CN109274708A - Message treatment method, equipment and system based on automatic driving vehicle - Google Patents
Message treatment method, equipment and system based on automatic driving vehicle Download PDFInfo
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- CN109274708A CN109274708A CN201710588497.7A CN201710588497A CN109274708A CN 109274708 A CN109274708 A CN 109274708A CN 201710588497 A CN201710588497 A CN 201710588497A CN 109274708 A CN109274708 A CN 109274708A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/3822—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving specially adapted for use in vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/12—Avoiding congestion; Recovering from congestion
- H04L47/125—Avoiding congestion; Recovering from congestion by balancing the load, e.g. traffic engineering
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The embodiment of the invention discloses message treatment method, equipment and systems based on automatic driving vehicle, wherein the equipment includes: receiver, the first message sent for receiving terminal apparatus；At least one is received from controller, described to receive from controller for handling the first message；At least one master controller, for according to the first message, the first message to be sent to the target from controller processing from controller by selection target from controller from least one described reception；At least one sends from controller, and described send is used to generate second message according to the state of automatic driving vehicle from controller；Transmitter, for the second message to be sent to the terminal device.Using the embodiment of the present invention, it is able to solve the problems such as traffic congestion, vehicle congestion are caused due to Message Processing not in time in the prior art, promotes the high efficiency of Message Processing.
Description
Technical field
The present invention relates to vehicle networking technical fields, more particularly to the message treatment method based on automatic driving vehicle, equipment
And system.
Background technique
Car networking is based on in-vehicle network, inter-vehicle network and vehicle-mounted mobile internet, according to the communication protocol sum number of agreement
According to interactive standards, the big system with information exchange is communicated wirelessly between vehicle-X (Vehicle-to-everything, V2X)
System network.Wherein, X can be divided into infrastructure (Infrastructure), pedestrian (Pedestrian), vehicle under normal conditions
(vehicle) three classes.V2X communicate vehicle can with vehicle, vehicle between base station, base station and base station, to obtain disappearing for X transmission
Breath, a series of such as traffic messages such as road conditions message, road message, pedestrian's message, and then can be realized intelligent traffic management,
Intelligent Dynamic information service and Vehicular intelligentization control etc., V2X is typical case of the technology of Internet of things in field of transportation system.
In practice, it has been found that the support of V2X system is deployed on automatic driving vehicle, message queue mechanism is used to handle
Message reprocesses lower a piece of news that is, after the completion of a piece of news processing.When vehicle V2X message increases, especially vehicle exists
In the case that complicated highway section drives, Message Processing congestion is easily lead to using above-mentioned mechanism, and then influence vehicle and periphery vehicle
Normal driving, the problems such as causing vehicle congestion.
Summary of the invention
The embodiment of the invention discloses message treatment method, equipment and systems based on automatic driving vehicle, using more
A receive generates second message from controller processing first message, using multiple send from controller according to vehicle demand to send
To terminal device, message can be efficiently handled, moreover it is possible to carry out V2X communication with ambient enviroment in real time.
In a first aspect, the embodiment of the present invention, which discloses, provides a kind of message processing device based on automatic driving vehicle, packet
It includes:
Receiver, the first message sent for receiving terminal apparatus；
At least one is received from controller, described to receive from controller for handling the first message；
At least one master controller, for being selected from controller from least one described reception according to the first message
Target is selected from controller, the first message is sent to the target from controller processing；
At least one sends from controller, and described send from controller is used to generate the according to the state of automatic driving vehicle
Two message；
Transmitter, for the second message to be sent to the terminal device.
Second aspect, the embodiment of the present invention, which discloses, provides a kind of message treatment method based on automatic driving vehicle, packet
It includes:
The first message that message processing device receiving terminal apparatus is sent；
The message processing device receives from controller selection target from control according to the first message, from least one
The first message is sent to the target from controller processing by device processed；
The message processing device generates second message according to the state of automatic driving vehicle；
The second message is sent to the terminal device by the message processing device.
By implementing above-described embodiment, can utilize multiple controller synchronization process message, solve in the prior art due to
Message Processing causes the problems such as traffic congestion, vehicle congestion not in time, promotes the high efficiency of Message Processing.
With reference to first aspect and second aspect, in some possible embodiments, the master controller can recognize described
The message identifier carried in one message, and selected from controller according to the message identifier from least one described reception
Target is from controller.
With reference to first aspect and second aspect, in some possible embodiments, the message identifier is described for identifying
Type of message belonging to first message,
In the case where the message identifier is first identifier, the target from controller be first from controller；
In the case where the message identifier is second identifier, the target from controller be second from controller；
In the case where the message identifier is that third identifies, the target from controller be third from controller.
With reference to first aspect and second aspect, in some possible embodiments,
The first identifier is vehicle message mark, described first from controller be specially vehicle from controller；
The second identifier is pedestrian's message identifier, described second from controller be specially pedestrian from controller；
The third is identified as infrastructure message identifier, the third from controller be specially infrastructure from control
Device.
With reference to first aspect and second aspect, in some possible embodiments,
The master controller can also each work received from controller from controller according at least one described reception
State, from it is described at least one receive from controller selection target from controller；Wherein, the working condition includes in following
Any one: active state, alarm status, lock state, closed state, error condition.
By implementing above-mentioned steps, the master controller can preferentially select to be in the lock state or the reception of active state from
Controller, using as the target from controller, for handling the first message.
With reference to first aspect and second aspect, in some possible embodiments, the master controller can also to it is described extremely
Few one receives each reception from controller and is managed from the working condition of controller.
Specifically, being greater than first threshold, and the load received from controller in described receive from the load of controller
In the case where showing a increasing trend, the master controller enables next reception and loads from controller to handle, will be described next
It receives from the working condition of controller and is set as active state；
Specifically, it is described receive be greater than second threshold from the load of controller in the case where, the master controller is by institute
It states reception and switches to alarm status from active state from the working condition of controller；
Specifically, it is described receive be less than second threshold from the load of controller in the case where, the master controller is by institute
It states reception and switches to active state from alarm status from the working condition of controller；
Specifically, the case where being respectively less than third threshold value from the load of controller there are the reception of at least two same types
Under, reception most lightly loaded is switched to lock state from active state from the working condition of controller by the master controller；
Specifically, it is described receive the duration that is in the lock state from controller and be greater than four threshold values in the case where, then institute
It states master controller and the reception is switched into closed state from lock state from the working condition of controller；
Specifically, the master controller is received described from control in the case where described receive from controller generation mistake
The working condition of device processed is switched to error condition.
