CN109189427A - Using update method, device, system and storage medium - Google Patents
Using update method, device, system and storage medium Download PDFInfo
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- CN109189427A CN109189427A CN201811008825.2A CN201811008825A CN109189427A CN 109189427 A CN109189427 A CN 109189427A CN 201811008825 A CN201811008825 A CN 201811008825A CN 109189427 A CN109189427 A CN 109189427A
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- application program
- application
- unmanned vehicle
- installation kit
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/60—Software deployment
- G06F8/65—Updates
Abstract
The present invention provides a kind of application update method, device, system and storage medium, this method comprises: the application program update request that the controller for receiving unmanned vehicle is sent；Application information is extracted from application program update request；According to the application information, judge whether corresponding application program is latest edition, if it is not, then transferring the more recent application program installation kit of the application program from database；According to current network signal and/or the data volume of the application program, the type of the more recent application program installation kit is determined；The more recent application program installation kit of corresponding types is sent to the controller of unmanned vehicle by OTA mode.To realize the purpose that unmanned vehicle obtains the application program of latest edition automatically, the renewal speed and efficiency of application program are improved, the safety traffic of unmanned vehicle is facilitated.
Description
Technical field
The present invention relates to unmanned technical fields more particularly to a kind of application update method, device, system and storage to be situated between
Matter.
Background technique
A variety of application programs can be generally set in the Unmanned Systems of unmanned vehicle, and Unmanned Systems pass through types of applications
Program controls unmanned vehicle, so that unmanned vehicle can be with normally travel.Each application program in Unmanned Systems needs
To optimize update, constantly to guarantee the normal operation of Unmanned Systems.
Currently, needing unmanned vehicle to obtain from server when being updated to the application program in Unmanned Systems
To newest application program installation kit, then installed.
But unmanned vehicle obtain application program installation kit be all full dose packet, it includes data volume it is big so that unmanned vehicle
Time spent by acquisition installation kit is longer, and installation effectiveness is low；So as to cause cannot be timely to the application of Unmanned Systems
Program is updated.
Summary of the invention
The present invention provides a kind of application update method, device, system and storage medium, realizes unmanned vehicle application program
It automatically updates, updates high-efficient.
In a first aspect, the embodiment of the present invention provide it is a kind of using update method, comprising:
Receive the application program update request that the controller of unmanned vehicle is sent；
Application information is extracted from application program update request；
According to the application information, judge whether corresponding application program is latest edition, if it is not, then from database
In transfer the more recent application program installation kit of the application program；
According to the current network signal of unmanned vehicle and/or the data volume of the application program, the more recent application journey is determined
The type of sequence installation kit；
The more recent application program installation kit of corresponding types is sent to the controller of unmanned vehicle by OTA mode.
In a kind of possible design, before the application program update request that the controller for receiving unmanned vehicle is sent, also
Include:
The application list of the database update is sent to the controller of the unmanned vehicle；Described the application list
In include: application information, application program adaptation vehicle model.
In a kind of possible design, according to the application information, judge whether corresponding application program is newest
Version, comprising:
Vehicle model, application program identification, application version number are extracted from the application information；
It finds from the database and the vehicle model, the matched more recent application program installation kit of application program identification
Version number；
Judge whether the application version number is lower than the version number of the more recent application program installation kit；If described answer
It is lower than the version number of the more recent application program installation kit with program version number, it is determined that the application program is not latest edition
This.
In a kind of possible design, according to current network signal and/or the data volume of the application program, determine described in
The type of more recent application program installation kit, comprising:
The intensity of the current network signal of unmanned vehicle is obtained, and/or is extracted from the application information using journey
The data volume of sequence；
If the intensity of current network signal is less than the data volume of preset lower limit value and/or the application program greater than default
Threshold value, it is determined that the type of the more recent application program installation kit is difference Packet type；
If the intensity of current network signal is not more than not less than the data volume of preset lower limit value and/or the application program
Preset threshold, it is determined that the type of the more recent application program installation kit is full dose Packet type.In a kind of possible design,
The more recent application program installation kit of corresponding types is sent to after the controller of unmanned vehicle by OTA mode, further includes:
In preset period of time, the feedback information that the controller of the unmanned vehicle is sent is received, the feedback information is used for table
Levy whether the application program is updated successfully.
In a kind of possible design, the feedback information include: be updated successfully information, installation kit transmission failure information,
One of install failure information.
In a kind of possible design, in preset period of time, the feedback information that the controller of the unmanned vehicle is sent is received
Later, further include
If the feedback information is that installation kit transmits failure information, again by the more recent application program of corresponding types
Installation kit is sent to the controller of unmanned vehicle by OTA mode.
In a kind of possible design, the more recent application program installation kit of corresponding types is sent by OTA mode
To the controller of unmanned vehicle, comprising:
When the quantity of the more recent application program installation kit is 2 or more, according to more recent application program installation kit
The more recent application program installation kit is sent to the controller of unmanned vehicle by priority orders by OTA mode；Wherein, it applies
The priority of installation kit and the impact fraction of application installation package are related；The more high then corresponding priority of impact fraction is also higher.
It is the request frequency of the impact fraction and the application installation package, applicating category, tight in a kind of possible design
Anxious degree is related, and the calculation formula of the impact fraction is as follows:
E=L1*P1+L2*P2+L3*P3；
Wherein: E indicates that the impact fraction of application installation package, L1 indicate the request frequency of application installation package, and P1 indicates application
The corresponding weighted value of the request frequency of installation kit, L2 indicate that the applicating category score of application installation package, P2 indicate application installation package
The corresponding weighted value of applicating category, L3 indicate application installation package urgency score, P3 indicate application installation package urgency
Corresponding weighted value.
Second aspect, the embodiment of the present invention provide a kind of using update method, comprising:
It updates and requests to cloud server sending application program；
Receive the more recent application program installation kit that the cloud server is sent by OTA mode；Wherein, cloud server
The type of the more recent application program installation kit sent by when unmanned vehicle current network signal and/or the application program
Data volume determines；
According to the more recent application program installation kit, processing is updated to application program；
Feedback information is sent to the cloud server in preset period of time, the feedback information is for characterizing the application
Whether program is updated successfully.
