CN109714727A - A kind of unmanned sweeper optimization method based on OTA technology - Google Patents
A kind of unmanned sweeper optimization method based on OTA technology Download PDFInfo
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- CN109714727A CN109714727A CN201910147369.8A CN201910147369A CN109714727A CN 109714727 A CN109714727 A CN 109714727A CN 201910147369 A CN201910147369 A CN 201910147369A CN 109714727 A CN109714727 A CN 109714727A
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- course line
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Abstract
The present invention discloses a kind of unmanned sweeper optimization method based on OTA technology, the vehicle-mounted receiving end being connect including user terminal and with vehicle control system, user terminal module and car-mounted terminal module are communicated to connect each other by 2G/3G/4G/5G communication network or wireless network mode, latest data packet is sent to car-mounted terminal module by user terminal module, it include gateway in car-mounted terminal module, for carrying out validity judgement to received data packet, if being judged as legal course line, driving course line is then transmitted to the vehicle control system of pilotless automobile, car-mounted terminal module further includes receiving processing module, replace update module and debugging module.Compared with prior art, the present invention can carry out course line to unmanned sweeper in time, chart timely updates, to sweeper operating mode, working cell is updated, the step of saving technique personnel go sweeper to be updated debugging greatly reduces vehicle update time, improves vehicle operation efficiency.
Description
Technical field
The present invention relates to pilotless automobile fields, are that a kind of unmanned sweeper based on OTA technology is excellent more specifically
Change method is a kind of technology upgraded based on over the air to correlation units such as unmanned sweeper progress course lines.
Background technique
At this stage, unmanned sweeper is an emphasis of domestic many unit popular research, is the one of unmanned field
A important application demand.Since the unmanned vehicle speed that cleans is slow, so unlike the automobile to go at express speed on the way, safety can be obtained
To guarantee, but unmanned sweeper needs artificially preset course line at this stage, need personnel when executing new cleaning task
New work course line is supplemented, and in vehicle since deviated route occurs for road temporary shift reason, it is also desirable to personnel
Remove execute-in-place.These situations also cause unmanned sweeper operating path relatively more fixed, and the variation of road can not be adjusted in time
Whole course line, while when cleaning Vehicular system and needing to upgrade, technical staff needs scene or carries out phase to sweeper in maintenace point
System upgrade debugging is closed, in the biggish situation of vehicle operation amount, this, which is just wasted, cleans the time, it is possible to influence other vehicles
Traveling.
Existing OTA (over the air) technology is quickly grown, and is gradually transitions intelligent automobile industry.Automobile is come
It says, OTA technology can be replaced installation to file destination using installation kit downloading is carried out on line；Or upgrade under line
System: USB flash disk returns factory.Under line installation can consume the plenty of time, and on line by network installation be often data packet replacement, leading to
In the case that communication network is poor, transmission rate is slow.For unmanned sweeper, course line is cleaned sometimes and only needs to change wherein
A part reduces data volume so user only needs for transfer portion to be transmitted to vehicle, saves update time, guarantees work effect
Rate.
Summary of the invention
Above of the existing technology to solve the problems, such as, the present invention proposes that a kind of unmanned sweeper based on OTA technology is excellent
Change method.
The present invention can be resolved by the following technical programs:
A kind of unmanned sweeper optimization method based on OTA technology, including the vehicle-mounted reception being connect with vehicle control system
End and user terminal, the vehicle-mounted receiving end and user terminal pass through 2G/3G/4G/5G communication network or WLAN
Data communication is carried out, the user terminal as needed will be in the technology packet that provided including sweeper producer or cloud course line library
Newest course line, user modification work course line, update electronic channel chart data update wrap be transmitted to the vehicle-mounted reception
End carries out OTA upgrading；The vehicle-mounted receiving end includes gateway, receiving processing module, replacement update module and debugging module；It is described
Unmanned sweeper receives the data at work and updates packet, will update packet hair by the data of authentication by the gateway
It send to the receiving processing module, the receiving processing module, which updates the data after packet carries out decompression classification, to be transmitted separately to
Then corresponding unit is modified and is upgraded to data in the corresponding unit through the replacement update module, then through the tune
Die trial block carries out dry run debugging to the data after the update and upgrading.
As the preferred embodiment of the present invention, the gateway is responsible for the data sent to the user terminal and updates packet progress
Authentication, it is ensured that be that the data that designated user sends update packet, and drawing is marked for the IP address for propagating invalid information
Enter to blacklist.
As the preferred embodiment of the present invention, the authentication includes password, fingerprint recognition, chip information and sweeper
The intrinsic digital watermarking between OEM.