Correspondingly, the master controller each from controller at least one described transmission can also be sent from controller
Working condition is managed.
Specifically, being greater than the 5th threshold value, and the load sent from controller in described send from the load of controller
In the case where showing a increasing trend, the master controller enables next transmission and loads from controller to handle, will be described next
It sends from the working condition of controller and is set as active state；
Specifically, it is described send be greater than six threshold values from the load of controller in the case where, the master controller is by institute
It states transmission and switches to alarm status from the working condition of controller from active state, and close the demand sent from controller
Detection function；
Specifically, in the case where described send from the load of controller less than seven threshold values, the master controller is by institute
It states transmission and switches to active state from alarm status from the working condition of controller；
Specifically, the case where being respectively less than eight threshold values from the load of controller there are the transmission of at least two same types
Under, transmission most lightly loaded is switched to lock state from active state from the working condition of controller by the master controller；
Specifically, it is described send the duration that is in the lock state from controller and be greater than nine threshold values in the case where, then institute
It states master controller and the transmission is switched into closed state from lock state from the working condition of controller；
Specifically, the master controller is sent described from control in the case where described send from controller generation mistake
The working condition of device processed is switched to error condition.
By implementing above-mentioned steps, master controller can carry out shape to described receive from controller or described send from controller
State management optionally can also carry out the management such as data maintenance, without limitation to them.
The third aspect, the embodiment of the present invention, which discloses, provides a kind of message processing device, including for executing above-mentioned second
The functional unit of the method for aspect.
Fourth aspect, the embodiment of the invention provides a kind of message processing device, including memory, communication interface and with institute
State the processor of memory and communication interface coupling；For storing instruction, the processor is described for executing for the memory
Instruction, the communication interface under the control of the processor with terminal device for being communicated；Wherein, the processor is held
The method of above-mentioned second aspect description is executed when row described instruction.
In the application, the communication interface can be receiver or transmitter, the processor can for master controller, receive from
It controller and sends from controller.
5th aspect, provide a kind of computer readable storage medium, and the computer-readable recording medium storage is used
In the program code of mail transmission.Said program code includes the instruction for executing the method for above-mentioned second aspect description.
6th aspect, provides a kind of computer program product including instruction, when run on a computer, so that
The method that computer executes above-mentioned second aspect description.
By implementing the embodiment of the present invention, it is able to solve in the prior art since Message Processing causes traffic to gather around not in time
The problems such as stifled, vehicle congestion, promote the high efficiency of Message Processing.
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.
Fig. 1 is a kind of structural schematic diagram of message processing device provided in an embodiment of the present invention；
Fig. 2 is a kind of process signal of message treatment method based on automatic driving vehicle provided in an embodiment of the present invention
Figure；
Fig. 3 is the process signal of another message treatment method based on automatic driving vehicle provided in an embodiment of the present invention
Figure；
Fig. 4 is the process signal of another message treatment method based on automatic driving vehicle provided in an embodiment of the present invention
Figure；
Fig. 5 is the structural schematic diagram of another message processing device provided in an embodiment of the present invention；
Fig. 6 A is the structural schematic diagram of another message processing device provided in an embodiment of the present invention；
Fig. 6 B is the structural schematic diagram of another message processing device provided in an embodiment of the present invention；
Fig. 7 is a kind of structural schematic diagram of message handling system provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with attached drawing of the invention, technical solution in the embodiment of the present invention is described in detail.
Present inventor has found that V2X system is deployed in automatically in the prior art during proposing the application
It drives in vehicle, handles V2X message using a processor (or controller).It that is to say and use message queue mechanism, when
After processor has handled a V2X message, next V2X message is reprocessed.It is easy in this way when V2X message increases, is occurred
Message congestion, processing not in time, and then influence the safe driving of vehicle and surrounding vehicles, lead to vehicle congestion, traffic thing occurs
Therefore the problems such as.
To solve the above problems, referring to Figure 1, Fig. 1 is provided in an embodiment of the present invention a kind of based on automatic driving vehicle
Message processing device structural schematic diagram.Message processing device 100 as shown in Figure 1 includes receiver 102, master controller
104 (host controller), it receives from controller 106 (slave controller), send from 108 (master of controller
) and transmitter 110 controller.
The master controller 104 has message distribution, data maintenance, (specially receives from controller from controller management
106 management and send from controller 108 manage) etc. functions.
Specifically, the message distribution refers to that according to preset rules, received V2X is distributed to for the master controller 104
It receives from controller 106 or sends from controller 108.The preset rules can be user side or the message processing device
What side was independently arranged, such as V2X message is sent to different receptions from controller 106 according to sender's type of V2X message.
Specifically, the data maintenance refers to that the master controller 104 can safeguard each receive from controller 106 and every
A Message Processing situation sent from controller 108, and safeguard their working condition, specifically it is described below.
Specifically, described refer to that the master controller 104 can be according to the reception of maintenance from control from controller management
Device 106 and described send enable in real time from the Message Processing situation of controller 108 or stop the receptions of respective numbers from control
It device 106 processed and described sends from controller 108.
Described receive from controller 106 has the function of to handle first message, controller starting and close etc..Described first disappears
Breath refer to the master controller 104 be distributed to it is described receive from the message of controller 106, such as terminal device is at the message
Manage the V2X message etc. that equipment 100 is sent.
Described send from controller 108 has the function of message generates, controller starts and closes etc..The message generates
Refer to that the transmission can generate correspondingly V2X according to the state (i.e. vehicle self-demand) of automatic driving vehicle from controller 108 and disappear
Breath, to be broadcast to peripheral terminal equipment by the transmitter 110, such as generation vehicle gives way request message, traffic light
State obtains message etc..