The third aspect, the embodiment of the present invention provide a kind of using updating device, comprising:
Receiving module, the application program update request that the controller for receiving unmanned vehicle is sent；
Extraction module, for extracting application information from application program update request；
Judgment module, for judging whether corresponding application program is latest edition according to the application information, if
It is no, then the more recent application program installation kit of the application program is transferred from database；
Determining module, for determining institute according to the current network signal of unmanned vehicle and/or the data volume of the application program
State the type of more recent application program installation kit；
Sending module, for the more recent application program installation kit of corresponding types to be sent to nobody by OTA mode
The controller of vehicle.
In a kind of possible design, the sending module is also used to the application sent in the controller for receiving unmanned vehicle
Before program updates request, the application list of the database update is sent to the controller of the unmanned vehicle；It is described to answer
With the vehicle model in program listing including: application information, application program adaptation.
In a kind of possible design, the judgment module is specifically used for:
Vehicle model, application program identification, application version number are extracted from the application information；
It finds from the database and the vehicle model, the matched more recent application program installation kit of application program identification
Version number；
Judge whether the application version number is lower than the version number of the more recent application program installation kit；If described answer
It is lower than the version number of the more recent application program installation kit with program version number, it is determined that the application program is not latest edition
This.
In a kind of possible design, the determining module is specifically used for:
The intensity of the current network signal of unmanned vehicle is obtained, and/or is extracted from the application information using journey
The data volume of sequence；
If the intensity of current network signal is less than the data volume of preset lower limit value and/or the application program greater than default
Threshold value, it is determined that the type of the more recent application program installation kit is difference Packet type；
If the intensity of current network signal is not more than not less than the data volume of preset lower limit value and/or the application program
Preset threshold, it is determined that the type of the more recent application program installation kit is full dose Packet type.
In a kind of possible design, the receiving module is also used to by the more recent application program of corresponding types
After installation kit is sent to the controller of unmanned vehicle by OTA mode, in preset period of time, the controller of the unmanned vehicle is received
The feedback information of transmission, the feedback information is for characterizing whether the application program is updated successfully.
In a kind of possible design, the feedback information include: be updated successfully information, installation kit transmission failure information,
One of install failure information.
In a kind of possible design, the sending module is also used to: in preset period of time, receiving the unmanned vehicle
It, again will be described newest if the feedback information is that installation kit transmits failure information after the feedback information that controller is sent
Application program installation kit is sent to the controller of unmanned vehicle by OTA mode.
In a kind of possible design, the sending module is also used to:
When the quantity of the more recent application program installation kit is 2 or more, according to more recent application program installation kit
The more recent application program installation kit is sent to the controller of unmanned vehicle by priority orders by OTA mode；Wherein, it applies
The priority of installation kit and the impact fraction of application installation package are related；The more high then corresponding priority of impact fraction is also higher.
It is the request frequency of the impact fraction and the application installation package, applicating category, tight in a kind of possible design
Anxious degree is related, and the calculation formula of the impact fraction is as follows:
E=L1*P1+L2*P2+L3*P3；
Wherein: E indicates that the impact fraction of application installation package, L1 indicate the request frequency of application installation package, and P1 indicates application
The corresponding weighted value of the request frequency of installation kit, L2 indicate that the applicating category score of application installation package, P2 indicate application installation package
The corresponding weighted value of applicating category, L3 indicate application installation package urgency score, P3 indicate application installation package urgency
Corresponding weighted value.
Fourth aspect, the embodiment of the present invention provide a kind of using updating device, comprising:
Sending module is requested for updating to cloud server sending application program；
Receiving module, the more recent application program installation kit sent for receiving the cloud server by OTA mode；Its
In, cloud server send the more recent application program installation kit type by when unmanned vehicle preceding network signal and/or institute
The data volume for stating application program determines；
Update module, for being updated processing to application program according to the more recent application program installation kit；
Feedback module, for sending feedback information to the cloud server in preset period of time, the feedback information is used
Whether it is updated successfully in the characterization application program.
5th aspect, the embodiment of the present invention provide a kind of application more new system, comprising: the control of cloud server, unmanned vehicle
Device processed；The controller of the cloud server and the unmanned vehicle communicates to connect；
The cloud server, comprising: memory and processor are stored with the executable finger of the processor in memory
It enables；Wherein, the processor is configured to answer described in any one of first aspect via the execution executable instruction to execute
Use update method；
The controller of the unmanned vehicle, comprising: memory and processor are stored with holding for the processor in memory
Row instruction；Wherein, the processor is configured to execute application described in second aspect via the executable instruction is executed more
New method.
6th aspect, the embodiment of the present invention provide a kind of computer readable storage medium, are stored thereon with computer program,
It is characterized in that, realizing application update method described in any one of first aspect when the program is executed by processor.
7th aspect, the embodiment of the present invention provide a kind of program product, and described program product includes: computer program, institute
It states computer program to be stored in readable storage medium storing program for executing, at least one processor of server can be from the readable storage medium storing program for executing
The computer program is read, at least one described processor executes the computer program and server is made to execute first aspect
In any application update method.
A kind of application update method, device, system and storage medium provided by the invention, by the control for receiving unmanned vehicle
The application program update request that device is sent；Application information is extracted from application program update request；According to described
Application information judges whether corresponding application program is latest edition, if it is not, then transferring from database described using journey
The more recent application program installation kit of sequence；According to current network signal and/or the data volume of the application program, determine described newest
The type of application program installation kit；The more recent application program installation kit of corresponding types is sent to nobody by OTA mode
The controller of vehicle.To realize the purpose that unmanned vehicle obtains the application program of latest edition automatically, application program is improved
Renewal speed and efficiency facilitate the safety traffic of unmanned vehicle.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the schematic illustration of an application scenarios of the invention；
Fig. 2 is the flow chart using update method that the embodiment of the present invention one provides；
Fig. 3 is the flow chart provided by Embodiment 2 of the present invention using update method；
Fig. 4 is the flow chart using update method that the embodiment of the present invention three provides；
Fig. 5 is the flow chart using update method that the embodiment of the present invention four provides；
Fig. 6 is the structural schematic diagram using updating device that the embodiment of the present invention five provides；
Fig. 7 is the structural schematic diagram using updating device that the embodiment of the present invention six provides；
Fig. 8 is the structural schematic diagram for the cloud server that the embodiment of the present invention seven provides.