As the preferred embodiment of the present invention, the receiving processing module is recognized for receiving by gateway progress identity
The data of card update packet, and the data are updated packet and carry out decompression classification, and course line is updated packet and is transmitted to local course line library；
Electronic Aviation Map updated data package is distributed to navigation elements；System software update is passed through into bus transfer to corresponding ECU unit.
As the preferred embodiment of the present invention, the replacement update module will be transmitted to the course line, electronically of corresponding unit
Figure update area, software control mode need to update supplement sentence patch installing form or using local alternative forms to data into
Row modification and upgrading.
As the preferred embodiment of the present invention, the debugging module is for the replaced course line of update, Electronic Aviation Map, software
Control system carries out dry run debugging, and the data for guaranteeing that replacement supplemented can be used；For itinerant map adjusted, need
Trial operation is carried out by included related simulation software, the data being replaced then are deleted in commissioning test success, for debugging failed
Feed back to the vehicle control system, connection user, which takes, retransmits updated data package operation or by occurring to course line
Bug carries out related preliminary modification, and modification is compared in combination with the preset high-precision Electronic Aviation Map of navigation elements, carries out again to it
Secondary dry run, the certain number of failure then contact user by vehicle control system, wait user's further operating；
The Electronic Aviation Map is updated, be update it is newly-increased/reduce Vehicular charging stake, vehicle parks point, maintenace point, road
Increase, reduce, widening variation and increase/reduction of road surrounding building in road；
It includes vehicle operating modes software, sensor inspection software that the software control system of vehicle interior, which is updated,
The version updating for increasing new function, vehicle power supply control unit, associated control element or vehicle control system.
As the preferred embodiment of the present invention, the user terminal may have access to OEM platform, understand each of platform publication in real time
Kind Electronic Aviation Map, firmware software updated data package and associated patch, selection, which updates to wrap, according to demand is downloaded to cleaning vehicle.
As the preferred embodiment of the present invention, the user terminal can be by work course line segment transmissions to the vehicle-mounted reception
End.
As the preferred embodiment of the present invention, user terminal course line segment transmissions, every section of course line head and the tail include and its
His section course line lap, overlap action are to aid in replacement update module by identifying replacement needed for lap is rapidly found out
Part carries out quickly and accurately replacing the corresponding part in course line.
As the preferred embodiment of the present invention, the unmanned sweeper receives the course line at work and updates packet, first
The claim 2-6 is first passed sequentially through to be replaced course line；It whether is that vehicle has been gone secondly by judging to modify at course line
Region is crossed, if going to course line at replacement and being cleaned again then after having executed original course；If it is not, then vehicle deceleration,
Maintain original driving direction, course line after control system replacement updates, vehicle is resumed work speed.
The invention has the advantages that
1. modifying for course line, user can carry out selective transmission, contracting by segment transmissions to the part to be modified
Small transmission course line is taken up space, and transmission time is saved, and reduces vehicle storage space occupancy, promotes vehicle replacement efficiency, is guaranteed
Vehicle obtains updated course line in time；
2. the course line that user updates required for can voluntarily selecting from producer's platform or on the library of cloud course line, chart or phase
Component is closed, avoids improving users ' individualized requirement without using software upgrading, expanding occupancy vehicle interior memory space；
3. vehicle can change the course line that will be travelled in real time in the process of moving, vehicle operation flexibility is promoted；
4. being based on OTA technology, it is ensured that unmanned sweeper obtains in time when manufacturer issues new cleaning function
Corresponding function, and timely update to control system and associated component, factory's renewal time is returned in shortening, guarantees soft inside sweeping truck system
The compatibility and matching of part unit, technical staff avoid unnecessary traffic from asking without going to vehicle scene update under line
Topic.
Detailed description of the invention
Fig. 1 is car-mounted terminal structural block diagram in the present invention
Fig. 2 is work flow diagram of the present invention
Specific embodiment
Illustrate embodiments of the present invention below by way of particular specific embodiment, those skilled in the art can be by this theory
The bright revealed content of book is understood other advantages and efficacy of the present invention easily.
A kind of unmanned sweeper optimization method based on OTA technology of the invention, including what is connect with vehicle control system
Vehicle-mounted receiving end and user terminal, vehicle-mounted receiving end and user terminal pass through 2G/3G/4G/5G communication network or wireless office
Domain net carries out data communication.User terminal as needed will be in the technology packet that provided including sweeper producer or cloud course line library
Newest course line, the work course line of user's modification, the data of the electronic channel chart of update update packet be transmitted to vehicle-mounted receiving end into
Row OTA upgrading.Vehicle-mounted receiving end includes connecing gateway, receiving processing module, replacement update module, debugging module, as shown in Figure 1.