The receiver 102 and the transmitter 110 can be communicated with terminal device, to receive the terminal device hair
The message sent or to described terminal device second message etc..
In an alternative embodiment, it is described receive from controller 106 may include first from controller, second from controller and
Third is from controller.Wherein, described first from controller, described second from controller and the third from controller respectively from
The type for managing first message can be different.Described first from control, described second from controller and the third from controller
Quantity can be one or more, and the embodiment of the present invention is without limitation.
Illustratively, described receive can (in specially V2X Xs different according to the sender of first message from controller 106
It is different), it is divided into vehicle from controller (slave_V), pedestrian from controller (slave_P) and infrastructure from controller
(slave_I).Correspondingly, the vehicle can be used for handling V2V message from controller slave_V, that is, handle the transmission of other vehicles
Message.The pedestrian can be used for handling V2P message, the i.e. message of processing pedestrian transmission from controller slave_P.The basis
Facility can be used for handling V2I message, the i.e. message of processing infrastructure transmission from controller slave_I.
In an alternative embodiment, the master controller 104, described receive from controller 106 and described send from control
The quantity of device 108 can be one or more, and the embodiment of the present invention is without limitation.
In an alternative embodiment, the terminal device includes but is not limited to vehicle arrangement, infrastructure equipment, user equipment
(User Equipment, UE), smart phone (such as Android phone, IOS mobile phone), PC, tablet computer, palm
The internet devices such as computer, mobile internet device (MID, Mobile Internet Devices) or wearable intelligent equipment,
The embodiment of the present invention is not construed as limiting.
Based on the structural schematic diagram of message processing device shown in FIG. 1, be described below it is of the present invention about receive from
It controller and sends from the specific embodiment of controller.Fig. 2 and Fig. 4 is respectively illustrated and is received from controller and send from control
The relevant specific embodiment of device.
Fig. 2 is referred to, is a kind of message treatment method based on automatic driving vehicle that the embodiment of the present invention discloses offer.
Fig. 2 shows to receive specific embodiment relevant from controller, method as shown in Figure 2 includes that step is implemented as follows:
Step S202, the first message (i.e. V2X message) that the described receiver receiving terminal apparatus is sent.The receiver will
The first message is sent to the master controller.Correspondingly, the master controller receives the first message.
The first message is the V2X message that terminal device is sent to message processing device, and wherein X is set for characterizing terminal
Standby type, X address can be different in different communication protocol.In general, the V2X message includes but is not limited to that V2V message, V2P disappear
Breath, V2I message or other communication informations.
In an alternative embodiment, the quantity of the first message can be one or more, without limitation.Described first disappears
Breath can carry message identifier, and the message identifier is used to characterize the type of the terminal device, i.e., for characterizing described first
The type of message that message is belonged to, such as V2X message, V2P message.The first message can also carry the body of the terminal device
Part information (such as device id), it is described receive from the identity information (specially some receives the mark from controller) of controller or
Other information, the embodiment of the present invention is without limitation.
Step S204, the described master controller selects mesh according to the first message, from least one reception from controller
It marks from controller.
The reception can be used for handling the received message of message processing device from controller, i.e., first described in step S202
Message.It is described receive from the quantity of controller be at least two in the case where, the master controller can be from described at least two
It receives and selects a target from controller from controller, to handle the first message from controller using the target.
Step S206, the first message is sent to the target from controller by the described master controller.Correspondingly, described
Target receives the first message from controller.
Step S208, the described target handles the first message from controller.
Several specific embodiments of illustrative step S204 in detail below.
In the first embodiment, the master controller can arbitrarily select one from least one reception from controller
It receives from controller, as the target for handling the first message from controller.Here reception is available from controller
In the various types of message of processing, such as V2V message, V2I message can be handled etc..
In the second embodiment, in the case that the first message described in S202 carries message identifier, the master control
Device processed can according to the message identifier from it is described at least one receive from controller selection target from controller.
In the first situation, the message identifier is used to characterize the type of the first message.Specifically, if described disappear
Breath is identified as first identifier, then the target can be for first from controller, wherein described first is used for from controller from controller
Support handles the first message for meeting the first identifier corresponding types.Correspondingly, if the message identifier is second identifier,
Then the target can be for second from controller, wherein described second meets described for support processing from controller from controller
The first message of two mark corresponding types.Correspondingly, if the message identifier is third mark, the target is from controller
It can be third from controller, wherein the third meets the of the third mark corresponding types for support processing from controller
One message.
The message identifier that is to say that characterization sends described for identifying the type of message that the first message is belonged to
The type of the corresponding sender of one message.Due to that can have different types of regulation, i.e., the described message identifier in different communication protocol
(the specially described first identifier, second identifier and third mark) has different addresses.
In an alternative embodiment, the message identifier is encapsulated in domain type (type) of the first message.It is described
Master controller can parse the domain type of the first message, know the message identifier.Normally, the message identifier can for
It is any one of lower: vehicle message mark, pedestrian's message identifier, infrastructure message identifier.Correspondingly, the master controller can
Learn with the first message of the message identifier pair to be any one of following: vehicle message (i.e. V2V message), pedestrian
Message (i.e. V2P message) or infrastructure message (i.e. V2I message).Further, the master controller can disappear described first
Breath is distributed to the receptions of corresponding types from controller.Specifically, V2V message distribution is disappeared V2P from controller processing to vehicle
Breath is distributed to pedestrian from controller processing, and V2I message distribution is handled to infrastructure from controller.
In an alternative embodiment, the vehicle is from controller, the pedestrian from controller and the infrastructure from control
The quantity of device processed can be one or more, and the embodiment of the present invention is without limitation.
In second situation, the message identifier can be mark (such as controller ID) of some the specific reception from controller.
Master controller described in corresponding step S204 can be directly according to the mark received from controller, by the first message point
Reception corresponding with the mark is issued to be handled from controller.Optionally, the reception can be found in aforementioned correlation from controller
Being specifically described in embodiment, i.e., described receive from controller can be any one of following: vehicle is from controller, pedestrian from control
Device processed and infrastructure are from controller, and the embodiment of the present invention is without limitation.Second situation, be suitable for mostly for it is described certain
It is a to receive from replying message after controller processing message.