Through the above attached drawings, it has been shown that the specific embodiment of the disclosure will be hereinafter described in more detail.These attached drawings
It is not intended to limit the scope of this disclosure concept by any means with verbal description, but is by referring to specific embodiments
Those skilled in the art illustrate the concept of the disclosure.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Description and claims of this specification and term " first ", " second ", " third ", " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein for example can be to remove
Sequence other than those of illustrating or describe herein is implemented.In addition, term " includes " and " having " and theirs is any
Deformation, it is intended that cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, system, production
Product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for this
A little process, methods, the other step or units of product or equipment inherently.
Hereinafter, the part term in the application is explained, in order to those skilled in the art understand that:
1) over the air (Over the Air, abbreviation OTA) is the air interface by mobile communication to card data
And the technology that application is remotely managed.Air interface can use Wireless Application Protocol (Wireless
Application Protocol, WAP), general packet radio service technology (General Packet Radio Service,
GPRS), short message service technology.The application of OTA technology, so that mobile communication can not only provide voice-and-data service, but also
New business downloading can be provided.
Technical solution of the present invention is described in detail with specifically embodiment below.These specific implementations below
Example can be combined with each other, and the same or similar concept or process may be repeated no more in some embodiments.
Fig. 1 is the schematic illustration of an application scenarios of the invention, as shown in Figure 1, obtaining the triggering that unmanned vehicle generates first
Signal；The controller 10 of unmanned vehicle is updated to 20 sending application program of cloud server and is requested according to trigger signal.Cloud service
The application program update request that the controller that device 20 receives unmanned vehicle is sent；It extracts from application program update request using journey
Sequence information；According to application information, judge whether corresponding application program is latest edition, if it is not, then adjusting from database
Take the more recent application program installation kit of application program；According to the current network signal of unmanned vehicle and/or the data volume of application program,
Determine the type of more recent application program installation kit；The more recent application program installation kit of corresponding types is sent to by OTA mode
The controller 10 of unmanned vehicle.The more recent application journey that the controller 10 of unmanned vehicle is sent according to cloud server 20 by OTA mode
Sequence installation kit is updated processing to application program.
It should be noted that cloud server 20 can be received and be handled simultaneously transmitted by the controller 10 of multiple unmanned vehicles
Application program update request.Optionally, the communication mode between cloud server 20 and the control 10 of unmanned vehicle can also be
The wireless transmission method other than OTA is removed, realization principle is similar with the above method, and details are not described herein again.
The purpose that unmanned vehicle obtains the application program of latest edition automatically may be implemented using the above method, it is no longer necessary to
Manually the application program of Unmanned Systems is updated, the renewal speed and efficiency of application program is improved, facilitates nothing
The safety traffic of people's vehicle.
How to be solved with technical solution of the specifically embodiment to technical solution of the present invention and the application below above-mentioned
Technical problem is described in detail.These specific embodiments can be combined with each other below, for the same or similar concept
Or process may repeat no more in certain embodiments.Below in conjunction with attached drawing, the embodiment of the present invention is described.
Fig. 2 is the flow chart using update method that the embodiment of the present invention one provides, as shown in Fig. 2, in the present embodiment
Method may include:
The application program update request that S101, the controller for receiving unmanned vehicle are sent.
In the present embodiment, cloud server can establish communication connection with 1 or more unmanned vehicle controller, and receive
The application program update request that the controller of unmanned vehicle is sent.It include: vehicle model in application program update request, using journey
Sequence mark, application version number.
In an optional embodiment, before executing step S101, cloud server is sent out to the controller of unmanned vehicle
Send the application list of database update；It include: the vehicle of application information, application program adaptation in the application list
Model.Correspondingly, the controller of unmanned vehicle according to the application list, determines application information to be updated in unmanned vehicle.
Specifically, the controller of unmanned vehicle can be extracted from the application list vehicle model, application program identification,
Application version number；It is found from the memory of unmanned vehicle matched candidate using journey with vehicle model, application program identification
Sequence, and obtain candidate application version number；Judge candidate application version number whether lower than application version number；If waiting
Select application version number lower than application version number, it is determined that candidate application program is not latest edition；It will not be newest
The candidate application program of version obtains application information to be updated as application program to be updated, and to be updated answers
It include: unmanned vehicle model, application program identification to be updated, application version number to be updated with program information.Then will
Application program update request is generated according to application information to be updated.
S102, application information is extracted from application program update request.
In the present embodiment, cloud server can be extracted from updating in request: vehicle model, is answered at application program identification
With program version number etc. information.
S103, according to application information, judge whether corresponding application program is latest edition, if it is not, then from data
The more recent application program installation kit of application program is transferred in library.
In the present embodiment, cloud server can be extracted from application information vehicle model, application program identification,
Application version number；It is found in the database and vehicle model, the matched more recent application program installation kit of application program identification
Version number；Judge whether application version number is lower than the version number of more recent application program installation kit；If application version
Number be lower than more recent application program installation kit version number, it is determined that application program is not latest edition.
S104, according to the current network signal of unmanned vehicle and/or the data volume of application program, determine that more recent application program is pacified
Fill the type of packet.
In the present embodiment, the intensity of the current network signal of unmanned vehicle is obtained, and/or is extracted from application information
The data volume of application program；If the intensity of current network signal is less than preset lower limit value and/or the data volume of application program is greater than
Preset threshold, it is determined that the type of more recent application program installation kit is difference Packet type；If the intensity of current network signal is not small
It is not more than preset threshold in the data volume of preset lower limit value and/or application program, it is determined that the class of more recent application program installation kit
Type is full dose Packet type.