Gateway is responsible for the data sent to user terminal and updates packet progress authentication, it is ensured that is that designated user sends more
New packet.And the IP address for propagating invalid information is marked and is pulled in blacklist；Authentication, including password, fingerprint are known
Not, digital watermarking intrinsic between chip information and sweeper and OEM (original equipment manufacturer)；Receiving processing module is for connecing
It receives and updates packet by the data that Gateway identity authenticates, and data packet is subjected to decompression classification, course line is updated into packet and is transmitted to this
Ground course line library；Electronic Aviation Map updated data package is distributed to navigation elements；System software update is passed through into bus transfer to correspondence
ECU unit (electronic control unit)；Replacement update module will be transmitted to the course line of corresponding unit, electronic map update area, soft
Part control model needs to update supplement and sentences patch installing form or data are modified and upgraded using local alternative forms.
Wherein debugging module carries out dry run tune for replaced course line, Electronic Aviation Map, software control system is updated
Examination, the data for guaranteeing that replacement supplemented can be used.For itinerant map adjusted, need through included related simulation software
(in conjunction with vehicle-mounted high-precision map) carries out trial operation, and the data being replaced then are deleted in commissioning test success, for it is debugging failed can be with
Vehicle control system is fed back, connection user, which takes, retransmits updated data package operation；It can also be by the bug that occurs to course line
(defect) carries out related preliminary modification, modification can be compared with the preset high-precision Electronic Aviation Map of navigation unit, and to it
Dry run again is carried out, the certain number of failure then contacts user by control system, waits user's further operating.
Electronic Aviation Map is updated, usually update it is newly-increased/reduce Vehicular charging stake, vehicle parks point, maintenace point, road
Increase/reduction of variation (increase, reduce, widening), road surrounding building on road.The update of Electronic Aviation Map, to pass through vision
Sensor provides accurate guarantee to carry out the unmanned sweeper of feature locations positioning, reduces the rate that reports an error.
Update for the related software unit of vehicle interior includes for example: vehicle operating modes software (quickly cleans, slowly
Speed cleaning, road-cleaning, square clean etc.), sensor inspection software increase new function, vehicle power supply control unit (has new
Control method extend electricity use the time), associated control element (update of code, the replacement of algorithm, software compatibility issue
Deng) or the version updating of vehicle control system etc..
The accessible OEM platform of user terminal understands the various Electronic Aviation Maps of platform publication in real time, firmware software updates number
According to packet and associated patch, selection, which updates to wrap to be downloaded to, according to demand cleans vehicle vehicle.User terminal can also be by the course line that works
Segment transmissions are to vehicle end.Such as: certain course line need to only change intermediate one section of course line, in order to prevent since transmission data are excessive or
Transmission time caused by poor signal is long, occupies a large amount of memory spaces of vehicle.The part that user can as needed modify needs
It is transmitted.User terminal course line segment transmissions, every section of course line head and the tail include being with other section of course line lap, overlap action
It helps to replace update module by identifying that lap rapidly finds out the required part replaced, is quickly and accurately replaced course line
Corresponding part.
Unmanned sweeper receives course line modification packet at work, is updated first by gateway, receiving processing module, replacement
Module, debugging module are replaced course line；Secondly by judging to modify at course line whether be that vehicle has run over region, if
Then after having executed original course, goes to course line at replacement and cleaned again；If it is not, then vehicle deceleration, maintains original traveling
Direction, course line after control system replacement updates, vehicle are resumed work speed, and the vehicle start-stop time is saved.
The present invention is by OTA over the air, to softwares and working cells such as course line, the operating modes of unmanned sweeper
Upgraded, saves manual operation.User by the access to technology platform and cloud course line library, check newest course line,
Electronic Aviation Map, vehicle operation mode, operating software service packs and vehicle unit system update, number needed for then selecting user
Vehicle termination is transmitted to according to packet.Transmission for course line, user terminal can be segmented the course line called from the library of course line,
Then course line section is updated needed for transmission to vehicle.As shown in Fig. 2, car-mounted terminal receives the data packet of user's transmitting, pass through first
The authentication of gateway guarantees the legitimacy of received data packet；Confirm it is legal after data packet is transmitted to receiving processing module,
The module is distributed to corresponding unit to data packet decompression；Replacement update module receives distributed data packet, to required update
Data be replaced or update；After updating replacement completion, debugging module is carried out to course line, chart, software and list after replacement
Metasystem carries out debugging verifying, is verified, and the former data displaced are deleted.Trial operation failure, is first tentatively repaired
It is multiple, fail then contact user again.