In the third embodiment, the master controller can according at least one receive from controller it is each receive from
The working condition of controller selects a target from controller from least one described reception from controller.Connecing here
Receiving from controller can be used for handling various types of message, such as V2V message, V2P message, V2I message.
Specifically, reception of the working condition in movable (active) state may be selected from control in the master controller
Device handles the first message from controller as the target.Optionally, the reception of message is presently processing from control
The quantity of device has multiple, and the multiple receive from the load of controller is more than preset threshold, and the multiple receives from control
The load of device processed is also in growth trend, then the master controller can preferentially select state to be in connecing for locking (locked) state
It receives from controller, as the target from controller.
In an alternative embodiment, the working condition includes but is not limited to any one of following: active state active,
Alarm status warning, lock state locked, closed state down and error condition error.The preset threshold can be use
What family side or the message processing device were independently arranged, the present invention is without limitation.
In the 4th kind of embodiment, first message described in S202 carries message identifier, and the message identifier is used for table
The type of the first message is levied, then the master controller can be according to the message identifier and at least one reception from controller
It is each to receive from the working condition of controller, from it is described at least one receive from controller selection target from controller.
Specifically, the master controller can be selected from controller according to the message identifier from least one described reception
It is candidate from controller to select out at least one, wherein described candidate at least one reception for described in from controller is from controller
From controller, and the candidate is used to handle the message for meeting the message identifier corresponding types, such as V2V message from controller
Vehicle may be selected from controller processing.Then, the master controller can be each from controller according at least one described candidate
Candidate selects a target from controller from least one described candidate from the working condition of controller from controller.It is preferred that
Ground, the master controller selectively operating state is in the lock state or the reception of active state is from controller, using as target
From controller.On how to according to the message identifier and each receive from the working condition of controller come selection target from control
Device processed, can be referring specifically to the associated description in previous embodiment, and which is not described herein again.
In an alternative embodiment, in above-mentioned the third and the 4th kind of embodiment, the master controller can be according to described
At least one receives each receive from the working condition of controller from controller and carrys out selection target from controller.Correspondingly, institute
State master controller also can to it is described at least one receive each reception from controller and be managed from the working condition of controller,
Referring specifically to being detailed below.
In an alternative embodiment, message processing device shown in FIG. 1 can be deployed in automatic driving vehicle.When starting is automatic
When driving vehicle, the master controller can start described receive and divide from controller and the transmission from controller, and for them
With correspondingly identifying, initialization controller state table, to execute implementation steps shown in step S202 to step S208 as above.
The controller state table include it is described receive from controller and it is described send from the corresponding mark of controller,
And each corresponding starting time, working condition, the type of controller etc. information, as the following table 1 illustratively provides
A kind of state table information received from controller.
1 controller state table of table
| Controller ID | Type | Start the time | Working condition | Other |
| s_v_1 | slave_V | 00 | active | -- |
| s_p_1 | Slave_P | 00 | active | -- |
| s_I_1 | Slave_I | 00 | active | -- |
| -- | -- | -- | -- | -- |
As shown in Table 1, it provides three kinds to receive from controller, respectively vehicle is from controller (slave_V), pedestrian from control
Device (Slave_P) and infrastructure are from controller (Slave_I).In addition, also exemplary provide 3 kinds of receptions every kind from controller
A reception is started from controller from controller is respectively corresponding at 00 time, that is, s_v_1, s_p_1 and s_ is respectively started
I_1 handles first message.Other in table 1 can be reserved field information, such as whether in connected state etc. information, this hair
Bright embodiment is without limitation.
In an alternative embodiment, after step S204, the master controller is also recordable and update message distributes statistical number
According to table.The message distribution statistics table includes the reception of the type of the first message, the processing first message from control
Device processed (the i.e. described target from controller), the reception may also include and the hair from the starting time of controller, working condition
Information relevant from controller is sent, such as sends the mark from controller, starting time information, the embodiment of the present invention does not meet limit
It is fixed.As the following table 2 illustratively provides a kind of message distribution statistics table.
Table 2: message distribution statistics table
| Type of message | Controller ID | Start the time | Working condition | Other |
| v2v | s_v_1 | 001 | -- | |
| v2v | s_v_2 | 002 | -- | |
| v2p | s_p_1 | 001 | -- | |
| -- | -- | -- | -- | -- |
As shown in Table 2, exemplary two vehicles provided for handling V2V message are from controller, s_v_1 and s_v_2.And
Each corresponding starting time, one was 001 moment, another was 002 moment.About the working condition and other words
Segment information can be for referring specifically to the associated description in previous embodiment, which is not described herein again.
Based on embodiment described in above-mentioned Fig. 2, master controller is described below, reception is carried out from the working condition of controller
The embodiment of management.Fig. 3 is referred to, is another message processing based on automatic driving vehicle provided in an embodiment of the present invention
Method.Method as described in Figure 3 includes that step is implemented as follows:
Step S302, the described master controller is detecting that described receive from the load of controller be greater than first threshold, and institute
It states in the case that reception shows a increasing trend from the load of controller, the master controller enables from next reception comes from controller
Reason load sets active state from the working condition of controller for next reception.
The master controller it is every from controller can to record at least one described reception by message distribution statistics table
A relevant information received from controller, the relevant information can include but is not limited to the mark of controller, processing first disappears
The type of breath, starting time etc., for details, reference can be made to described in previous embodiment, which is not described herein again.
Correspondingly, the master controller can know in real time or periodically described connect according to message distribution statistics table
Receive the load (the specially described quantity for receiving first message to be processed from controller) from controller.If the master control
Device processed detects that described receive from the load of controller is greater than first threshold in the first duration, while described receiving from controller
Load also in growth trend, then the master controller can start the next reception for having same type from controller, be
Next reception handles load from controller allocation identification (such as ID), to enable next reception from controller
(handling the first message).Specifically, the master controller can refer to next receive from controller transmission starting
It enables.Correspondingly, next receive from controller receives the enabled instruction, sets active state for itself working condition
active.It is illustrated about next receive from the selection of controller reference can be made to choosing the target from the correlation of controller,
Which is not described herein again.