Specifically, different types of application program installation kit, such as full dose Packet type have been stored in advance in cloud server
Application program installation kit, difference Packet type application program installation kit, International Organization for standardization (International
Organization for Standardization, abbreviation ISO) Packet type application program installation kit.Wherein, full dose packet
Feature is: the content of application program will not be modified, and the system of application program will not be adjusted；The data volume of full dose packet
It is larger.The characteristics of difference packet, is: binary file, is to carry out being pacified after difference processing to original application program installation kit
Dress packet.In practical applications, can position according to unmanned vehicle, configuration file, constitute map file, and real-time update ground picture and text
Part；Map file is put into installation kit；Then according to location paths and user right, the text after the installation of difference packet is configured
Part attribute information.ISO packet is generally system packet.
S105, the controller that the more recent application program installation kit of corresponding types is sent to unmanned vehicle by OTA mode.
In the present embodiment, cloud server can establish communication connection with 1 or more unmanned vehicle controller, to
Different unmanned vehicle controllers sends the newest application installation package of corresponding types.In the present embodiment, using aerial downloading skill
Art (Over the Air, abbreviation OTA) realizes the downloading and transmission of application installation package.OTA is by the aerial of mobile communication
The technology that interface remotely manages card data and application.Air interface can use Wireless Application Protocol
(Wireless Application Protocol, WAP), general packet radio service technology (General Packet Radio
Service, GPRS), short message service technology.
In a kind of possible application scenarios, when the quantity of more recent application program installation kit is 2 or more, according to most
More recent application program installation kit is sent to the control of unmanned vehicle by the priority orders of new application installation kit by OTA mode
Device processed；Wherein, the priority of application installation package and the impact fraction of application installation package are related；The impact fraction the high then corresponding excellent
First grade is also higher.
Optionally, impact fraction is related to the request frequency, applicating category, the urgency of application installation package, impact fraction
Calculation formula is as follows:
E=L1*P1+L2*P2+L3*P3；
Wherein: E indicates that the impact fraction of application installation package, L1 indicate the request frequency of application installation package, and P1 indicates application
The corresponding weighted value of the request frequency of installation kit, L2 indicate that the applicating category score of application installation package, P2 indicate application installation package
The corresponding weighted value of applicating category, L3 indicate application installation package urgency score, P3 indicate application installation package urgency
Corresponding weighted value.
Specifically, it is assumed that the application program for the update that unmanned vehicle needs has: application program A, application program B, application program
C.Wherein, the request frequency of application program A is 75 times, and applicating category is entertainment applications, and urgency is low；Application program B's asks
Seeking the frequency is 50, and applicating category is security control application, and urgency is height；The request frequency of application program C is 152 times, application
Classification is entertainment applications, and urgency is low.Pass through formula E=L1*P1+L2*P2+L3*P3, available application program B at this time
Priority be higher than the priority of application program C, the priority of application program C is higher than the priority of application program A.Therefore cloud
Server issues the sequence of application installation package are as follows: the installation kit of application program B, the installation kit of application program C, application program A
Installation kit.
The present embodiment, the application program update that the controller by receiving unmanned vehicle is sent are requested；From application program update
Application information is extracted in request；According to application information, judge whether corresponding application program is latest edition, if
It is no, then the more recent application program installation kit of application program is transferred from database；According to current network signal and/or application program
Data volume, determine the type of more recent application program installation kit；The more recent application program installation kit of corresponding types is passed through into the side OTA
Formula is sent to the controller of unmanned vehicle.To realize the purpose that unmanned vehicle obtains the application program of latest edition automatically, promoted
The renewal speed and efficiency of application program, facilitates the safety traffic of unmanned vehicle.
Fig. 3 is the flow chart provided by Embodiment 2 of the present invention using update method, as shown in figure 3, in the present embodiment
Method may include:
The application program update request that S201, the controller for receiving unmanned vehicle are sent.
S202, application information is extracted from application program update request.
S203, according to application information, judge whether corresponding application program is latest edition, if it is not, then from data
The more recent application program installation kit of application program is transferred in library.
S204, according to the current network signal of unmanned vehicle and/or the data volume of application program, determine that more recent application program is pacified
Fill the type of packet.
S205, the controller that more recent application program installation kit is sent to unmanned vehicle by OTA mode.
In the present embodiment, step S201~step S205 specific implementation process and technical principle are shown in Figure 2
Associated description in method in step S101~step S105, details are not described herein again.
S206, in preset period of time, receive unmanned vehicle controller send feedback information.
In the present embodiment, feedback information is for characterizing whether application program is updated successfully.Optionally, feedback information includes:
It is updated successfully one of information, installation kit transmission failure information, install failure information.
In a kind of application scenarios, when the controller of unmanned vehicle receives more recent application program installation kit, and unmanned vehicle
Current state meets application program update condition, then can complete automatically to the parsing of more recent application program installation kit on backstage and
The update of application program.But if the current state of unmanned vehicle does not meet application program update condition, such as unmanned vehicle is in height
Situations such as CPU usage of fast driving status or control loop is more than preset threshold value.
Or in vehicle-mounted interface display application program update task, the refusal more new command of user's input is received,
The case where then will appear installation kit install failure.At this time, it may be necessary to rollback processing be carried out, to guarantee the normal operation of unmanned vehicle.
In another application scenarios, communication abnormality occurs between the controller and cloud server of unmanned vehicle, to lead
Installation kit transmission failure is caused, at this point, being retransmitted more recent application program installation kit to nothing by OTA mode by cloud server
The controller of people's vehicle, so that unmanned vehicle can complete the update of application program.
The present embodiment, the application program update that the controller by receiving unmanned vehicle is sent are requested；From application program update
Application information is extracted in request；According to application information, judge whether corresponding application program is latest edition, if
It is no, then the more recent application program installation kit of application program is transferred from database；According to the current network signal of unmanned vehicle and/or
The data volume of application program determines the type of more recent application program installation kit；By the more recent application program installation kit of corresponding types
The controller of unmanned vehicle is sent to by OTA mode.To realize the application program that unmanned vehicle automatically obtains latest edition
Purpose improves the renewal speed and efficiency of application program, facilitates the safety traffic of unmanned vehicle.
In addition, cloud server receives the feedback information of the controller of unmanned vehicle, to know whether application program is updated to
Function, and different operations can be executed according to the reason of updating failure, so that improves application program is updated to power, so that nobody
Vehicle can automatic updating application program in time, to ensure the driving safety of unmanned vehicle.