In addition, the itinerant map for transmitting update during normal driving for vehicle updates packet, pass through a series of above-mentioned behaviour first
Work is replaced course line；Secondly, by judge whether be that vehicle has run over region or positive running region at modification course line, if
It is to go to course line at replacement and cleaned again then after having executed original course；If it is not, then vehicle deceleration, maintains original row
Sail direction, course line after control system replacement updates, vehicle is resumed work speed, and the vehicle start-stop time is saved
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of unmanned sweeper optimization method based on OTA technology, which is characterized in that including user terminal and and vehicle control
The vehicle-mounted receiving end of system connection, the vehicle-mounted receiving end and user terminal pass through 2G/3G/4G/5G communication network or nothing
Line local area network carries out data communication, and the user terminal is as needed by the technology packet provided including sweeper producer or cloud
Newest course line in the library of course line, the work course line of user's modification, update the data of electronic channel chart update described in packet is transmitted to
Vehicle-mounted receiving end carries out OTA upgrading；The vehicle-mounted receiving end includes gateway, receiving processing module, replacement update module and debugging
Module；The unmanned sweeper receives the data at work and updates packet, will pass through the number of authentication by the gateway
It is sent to the receiving processing module according to packet is updated, after data update packet is carried out decompression classification by the receiving processing module
It is transmitted separately to corresponding unit, then data in the corresponding unit are modified and upgraded through the replacement update module,
Dry run debugging is carried out to the data after the update and upgrading through the debugging module again.
2. the unmanned sweeper optimization method according to claim 1 based on OTA technology, which is characterized in that the gateway
It is responsible for the data sent to the user terminal and updates packet progress authentication, it is ensured that is that the data that designated user sends update
Packet, and the IP address for propagating invalid information is marked and is pulled in blacklist.
3. the unmanned sweeper optimization method according to claim 1 based on OTA technology, which is characterized in that the identity
Certification includes digital watermarking intrinsic between password, fingerprint recognition, chip information and sweeper and OEM.
4. the unmanned sweeper optimization method according to claim 1 based on OTA technology, which is characterized in that the reception
Processing module, which is used to receive, updates packet by the data that the gateway carries out authentication, and the data are updated packet and are carried out
Course line is updated packet and is transmitted to local course line library by decompression classification；Electronic Aviation Map updated data package is distributed to navigation elements；To be
Software upgrading of uniting passes through bus transfer to corresponding ECU unit.
5. the unmanned sweeper optimization method according to claim 1 based on OTA technology, which is characterized in that the replacement
Update module will be transmitted to the course line of corresponding unit, electronic map update area, software control mode need update supplement sentence
Patch installing form is modified and is upgraded to data using local alternative forms.
6. the unmanned sweeper optimization method according to claim 5 based on OTA technology, which is characterized in that the debugging
Module guarantees that replacement supplemented for replaced course line, Electronic Aviation Map, software control system progress dry run debugging is updated
Data can be used；For itinerant map adjusted, need to carry out trial operation, debugging fortune by included related simulation software
It goes the data successfully then deleted and be replaced, feeds back to the vehicle control system for debugging failed, connection user takes again
It sends updated data package operation or the bug by occurring to course line carries out related preliminary modification, and is preset in combination with navigation elements
High-precision Electronic Aviation Map modification is compared, carry out dry run again to it, the certain number of failure then passes through vehicle control system
System connection user, waits user's further operating；
The Electronic Aviation Map is updated, be update it is newly-increased/reduce Vehicular charging stake, vehicle parks point, maintenace point, road
Increase, reduce, widening variation and increase/reduction of road surrounding building；
Increasing including vehicle operating modes software, sensor inspection software is updated for the software control system of vehicle interior
Add the version updating of new function, vehicle power supply control unit, associated control element or vehicle control system.
7. the unmanned sweeper optimization method according to claim 1 based on OTA technology, which is characterized in that the user
Terminal may have access to OEM platform, understand various Electronic Aviation Maps, firmware software updated data package and the related benefit of platform publication in real time
Fourth, selection, which updates to wrap, according to demand is downloaded to cleaning vehicle.
8. the unmanned sweeper optimization method according to claim 1 based on OTA technology, which is characterized in that the user
Terminal can be by work course line segment transmissions to the vehicle-mounted receiving end.
9. the unmanned sweeper optimization method according to claim 8 based on OTA technology, which is characterized in that the user
Terminal course line segment transmissions, every section of course line head and the tail include being to aid in replacement with other section of course line lap, overlap action and updating
Module carries out quickly and accurately replacing the corresponding part in course line by identifying that lap rapidly finds out the required part replaced.
10. the unmanned sweeper optimization method according to claim 5 based on OTA technology, which is characterized in that it is described nobody
Sweeper receives the course line at work and updates packet, passes sequentially through the claim 2-6 first and is replaced to course line；
It whether is that vehicle has run over region secondly by judging to modify at course line, if going again extremely then after having executed original course
Course line is cleaned at replacement；If it is not, then vehicle deceleration, course line after maintaining original driving direction, control system replacement to update,
Vehicle is resumed work speed.
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Application publication date: 20190503 |