Optionally, next reception is enabled after controller in the master controller, it can also message described in synchronized update point
Send out statistics table.First duration can be that user side or the message processing device side are independently arranged, and the present invention is not done
It limits.
Step S304, the described master controller is detecting described the case where receiving from the load of controller greater than second threshold
Under, the reception from the working condition of controller is switched to alarm status from active state by the master controller, with forbid to
Described receive from controller distributes first message, increases the load received from controller.
When the master controller detects described receive from the load of controller greater than second threshold (alarm threshold), institute
It states master controller and no longer distributes first message to described receive from controller, so that the reception normally handles inside from controller
First message to be processed mitigates the load received from controller.Optionally, the master controller can also synchronized update institute
Message distribution statistics table is stated, the reception is switched into alarm status warning from the working condition of controller.
Step S306, the described master controller is detecting described the case where receiving from the load of controller less than second threshold
Under, the reception is switched to active state from alarm status from the working condition of controller by the master controller.
Detect that the reception in alarm status has been fallen back to from the current load of controller in the master controller
Hereinafter, when being less than second threshold, the master controller can be received described from the working condition of controller from announcement second threshold
Alert state warning switches to active state active, so that the reception is normally received from controller and handles first message.
Similarly, the master controller can also message distribution statistics table described in synchronized update, by the work received from controller
Active state active is switched to as state.
Step S308, in the feelings for loading respectively less than third threshold value there are the reception of at least two same types from controller
Under condition, reception most lightly loaded is switched to lock state from active state from the working condition of controller by the master controller.
Detect that some type of receive from the quantity of controller is more than or equal to 2 in the master controller, and in the second duration
Interior each reception is respectively less than third threshold value from the load of controller, then it is minimum (most light) that load may be selected in the master controller
Reception from controller, no longer be it distribute first message, and by the reception from the state of controller update/be set as locking shape
State.So as to the reception from controller processing therein first message to be processed.Similarly, the master controller can synchronize
The message distribution statistics table is updated, the reception is switched into lock state locked from the working condition of controller.
Second duration can be that user side or the message processing device side are independently arranged, and the embodiment of the present invention is not done
It limits.
Step S310, in the case where the duration that the reception is in the lock state from controller is greater than four threshold values, then
The reception is switched to closed state from lock state from the working condition of controller by the master controller.
The master controller detect the reception being in the lock state from controller, after preset duration not
The variation (the i.e. described duration being in the lock state from controller that receives is greater than the 4th threshold value) of working condition occurs, then the master
Described receive from the working condition of controller from lock state switching can be in off state down by controller.It is, in lock
The reception of state is determined from controller after having handled inside first message to be processed, or the processing first message and mistake
The not variation of generating state after a period of time, then the reception can be switched to by the master controller from the working condition of controller
Closed state closes the reception from controller.Similarly, the master controller can message distribution statistical number described in synchronized update
According to table, the reception is switched into closed state down from the working condition of controller.
Step S312, it is described receive from controller occur mistake in the case where, the master controller by it is described receive from
The working condition of controller is switched to error condition.
The master controller in real time or can periodically detect whether the reception from controller occurs mistake, if it happens
Mistake, then the working condition being presently in from controller that receives is switched to error condition error by the master controller.Show
Example property such as, the master controller does not detect from controller returning for certain message in the reception by preset duration
When multiple message, the master controller is believed that the reception mistake occurs from controller, by the work received from controller
State switches to error condition.
The first threshold to the 4th threshold value may respectively be user side or message processing device side is independently arranged, and
They can be identical, can also be different, and the present invention is without limitation.
In an alternative embodiment, above-mentioned steps S302 to step S312 is that the master controller is received to described from control
The specific embodiment that the working condition of device is managed.In addition, the master controller can also to it is described receive from controller into
The management such as row data maintenance, the present invention is without limitation.
In an alternative embodiment, described receive at least one can receive from any of controller from controller for described in
Or multiple receptions are from controller, can be certainly the target in Fig. 2 embodiment from controller.
Fig. 4 is referred to, is a kind of message treatment method based on automatic driving vehicle that the embodiment of the present invention discloses offer.
Fig. 4 shows and sends specific embodiment relevant from controller, and method as shown in Figure 4 includes that step is implemented as follows:
Step S402, described send from controller according to the state of automatic driving vehicle generates second message.
It is described to send the message for being used to handle active transmission inside automatic driving vehicle from controller.Specifically, the hair
Sending from controller in real time or to periodically detect the state that the automatic driving vehicle is presently in, and is driven automatically according to described
The state for sailing vehicle generates correspondingly second message, i.e., described send can be according to the real-time of the automatic driving vehicle from controller
Demand generates correspondingly requirement message.For example, generating front vehicles requests give way message, turning prompting message, traffic lights (friendship
Logical indicator light) state acquisition message etc..The i.e. described second message is real-time requirement of the terminal device according to automatic driving vehicle
It generates, is destined to the message of other external terminal devices.
In an alternative embodiment, the second message can also carry the mark (ID) sent from controller, so as to
It can directly be sent from the identification feedback of controller to described from controller according to the transmission when message feedback.Optionally, described
Two message can also carry mark or the other information etc. of the message processing device, and the present invention is without limitation.
In an alternative embodiment, described send from controller can be at least one transmission described in Fig. 1 from controller
Any one or more, without limitation.
Step S404, the described transmission is sent to transmitter from controller by the second message.Correspondingly, the transmitter
Receive the second message.
Step S406, the second message is sent to the terminal device by the described transmitter.
It is described to send after the controller generation second message, other terminals of periphery can be broadcast to by the transmitter
Equipment.