Fig. 4 is the flow chart using update method that the embodiment of the present invention three provides, as shown in figure 4, in the present embodiment
Method may include:
S301, it updates and requests to cloud server sending application program.
In the present embodiment, the controller of unmanned vehicle is updated to cloud server sending application program is requested, and application program is more
New request includes: application information to be updated.
S302, the more recent application program installation kit that cloud server is sent by OTA mode is received.
In the present embodiment, the type for the more recent application program installation kit that cloud server is sent is by the preceding network when unmanned vehicle
The data volume of signal and/or application program determines.Specifically, cloud server can unmanned vehicle controller with 1 or more
Communication connection is established, to send newest application installation package to different unmanned vehicle controllers.In the present embodiment, using sky
Middle download technology (Over the Air, abbreviation OTA) realizes the downloading and transmission of application installation package.OTA is by mobile logical
The technology that the air interface of letter remotely manages card data and application.Air interface can use Wireless Application Protocol
(Wireless Application Protocol, WAP), general packet radio service technology (General Packet Radio
Service, GPRS), short message service technology.
S303, according to more recent application program installation kit, processing is updated to application program.
In the present embodiment, the controller of unmanned vehicle can be parsed more recent application program installation kit；After parsing
More recent application program installation kit, processing is updated to application program.
Specifically, when the more recent application program installation kit received is full dose packet, then the controller of unmanned vehicle directly will be former
Installation kit replaces with more recent application program installation kit, and completes the update processing of application program.When the more recent application journey received
Sequence installation kit is difference packet, then needs first to convert difference packet, the application program installation kit after being converted, after conversion
Application program installation kit substitute former installation kit, handled with the update for completing to application program.
S304, to cloud server feedback information is sent in preset period of time, feedback information is for characterizing application program
It is no to be updated successfully.
In the present embodiment, feedback information is for characterizing whether application program is updated successfully.Optionally, feedback information includes:
It is updated successfully one of information, installation kit transmission failure information, install failure information.
Optionally, if feedback information is that installation kit transmits failure information, again to cloud server sending application program
Update request.If feedback information is install failure information, rollback processing is carried out.
In a kind of application scenarios, when the controller of unmanned vehicle receives more recent application program installation kit, and unmanned vehicle
Current state meets application program update condition, then can complete automatically to the parsing of more recent application program installation kit on backstage and
The update of application program.But if the current state of unmanned vehicle does not meet application program update condition, such as unmanned vehicle is in height
Situations such as CPU usage of fast driving status or control loop is more than preset threshold value.
Or in vehicle-mounted interface display application program update task, the refusal more new command of user's input is received,
The case where then will appear installation kit install failure.At this time, it may be necessary to rollback processing be carried out, to guarantee the normal operation of unmanned vehicle.
In another application scenarios, communication abnormality occurs between the controller and cloud server of unmanned vehicle, to lead
Installation kit transmission failure is caused, the controller of unmanned vehicle is needed to update to cloud server sending application program again and be requested at this time,
Then step S203~step S205 is executed, to complete the update of application program.
The present embodiment is requested by updating to cloud server sending application program；It receives cloud server and passes through the side OTA
The more recent application program installation kit that formula is sent；According to more recent application program installation kit, processing is updated to application program.To
Realize the purpose that unmanned vehicle obtains the application program of latest edition automatically, it is no longer necessary to manually to the application of Unmanned Systems
Program is updated, and is improved the renewal speed and efficiency of application program, is facilitated the safety traffic of unmanned vehicle.
In addition, the controller of unmanned vehicle can send feedback information to cloud server, whether to inform cloud server
It is updated successfully, and different operations can be executed according to the reason of updating failure, so that improves application program is updated to power, make
Unmanned vehicle can automatic updating application program in time, to ensure the driving safety of unmanned vehicle.
Fig. 5 is the flow chart using update method that the embodiment of the present invention four provides, as shown in figure 5, in the present embodiment
Method may include:
The trigger signal of the controller acquisition unmanned vehicle generation of S401, unmanned vehicle.
In the present embodiment, the controller of unmanned vehicle first obtains the trigger signal that unmanned vehicle generates, the trigger signal packet
Include: the charging signals of unmanned vehicle, the off signal of unmanned vehicle, unmanned vehicle engine pause signal.Specifically, when unmanned vehicle
When detecting the either signal in the engine pause signal of the charging signals of unmanned vehicle, the off signal of unmanned vehicle, unmanned vehicle,
Unmanned vehicle is updated to cloud server sending application program requests.In conjunction with Fig. 1 it is found that cloud server can receive simultaneously it is multiple
The application program update request that the controller of unmanned vehicle is sent, i.e., sent using the controller that parallel form receives unmanned vehicle
Application program update request.
Specifically, when the charging interface of the battery of unmanned vehicle connection charging pile, unmanned vehicle can generate corresponding charging letter
Number, which is currently at charged state for characterizing unmanned vehicle.At this point, the control loop for meeting unmanned vehicle updates application
The trigger condition of program, therefore, the controller of unmanned vehicle can be updated to cloud server sending application program requests.It is similar
, at the end of unmanned vehicle traveling, user can close the control loop of unmanned vehicle, at this point, corresponding off signal can be generated,
Before completing shutdown, the controller of unmanned vehicle can be updated to cloud server sending application program is requested.When the hair of unmanned vehicle
When motivation is suspended, unmanned vehicle is likely to be at car-parking model or standby mode at this time, therefore also complies with the update touching of application program
Clockwork spring part is requested so the controller of unmanned vehicle can be updated to cloud server sending application program.It should be noted that this
Embodiment does not limit the concrete trigger condition that unmanned vehicle updates request to cloud server sending application program, the technology of this field
Personnel can increase according to the actual situation or reduce trigger condition.
S402, unmanned vehicle controller according to trigger signal, update and request to cloud server sending application program.
In the present embodiment, when the charging signals for detecting unmanned vehicle of unmanned vehicle, the off signal of unmanned vehicle, unmanned vehicle
When either signal in engine pause signal, unmanned vehicle is updated to cloud server sending application program is requested.Optionally, it answers
Being updated in request with program includes: application information to be updated.
