, vehicle executes the task according to timestamp, to guarantee that vehicle control server, vehicle, GPS sensing equipment are being united
Under one time shaft.
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| CN110198516B (en) * | 2018-02-27 | 2020-06-16 | 华为技术有限公司 | Method and device for establishing network connection |
| CN108482371B (en) * | 2018-03-06 | 2020-10-13 | 上海豪骋智能科技有限公司 | Automatic driving road distribution system |
| CN108389418A (en) * | 2018-04-27 | 2018-08-10 | 北京智行者科技有限公司 | The dispatching method of automatic driving vehicle |
| CN111158355A (en) * | 2018-11-07 | 2020-05-15 | 富华科精密工业（深圳）有限公司 | Automatic navigation cloud server and automatic navigation control method |
| CN111343593B (en) * | 2018-12-19 | 2021-09-07 | 广州海格通信集团股份有限公司 | Control method, device, equipment and storage medium of unmanned running tool |
| CN109808697B (en) * | 2019-01-16 | 2021-09-07 | 北京百度网讯科技有限公司 | Vehicle control method, device and equipment |
| CN110032176A (en) * | 2019-05-16 | 2019-07-19 | 广州文远知行科技有限公司 | Long-range adapting method, device, equipment and the storage medium of pilotless automobile |
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