In an alternative embodiment, described in Fig. 1 according to embodiment: the transmission is from controller and the transmitter
The component part of the message processing device.The message processing device can be deployed in automatic driving vehicle.When starting is automatic
When driving vehicle, the master controller can start described receive and divide from controller and the transmission from controller, and for them
With correspondingly identifying, initialization controller state table, to execute implementation steps shown in step S402 to step S406 as above.
In an alternative embodiment, the master controller can be controlled according at least one transmission each transmission from controller
The working condition of device processed starts described send from controller.Preferably, the transmission of starting can be for from state from controller
In lock state transmission from controller.It can specifically correspond to referring to the associated description in previous embodiment, which is not described herein again.
In an alternative embodiment, the master controller can also to it is described at least one send from controller it is each send from
The working condition of controller is managed, referring specifically to being detailed below.
In an alternative embodiment, after step S402, the master controller is also recordable and update message distributes statistical number
According to table.Specifically, the master controller, which is updated, sends Information Statistics relevant from controller, such as the number of second message to described
Amount, the type (such as V2V message, V2P message) of second message, without limitation.About the controller state table and described disappear
Breath distribution statistics table can be referring specifically to the associated description in previous embodiment, and which is not described herein again.
Based on embodiment described in Fig. 4, it is described below what master controller was managed reception from the working condition of controller
Embodiment.Fig. 5 is referred to, is another message treatment method based on automatic driving vehicle provided in an embodiment of the present invention.Such as
Method described in Fig. 5 includes that step is implemented as follows:
Step S502, the described master controller is detecting that described send from the load of controller be greater than the 5th threshold value, and institute
It states in the case that transmission shows a increasing trend from the load of controller, the master controller enables from next transmission comes from controller
Reason load sets active state from the working condition of controller for next transmission.
Step S504, the described master controller is detecting described the case where sending from the load of controller greater than six threshold values
Under, described send from the working condition of controller from active state is switched to alarm status by the master controller, and closes institute
State the demand detection function sent from controller.
It is (i.e. described to send from described in controller generation in the load that the master controller detects the transmission from controller
The quantity of second message) reach alarm threshold, then the master controller can close described send from the demand of controller and detect function
Can, that is, the function of sending and generate the second message from controller is closed, the automatic driving vehicle is currently no longer detected
State and the second message is generated according to the state.So that the transmission normally handles internal to be processed from controller
Second message, mitigate described send from the load of controller.
Step S506, the described master controller is the case where detecting the load of the transmission from controller less than seven threshold values
Under, described send from the working condition of controller from alarm status is switched to active state by the master controller, described in enabling
Send the demand detection function from controller.
It is described when the master controller detects that the transmission has been fallen after rise below alarm threshold from the load of controller
Master controller can be again turned on the demand detection function sent from controller, utilize automatic Pilot vehicle described in the Function detection
State, and the second message is generated according to the state.
Step S508, in the feelings for loading respectively less than the 8th threshold value there are the transmission of at least two same types from controller
Under condition, transmission most lightly loaded is switched to lock state from active state from the working condition of controller by the master controller.
Step S510, the described master controller is detecting that the duration that is in the lock state from controller of sending is greater than the
In the case where nine threshold values, then the transmission is switched to closing from the working condition of controller from lock state by the master controller
State.
Step S512, it is described send from controller occur mistake in the case where, the master controller by it is described send from
The working condition of controller is switched to error condition.
It can correspond to about step S502 to step S512 and be specifically described referring to the correlation in embodiment described in Fig. 3, here not
It repeats again.
By implementing above-described embodiment, same type of message distribution can be handled to the controller of corresponding types,
And message can improve Message Processing efficiency by multiple controller synchronization process to realize load balancing.Further, since message can
It is handled by multiple controllers, when some controller is attacked, all information of user will not be revealed, to a certain extent can also
Improve safety.
It is above-mentioned mainly from terminal device and message processing device interaction angle to scheme provided in an embodiment of the present invention into
Introduction is gone.It is understood that message processing device is in order to realize the above functions, it comprises executing, each function is corresponding
Hardware configuration and/or software module.In conjunction with disclosed in this invention embodiment describe each exemplary unit and algorithm steps,
The embodiment of the present invention can be realized with the combining form of hardware or hardware and computer software.Some function actually with hardware also
It is the mode of computer software driving hardware to execute, the specific application and design constraint depending on technical solution.Ability
Field technique personnel can realize described function to each specific application using different methods, but this realization
It is not considered that the range of the technical solution beyond the embodiment of the present invention.
The embodiment of the present invention can carry out the division of functional unit, example according to above method example to message processing device
Such as, each functional unit of each function division can be corresponded to, two or more functions can also be integrated at one
It manages in unit.Above-mentioned integrated unit both can take the form of hardware realization, can also be in the form of software functional units
It realizes.It should be noted that being schematical, only a kind of logic function stroke to the division of unit in the embodiment of the present invention
Point, there may be another division manner in actual implementation.
Using integrated unit, Fig. 6 A shows message processing device involved in above-described embodiment
A kind of possible structural schematic diagram.Message processing device 600 includes: processing unit 602 and communication unit 603.Processing unit 602
Control management is carried out for the movement to message processing device 600, for example, processing unit 602 is for supporting message processing device
600 execute step S204, S206 and S208 in Fig. 2, step S402 in Fig. 3 step S302 to step S312, Fig. 4, and/or are used for
Execute other steps of techniques described herein.Communication unit 603 is for supporting message processing device 600 to set with other terminals
Standby communication, for example, communication unit 603 is used to support in the execution of message processing device 600 Fig. 2 step in step S202, Fig. 4
S404 and S406, and/or other steps for executing techniques described herein.Message processing device 600 can also include
Storage unit 601, for storing the program code and data of message processing device 600.
Wherein, processing unit 602 can be processor or controller, for example, can be central processing unit (English:
Central Processing Unit, CPU), general processor, digital signal processor (English: Digital Signal
Processor, DSP), specific integrated circuit (English: Application-Specific Integrated Circuit,
ASIC), field programmable gate array (English: Field Programmable Gate Array, FPGA) or other are programmable
Logical device, transistor logic, hardware component or any combination thereof.It may be implemented or executes discloses in conjunction with the present invention
Various illustrative logic blocks, module and circuit described in content.The processor is also possible to realize computing function
Combination, such as combined comprising one or more microprocessors, DSP and the combination of microprocessor etc..Communication unit 603 can be
Communication interface, transceiver, transmission circuit etc., wherein communication interface is to be referred to as, and may include one or more interfaces, such as disappear
Cease the interface between processing equipment and terminal device.Storage unit 601 can be memory.