S403, cloud server extract application information from the application program update request received.
S404, cloud server judge whether corresponding application program is latest edition according to application information, if
It is then to terminate process；If it is not, then transferring the more recent application program installation kit of application program from database, and execute step
S405。
S405, cloud server determine newest according to the current network signal of unmanned vehicle and/or the data volume of application program
The type of application program installation kit.
The more recent application program installation kit of corresponding types is sent to unmanned vehicle by OTA mode by S406, cloud server
Controller.
The more recent application program installation kit that is sent according to cloud server of controller of S407, unmanned vehicle, to application program
It is updated processing.
S408, unmanned vehicle controller in preset period of time to cloud server send feedback information.
The controller of the present embodiment, unmanned vehicle is requested by updating to cloud server sending application program；Receive cloud
The more recent application program installation kit that server is sent by OTA mode；According to more recent application program installation kit, to application program into
Row update processing.To realize the purpose that unmanned vehicle obtains the application program of latest edition automatically, it is no longer necessary to manually to nothing
The application program of people's control loop is updated, and is improved the renewal speed and efficiency of application program, is facilitated the peace of unmanned vehicle
Full traveling.In addition, more whether the controller of unmanned vehicle can send feedback information to cloud server, to inform cloud server
New success, and different operations can be executed according to the reason of updating failure, so that improves application program is updated to power, so that
Unmanned vehicle can automatic updating application program in time, to ensure the driving safety of unmanned vehicle.
Fig. 6 is the structural schematic diagram using updating device that the embodiment of the present invention five provides, as shown in fig. 6, the present embodiment
May include: using updating device
Receiving module 31, the application program update request that the controller for receiving unmanned vehicle is sent；
Extraction module 32, for extracting application information in requesting from application program update；
Judgment module 33, for judging whether corresponding application program is latest edition according to application information, if
It is no, then the more recent application program installation kit of application program is transferred from database；
Determining module 34, for determining newest according to the current network signal of unmanned vehicle and/or the data volume of application program
The type of application program installation kit；
Sending module 35, for the more recent application program installation kit of corresponding types to be sent to unmanned vehicle by OTA mode
Controller.
In a kind of possible design, sending module 34 is also used to the application journey sent in the controller for receiving unmanned vehicle
Before sequence updates request, the application list of database update is sent to the controller of unmanned vehicle；It is wrapped in the application list
It includes: the vehicle model of application information, application program adaptation.
In a kind of possible design, judgment module 33 is specifically used for:
Vehicle model, application program identification, application version number are extracted from application information；
The version with vehicle model, the matched more recent application program installation kit of application program identification is found in the database
Number；
Judge whether application version number is lower than the version number of more recent application program installation kit；If application version number
Lower than the version number of more recent application program installation kit, it is determined that application program is not latest edition.
In a kind of possible design, determining module 34 is specifically used for:
The intensity of the current network signal of unmanned vehicle is obtained, and/or extracts application program from application information
Data volume；
If the intensity of current network signal is less than preset lower limit value and/or the data volume of application program is greater than preset threshold,
The type for then determining more recent application program installation kit is difference Packet type；
If the intensity of current network signal is not less than the data volume of preset lower limit value and/or application program no more than default
Threshold value, it is determined that the type of more recent application program installation kit is full dose Packet type.
In a kind of possible design, receiving module 31 is also used to more recent application program installation kit passing through OTA mode
It is sent to after the controller of unmanned vehicle, in preset period of time, receives the feedback information that the controller of unmanned vehicle is sent, feedback letter
Breath is for characterizing whether application program is updated successfully.
In a kind of possible design, feedback information includes: to be updated successfully information, installation kit transmission failure information, installation
One of failure information.
In a kind of possible design, sending module 35 is also used to: in preset period of time, receiving the controller of unmanned vehicle
After the feedback information of transmission, if feedback information is that installation kit transmits failure information, again by more recent application program installation kit
The controller of unmanned vehicle is sent to by OTA mode.
In a kind of possible design, sending module 35 is also used to:
When the quantity of more recent application program installation kit is 2 or more, according to the preferential of more recent application program installation kit
More recent application program installation kit, is sent to the controller of unmanned vehicle by grade sequence by OTA mode；Wherein, application installation package
Priority is related to the impact fraction of application installation package；The more high then corresponding priority of impact fraction is also higher.
In a kind of possible design, the request frequency, applicating category, the urgency phase of impact fraction and application installation package
It closes, the calculation formula of impact fraction is as follows:
E=L1*P1+L2*P2+L3*P3；
Wherein: E indicates that the impact fraction of application installation package, L1 indicate the request frequency of application installation package, and P1 indicates application
The corresponding weighted value of the request frequency of installation kit, L2 indicate that the applicating category score of application installation package, P2 indicate application installation package
The corresponding weighted value of applicating category, L3 indicate application installation package urgency score, P3 indicate application installation package urgency
Corresponding weighted value.
The present embodiment applies updating device, can execute the technical solution in method shown in Fig. 2, Fig. 3, implements
The associated description of process and technical principle referring to fig. 2, in method shown in Fig. 3, details are not described herein again.
Fig. 7 is the structural schematic diagram using updating device that the embodiment of the present invention six provides, as shown in fig. 7, the present embodiment
May include: using updating device
Sending module 41 is requested for updating to cloud server sending application program；
Receiving module 42, the more recent application program installation kit sent for receiving cloud server by OTA mode；Its
In, the type for the more recent application program installation kit that cloud server is sent is by the preceding network signal when unmanned vehicle and/or using journey
The data volume of sequence determines；
Update module 43, for being updated processing to application program according to more recent application program installation kit；
Feedback module 44, for sending feedback information to cloud server in preset period of time, feedback information is for characterizing
Whether application program is updated successfully.
The vehicular applications program renewing device of the present embodiment, can execute the technical solution in method shown in Fig. 4, specific
Associated description in realization process and technical principle method shown in Figure 4, details are not described herein again.