In this application, the processing unit 602 can for the reception in Fig. 1 from controller, send from controller and master
Controller, the communication unit 603 can be receiver and transmitter.It is described to receive from controller, send from controller and master
The their own quantity of controller can be one or more, and the embodiment of the present invention is without limitation.
When processing unit 602 is processor, communication unit 603 is communication interface, when storage unit 601 is memory, this
Message processing device involved in inventive embodiments can be message processing device shown in Fig. 6 B.
Refering to shown in Fig. 6 B, which includes: processor 612, communication interface 613, memory 611.It can
Selection of land, message processing device 610 can also include bus 614.Wherein, communication interface 613, processor 612 and memory 611
It can be connected with each other by bus 614；Bus 614 can be Peripheral Component Interconnect standard (English: Peripheral
Component Interconnect, abbreviation PCI) bus or expanding the industrial standard structure (English: Extended Industry
Standard Architecture, abbreviation EISA) bus etc..The bus 614 can be divided into address bus, data/address bus, control
Bus processed etc..Only to be indicated with a thick line in Fig. 6 B, it is not intended that an only bus or a type of convenient for indicating
Bus.
The specific implementation of message processing device shown in above-mentioned Fig. 6 A or Fig. 6 B can also be to should refer to shown in Fig. 2 to Fig. 5
The corresponding description of embodiment of the method, details are not described herein again.
Based on above-mentioned same inventive concept, Fig. 7 is referred to, is a kind of message handling system provided in an embodiment of the present invention.
Message handling system as shown in Figure 7 includes terminal device and message processing device.
The message processing device can be the message processing device in embodiment described in Fig. 6 A or Fig. 6 B；
The terminal device can be used for sending first message to the message processing device；And it receives the Message Processing and sets
The standby second message generated.
About the unshowned related content of Fig. 7 can referring specifically to associated description of the earlier figures 1 into embodiment described in Fig. 5,
Which is not described herein again.
The step of method in conjunction with described in disclosure of the embodiment of the present invention or algorithm, can be come real in a manner of hardware
It is existing, it is also possible to execute the mode of software instruction by processor to realize.Software instruction can be made of corresponding software module,
Software module can be stored on random access memory (English: Random Access Memory, RAM), flash memory, read-only deposit
Reservoir (English: Read Only Memory, ROM), Erasable Programmable Read Only Memory EPROM (English: Erasable
Programmable ROM, EPROM), Electrically Erasable Programmable Read-Only Memory (English: Electrically EPROM,
EEPROM), register, hard disk, mobile hard disk, CD-ROM (CD-ROM) or any other form well known in the art are deposited
In storage media.A kind of illustrative storage medium is coupled to processor, believes to enable a processor to read from the storage medium
Breath, and information can be written to the storage medium.Certainly, storage medium is also possible to the component part of processor.It processor and deposits
Storage media can be located in ASIC.In addition, the ASIC can be located in the network equipment.Certainly, pocessor and storage media can also
To be present in the network equipment as discrete assembly.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.And storage medium above-mentioned include: ROM,
The various media that can store program code such as RAM, magnetic or disk.
Claims (20)
1. a kind of message processing device based on automatic driving vehicle characterized by comprising
Receiver, the first message sent for receiving terminal apparatus；
At least one is received from controller, described to receive from controller for handling the first message；
At least one master controller, for selecting mesh from controller from least one described reception according to the first message
Mark is sent to the target from controller processing from controller, by the first message；
At least one sends from controller, and described send from controller is used to be disappeared according to the state of automatic driving vehicle generation second
Breath；
Transmitter, for the second message to be sent to the terminal device.
2. equipment according to claim 1, which is characterized in that the first message carries message identifier；
At least one described master controller, the message identifier carried in the first message for identification, and according to described
Message identifier from it is described at least one receive from controller selection target from controller.
3. equipment according to claim 2, which is characterized in that
In the case where the message identifier is first identifier, the target from controller be first from controller；
In the case where the message identifier is second identifier, the target from controller be second from controller；
In the case where the message identifier is that third identifies, the target from controller be third from controller；
Wherein, the message identifier is for identifying type of message belonging to the first message.
4. equipment according to claim 3, which is characterized in that
The first identifier is vehicle message mark, described first from controller be vehicle from controller；
The second identifier is pedestrian's message identifier, described second from controller be pedestrian from controller；
The third is identified as infrastructure message identifier, the third from controller be basic facility from controller.
5. equipment according to claim 1-4, which is characterized in that
At least one described master controller, for receiving according at least one described reception is each from controller from controller
Working condition, from it is described at least one receive from controller selection target from controller；Wherein, the working condition include with
It is any one of lower: active state, alarm status, lock state, closed state, error condition.
6. equipment according to any one of claims 1-5, which is characterized in that
At least one described master controller is also used to receive from controller each from controller at least one described reception
Working condition is managed.
7. equipment according to claim 6, which is characterized in that
It is greater than first threshold in described receive from the load of controller, and described receive shows a increasing trend from the load of controller
In the case of, the master controller enables next reception from controller to handle load, will next reception from controller
Working condition be set as active state；
In the case where described receive from the load of controller greater than second threshold, the master controller is received described from control
The working condition of device switches to alarm status from active state；
In the case where described receive from the load of controller less than second threshold, the master controller is received described from control
The working condition of device switches to active state from alarm status；
In the case where being respectively less than third threshold value from the load of controller there are the reception of at least two same types, the master control
Reception most lightly loaded is switched to lock state from active state from the working condition of controller by device processed；
In the case where the duration that the reception is in the lock state from controller is greater than four threshold values, then the master controller will
The reception switches to closed state from lock state from the working condition of controller；
It is described receive mistake occurs from controller in the case where, the master controller is received described from the work shape of controller
State is switched to error condition.