The embodiment of the present invention also provides a kind of application more new system characterized by comprising cloud server, unmanned vehicle
Controller；The communication connection of the controller of cloud server and unmanned vehicle；Cloud server, comprising: memory and processor are deposited
The executable instruction of processor is stored in reservoir；Wherein, processor is configured to above-mentioned to execute via executable instruction is executed
Fig. 2, it is shown in Fig. 3 apply update method；The controller of unmanned vehicle, comprising: memory and processor are stored with place in memory
Manage the executable instruction of device；Wherein, processor is configured to execute above-mentioned application shown in Fig. 4 via executable instruction is executed more
New method.Can execute in the present embodiment using more new system is above-mentioned shown in fig. 5 using update method, implements
Journey referring to fig. 2~Fig. 5 shown in associated description in method, details are not described herein again.
Fig. 8 is the structural schematic diagram for the cloud server that the embodiment of the present invention seven provides, as shown in figure 8, the present embodiment
Cloud server 50 may include: processor 51 and memory 52.
Memory 52, for storing computer program (such as realizing application program, the functional module of the above method), calculating
Machine instruction etc.；
Above-mentioned computer program, computer instruction etc. can be with partitioned storages in one or more memories 52.And
Above-mentioned computer program, computer instruction, data etc. can be called with device 51 processed.
Processor 51, for executing the computer program of the storage of memory 52, to realize method that above-described embodiment is related to
In each step.
It specifically may refer to the associated description in previous methods embodiment.
Processor 51 and memory 52 can be absolute construction, be also possible to the integrated morphology integrated.Work as processing
When device 51 and memory 52 are absolute construction, memory 52, processor 51 can be of coupled connections by bus 53.
The cloud server of the present embodiment can execute the technical solution in method shown in Fig. 2, Fig. 3, implement
The associated description of journey and technical principle referring to fig. 2, in method shown in Fig. 3, details are not described herein again.
In addition, the embodiment of the present application also provides a kind of computer readable storage medium, deposited in computer readable storage medium
Computer executed instructions are contained, when at least one processor of user equipment executes the computer executed instructions, user equipment
Execute above-mentioned various possible methods.
Wherein, computer-readable medium includes computer storage media and communication media, and wherein communication media includes being convenient for
From a place to any medium of another place transmission computer program.Storage medium can be general or specialized computer
Any usable medium that can be accessed.A kind of illustrative storage medium is coupled to processor, to enable a processor to from this
Read information, and information can be written to the storage medium.Certainly, storage medium is also possible to the composition portion of processor
Point.Pocessor and storage media can be located in ASIC.In addition, the ASIC can be located in user equipment.Certainly, processor and
Storage medium can also be used as discrete assembly and be present in communication equipment.
The application also provides a kind of program product, and program product includes computer program, and computer program is stored in readable
In storage medium, at least one processor of server can read computer program from readable storage medium storing program for executing, at least one
Reason device executes the method that computer program makes the server implementation embodiments of the present invention any.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or part of or all technical features are carried out etc.
With replacement；And these modifications or substitutions, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
Range.
Claims (22)
1. a kind of apply update method characterized by comprising
Receive the application program update request that the controller of unmanned vehicle is sent；
Application information is extracted from application program update request；
According to the application information, judge whether corresponding application program is latest edition, if it is not, then adjusting from database
Take the more recent application program installation kit of the application program；
According to the current network signal of unmanned vehicle and/or the data volume of the application program, the more recent application program peace is determined
Fill the type of packet；
The more recent application program installation kit of corresponding types is sent to the controller of unmanned vehicle by OTA mode.
2. the method according to claim 1, wherein receive unmanned vehicle controller send application program more
Before new request, further includes:
The application list of the database update is sent to the controller of the unmanned vehicle；It is wrapped in described the application list
It includes: the vehicle model of application information, application program adaptation.
3. the method according to claim 1, wherein judging corresponding application according to the application information
Whether program is latest edition, comprising:
Vehicle model, application program identification, application version number are extracted from the application information；
The version with the vehicle model, the matched more recent application program installation kit of application program identification is found from the database
This number；
Judge whether the application version number is lower than the version number of the more recent application program installation kit；If described apply journey
Sequence version number is lower than the version number of the more recent application program installation kit, it is determined that the application program is not latest edition.
4. the method according to claim 1, wherein according to current network signal and/or the application program
Data volume determines the type of the more recent application program installation kit, comprising:
The intensity of the current network signal of unmanned vehicle is obtained, and/or extracts application program from the application information
Data volume；
If the intensity of current network signal is less than preset lower limit value and/or the data volume of the application program is greater than preset threshold,
The type for then determining the more recent application program installation kit is difference Packet type；
If the intensity of current network signal is not less than the data volume of preset lower limit value and/or the application program no more than default
Threshold value, it is determined that the type of the more recent application program installation kit is full dose Packet type.
5. the method according to claim 1, wherein by the more recent application program installation kit of corresponding types
It is sent to after the controller of unmanned vehicle by OTA mode, further includes:
In preset period of time, the feedback information that the controller of the unmanned vehicle is sent is received, the feedback information is for characterizing institute
State whether application program is updated successfully.
6. according to the method described in claim 5, it is characterized in that, the feedback information includes: to be updated successfully information, installation kit
Transmit one of failure information, install failure information.
7. according to the method described in claim 6, it is characterized in that, receiving the controller of the unmanned vehicle in preset period of time
After the feedback information of transmission, further include
If the feedback information is that installation kit transmits failure information, the more recent application program of corresponding types is installed again
Packet is sent to the controller of unmanned vehicle by OTA mode.
8. method according to any one of claims 1-7, which is characterized in that by the more recent application journey of corresponding types
Sequence installation kit is sent to the controller of unmanned vehicle by OTA mode, comprising:
When the quantity of the more recent application program installation kit is 2 or more, according to the preferential of more recent application program installation kit
The more recent application program installation kit, is sent to the controller of unmanned vehicle by grade sequence by OTA mode；Wherein, using installation
The priority of packet and the impact fraction of application installation package are related；The more high then corresponding priority of impact fraction is also higher.
9. according to the method described in claim 8, it is characterized in that, the request frequency of the impact fraction and the application installation package
Secondary, applicating category, urgency are related, and the calculation formula of the impact fraction is as follows:
E=L1*P1+L2*P2+L3*P3；
Wherein: E indicates that the impact fraction of application installation package, L1 indicate the request frequency of application installation package, and P1 indicates application installation
The corresponding weighted value of the request frequency of packet, L2 indicate that the applicating category score of application installation package, P2 indicate answering for application installation package
With the corresponding weighted value of classification, L3 indicates that the urgency score of application installation package, P3 indicate that the urgency of application installation package is corresponding
Weighted value.
10. a kind of apply update method characterized by comprising
It updates and requests to cloud server sending application program；
Receive the more recent application program installation kit that the cloud server is sent by OTA mode；Wherein, cloud server is sent
The more recent application program installation kit type by when unmanned vehicle current network signal and/or the application program data
Amount determines；
According to the more recent application program installation kit, processing is updated to application program；
Feedback information is sent to the cloud server in preset period of time, the feedback information is for characterizing the application program
Whether it is updated successfully.
11. a kind of apply updating device characterized by comprising
Receiving module, the application program update request that the controller for receiving unmanned vehicle is sent；
Extraction module, for extracting application information from application program update request；
Judgment module, for judging whether corresponding application program is latest edition according to the application information, if it is not,
The more recent application program installation kit of the application program is then transferred from database；
Determining module, for according to the current network signal of unmanned vehicle and/or the data volume of the application program, determination to be described most
The type of new application installation kit；
Sending module, for the more recent application program installation kit of corresponding types to be sent to unmanned vehicle by OTA mode
Controller.
12. device according to claim 11, which is characterized in that the sending module is also used to receiving unmanned vehicle
Before the application program update request that controller is sent, the application of the database update is sent to the controller of the unmanned vehicle
Program listing；It include: the vehicle model of application information, application program adaptation in described the application list.
13. device according to claim 11, which is characterized in that the judgment module is specifically used for:
Vehicle model, application program identification, application version number are extracted from the application information；
The version with the vehicle model, the matched more recent application program installation kit of application program identification is found from the database
This number；
Judge whether the application version number is lower than the version number of the more recent application program installation kit；If described apply journey
Sequence version number is lower than the version number of the more recent application program installation kit, it is determined that the application program is not latest edition.
14. device according to claim 11, which is characterized in that the determining module is specifically used for:
The intensity of the current network signal of unmanned vehicle is obtained, and/or extracts application program from the application information
Data volume；
If the intensity of current network signal is less than preset lower limit value and/or the data volume of the application program is greater than preset threshold,
The type for then determining the more recent application program installation kit is difference Packet type；
If the intensity of current network signal is not less than the data volume of preset lower limit value and/or the application program no more than default
Threshold value, it is determined that the type of the more recent application program installation kit is full dose Packet type.
15. device according to claim 11, which is characterized in that the receiving module is also used to by corresponding types
After the more recent application program installation kit is sent to the controller of unmanned vehicle by OTA mode, in preset period of time, institute is received
The feedback information that the controller of unmanned vehicle is sent is stated, the feedback information is for characterizing whether the application program is updated successfully.
16. device according to claim 15, which is characterized in that the feedback information includes: to be updated successfully information, installation
One of packet transmission failure information, install failure information.
17. device according to claim 16, which is characterized in that the sending module is also used to: in preset period of time,
After the feedback information of controller transmission for receiving the unmanned vehicle, if the feedback information is that installation kit transmits failure information,
The more recent application program installation kit is then sent to the controller of unmanned vehicle by OTA mode again.
18. device described in any one of 1-17 according to claim 1, which is characterized in that the sending module is also used to:
When the quantity of the more recent application program installation kit is 2 or more, according to the preferential of more recent application program installation kit
The more recent application program installation kit, is sent to the controller of unmanned vehicle by grade sequence by OTA mode；Wherein, using installation
The priority of packet and the impact fraction of application installation package are related；The more high then corresponding priority of impact fraction is also higher.
19. device according to claim 18, which is characterized in that the request of the impact fraction and the application installation package
The frequency, applicating category, urgency are related, and the calculation formula of the impact fraction is as follows:
E=L1*P1+L2*P2+L3*P3；
Wherein: E indicates that the impact fraction of application installation package, L1 indicate the request frequency of application installation package, and P1 indicates application installation
The corresponding weighted value of the request frequency of packet, L2 indicate that the applicating category score of application installation package, P2 indicate answering for application installation package
With the corresponding weighted value of classification, L3 indicates that the urgency score of application installation package, P3 indicate that the urgency of application installation package is corresponding
Weighted value.
20. a kind of apply updating device characterized by comprising
Sending module is requested for updating to cloud server sending application program；
Receiving module, the more recent application program installation kit sent for receiving the cloud server by OTA mode；Wherein,
The type for the more recent application program installation kit that cloud server is sent by when unmanned vehicle preceding network signal and/or described answer
It is determined with the data volume of program；
Update module, for being updated processing to application program according to the more recent application program installation kit；
Feedback module, for sending feedback information to the cloud server in preset period of time, the feedback information is used for table
Levy whether the application program is updated successfully.
21. a kind of application more new system characterized by comprising the controller of cloud server, unmanned vehicle；The cloud clothes
The controller of business device and the unmanned vehicle communicates to connect；
The cloud server, comprising: memory and processor are stored with the executable instruction of the processor in memory；
Wherein, the processor is configured to carry out the perform claim requirement described in any item applications of 1-9 via the execution executable instruction
Update method；
The controller of the unmanned vehicle, comprising: memory and processor are stored with the executable finger of the processor in memory
It enables；Wherein, the processor is configured to carry out application update described in perform claim requirement 10 via the execution executable instruction
Method.
22. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
It realizes that claim 1-10 is described in any item when execution and applies update method.
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| CN201811008825.2A CN109189427A (en) | 2018-08-30 | 2018-08-30 | Using update method, device, system and storage medium |
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| CN112770286B (en) * | 2021-01-13 | 2023-11-17 | 深圳市木千科技有限公司 | Sensor data processing method and device and computer equipment |
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Application publication date: 20190111 |