8. equipment according to claim 1-7, which is characterized in that
At least one described master controller is also used to send from controller each from controller at least one described transmission
Working condition is managed.
9. equipment according to claim 8, which is characterized in that
It is greater than the 5th threshold value in described send from the load of controller, and described send shows a increasing trend from the load of controller
In the case of, the master controller enables next transmission from controller to handle load, will next transmission from controller
Working condition be set as active state；
In the case where described send from the load of controller greater than six threshold values, the master controller is sent described from control
The working condition of device switches to alarm status from active state, and closes the demand detection function sent from controller；
In the case where described send from the load of controller less than seven threshold values, the master controller is sent described from control
The working condition of device switches to active state from alarm status；
In the case where being respectively less than eight threshold values from the load of controller there are the transmission of at least two same types, the master control
Transmission most lightly loaded is switched to lock state from active state from the working condition of controller by device processed；
In the case where the duration that the transmission is in the lock state from controller is greater than nine threshold values, then the master controller will
The transmission switches to closed state from lock state from the working condition of controller；
It is described send mistake occurs from controller in the case where, the master controller is sent described from the work shape of controller
State is switched to error condition.
10. a kind of message handling system, which is characterized in that including message processing device and terminal device, in which:
The message processing device is message processing device of any of claims 1-9 as above；
The terminal device, for sending first message to the message processing device；The message processing device is received to send
Second message.
11. a kind of message treatment method based on automatic driving vehicle characterized by comprising
The first message that message processing device receiving terminal apparatus is sent；
The message processing device receives from controller selection target from control according to the first message, from least one
The first message is sent to the target from controller processing by device；
The message processing device generates second message according to the state of automatic driving vehicle；
The second message is sent to the terminal device by the message processing device.
12. according to the method for claim 11, which is characterized in that the first message carries message identifier, described to disappear
Cease processing equipment according to the first message, receiving from controller selection target from controller from least one includes:
The message processing device identifies the message identifier carried in the first message, and according to the message identifier from
It is described at least one receive from controller selection target from controller.
13. according to the method for claim 12, which is characterized in that
In the case where the message identifier is first identifier, the target from controller be first from controller；
In the case where the message identifier is second identifier, the target from controller be second from controller；
In the case where the message identifier is that third identifies, the target from controller be third from controller；
Wherein, the message identifier is for identifying type of message belonging to the first message.
14. according to the method for claim 13, which is characterized in that
The first identifier is vehicle message mark, described first from controller be vehicle from controller；
The second identifier is pedestrian's message identifier, described second from controller be pedestrian from controller；
The third is identified as infrastructure message identifier, the third from controller be basic facility from controller.
15. the described in any item methods of 1-14 according to claim 1, which is characterized in that the message processing device is according to
First message, receiving the selection target from controller from least one from controller includes:
The message processing device each working condition received from controller from controller according at least one described reception,
From it is described at least one receive from controller selection target from controller；Wherein, the working condition includes appointing in following
One: active state, alarm status, lock state, closed state, error condition.
16. the described in any item methods of 1-15 according to claim 1, which is characterized in that the method also includes:
The message processing device to it is described at least one receive from controller it is each receive from the working condition of controller into
Row management.
17. according to the method for claim 16, which is characterized in that
It is greater than first threshold in described receive from the load of controller, and described receive shows a increasing trend from the load of controller
In the case of, the master controller enables next reception from controller to handle load, will next reception from controller
Working condition be set as active state；
In the case where described receive from the load of controller greater than second threshold, the master controller is received described from control
The working condition of device switches to alarm status from active state；
In the case where described receive from the load of controller less than second threshold, the master controller is received described from control
The working condition of device switches to active state from alarm status；
In the case where being respectively less than third threshold value from the load of controller there are the reception of at least two same types, the master control
Reception most lightly loaded is switched to lock state from active state from the working condition of controller by device processed；
In the case where the duration that the reception is in the lock state from controller is greater than four threshold values, then the master controller will
The reception switches to closed state from lock state from the working condition of controller；
It is described receive mistake occurs from controller in the case where, the master controller is received described from the work shape of controller
State is switched to error condition.
18. the described in any item methods of 1-17 according to claim 1, which is characterized in that the method also includes:
The message processing device to it is described at least one send from controller it is each send from the working condition of controller into
Row management.
19. according to the method for claim 18, which is characterized in that
It is greater than the 5th threshold value in described send from the load of controller, and described send shows a increasing trend from the load of controller
In the case of, the master controller enables next transmission from controller to handle load, will next transmission from controller
Working condition be set as active state；
In the case where described send from the load of controller greater than six threshold values, the master controller is sent described from control
The working condition of device switches to alarm status from active state, and closes the demand detection function sent from controller；
In the case where described send from the load of controller less than seven threshold values, the master controller is sent described from control
The working condition of device switches to active state from alarm status；
In the case where being respectively less than eight threshold values from the load of controller there are the transmission of at least two same types, the master control
Transmission most lightly loaded is switched to lock state from active state from the working condition of controller by device processed；
In the case where the duration that the transmission is in the lock state from controller is greater than nine threshold values, then the master controller will
The transmission switches to closed state from lock state from the working condition of controller；
It is described send mistake occurs from controller in the case where, the master controller is sent described from the work shape of controller
State is switched to error condition.
20. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In any one of such as claim 11 to 19 of realization the method when the computer program is executed by processor.
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| 孟建军 等: "无人驾驶城轨车辆控制系统分层递阶架构设计", 《计算机工程与设计》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113548033A (en) * | 2020-04-15 | 2021-10-26 | 百度（美国）有限责任公司 | Safety operator warning method and system based on system load |
| CN113548033B (en) * | 2020-04-15 | 2023-12-01 | 百度（美国）有限责任公司 | Safety operator alarming method and system based on system load |
| CN112912810A (en) * | 2021-01-27 | 2021-06-04 | 华为技术有限公司 | Control method and device |
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|---|---|
| CN109274708B (en) | 2021-10-15 |
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