CN110138518A - Communication means, device, electronic equipment and the storage medium of automatic driving vehicle - Google Patents
Communication means, device, electronic equipment and the storage medium of automatic driving vehicle Download PDFInfo
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- CN110138518A CN110138518A CN201910419875.8A CN201910419875A CN110138518A CN 110138518 A CN110138518 A CN 110138518A CN 201910419875 A CN201910419875 A CN 201910419875A CN 110138518 A CN110138518 A CN 110138518A
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- driving vehicle
- personal computer
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/22—Arrangements for detecting or preventing errors in the information received using redundant apparatus to increase reliability
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/46—Interconnection of networks
- H04L12/4641—Virtual LANs, VLANs, e.g. virtual private networks [VPN]
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- Computer Security & Cryptography (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The embodiment of the invention discloses a kind of communication means of automatic driving vehicle, device, electronic equipment and storage mediums.The described method includes: radar sensor acquires the original sensor data of current automatic driving vehicle；The primal environment data of current automatic driving vehicle are transmitted separately to main industrial personal computer and each redundancy industrial personal computer by radar sensor, make winner's industrial personal computer and each redundancy industrial personal computer respectively according to the target apperception data of the primal environment data acquisition of current automatic driving vehicle to current automatic driving vehicle.The transmission bandwidth between main industrial personal computer and each redundancy industrial personal computer can not only be reduced, it can also be ensured that the communication security between main industrial personal computer and each redundancy industrial personal computer promotes communication performance to reduce communications cost.
Description
Technical field
The present embodiments relate to automatic driving vehicle technical field more particularly to a kind of communication parties of automatic driving vehicle
Method, device, electronic equipment and storage medium.
Background technique
Automatic driving vehicle is referred to as automatic driving vehicle, refers to through vehicle-mounted sensor-based system and perceives vehicle week
Collarette border, and according to road, vehicle location and obstacle information obtained etc. is perceived, the steering and speed of vehicle are controlled, from
And it enables the vehicle to reliably and securely travel on road.
In the prior art, automatic driving vehicle is communicated by the automated driving system with Safety Redundancy, generally,
Automated driving system with Safety Redundancy may include: radar sensor, main industrial personal computer and at least one redundancy industrial personal computer.?
In the communication process of automatic driving vehicle, radar sensor first acquires the original sensor data of current automatic driving vehicle；So
The primal environment data of current automatic driving vehicle are transmitted to main industrial personal computer by radar sensor afterwards；Main industrial personal computer will be currently automatic
The primal environment data for driving vehicle are decoded as the point cloud data of current automatic driving vehicle；It is currently driven decoded automatically again
The point cloud data for sailing vehicle is transmitted separately to each redundancy industrial personal computer.It thus can be for main industrial personal computer and each redundancy industrial personal computer
Between across machine communication transmission bandwidth require it is very high, the network transmission pressure of automated driving system is very big；If main industry control
There is transmission delay or network failure in machine, then can make a big impact to each redundancy industrial personal computer, not can guarantee main industrial personal computer
With the communication security between each redundancy industrial personal computer.
Summary of the invention
In view of this, the embodiment of the present invention provides the communication means of automatic driving vehicle a kind of, device, electronic equipment and deposits
Storage media can not only reduce the transmission bandwidth between main industrial personal computer and each redundancy industrial personal computer, it can also be ensured that main industrial personal computer
Communication performance is promoted to reduce communications cost with the communication security between each redundancy industrial personal computer.
In a first aspect, being applied to radar the embodiment of the invention provides a kind of communication means of automatic driving vehicle and sensing
Device, which comprises
Acquire the original sensor data of current automatic driving vehicle；
The primal environment data of the current automatic driving vehicle are transmitted separately to main industrial personal computer and each redundancy industry control
Machine, so that the main industrial personal computer and each redundancy industrial personal computer are respectively according to the primal environment data of the current automatic driving vehicle
Get the target apperception data of the current automatic driving vehicle.
In the above-described embodiments, the primal environment data of the current automatic driving vehicle be transmitted separately to main industrial personal computer and
Each redundancy industrial personal computer, comprising:
It, will be described current automatic by the corresponding transmission link of the main industrial personal computer in the virtual LAN pre-established
The primal environment data for driving vehicle are transmitted to the main industrial personal computer；
In the virtual LAN pre-established, worked as by described in by the corresponding transmission link of each redundancy industrial personal computer
The primal environment data of preceding automatic driving vehicle are transmitted to each redundancy industrial personal computer；Wherein, the virtual local area pre-established
Net is made of the main industrial personal computer and at least one redundancy industrial personal computer.
Second aspect, the embodiment of the invention provides a kind of communication means of automatic driving vehicle, are applied to main industrial personal computer,
The described method includes:
Receive the primal environment data of the current automatic driving vehicle of radar sensor acquisition；
According to the primal environment data of the current automatic driving vehicle, the corresponding target sense of the main industrial personal computer is got
Primary data.
In the above-described embodiments, the primal environment data according to the current automatic driving vehicle are got described
The corresponding target apperception data of main industrial personal computer, comprising:
The point of the current automatic driving vehicle will be decompressed into the primal environment data of the current automatic driving vehicle
Cloud data；
According to the corresponding data analysis mode of the main industrial personal computer, in the point cloud data of the current automatic driving vehicle
Get the corresponding target apperception data of the main industrial personal computer.
The third aspect, the embodiment of the invention provides a kind of communication means of automatic driving vehicle, are applied to redundancy industry control
Machine, which comprises
Receive the primal environment data of the current automatic driving vehicle of radar sensor acquisition；
According to the primal environment data of the current automatic driving vehicle, the corresponding target of each redundancy industrial personal computer is got
Perception data.
In the above-described embodiments, the primal environment data according to the current automatic driving vehicle, get each
The corresponding target apperception data of redundancy industrial personal computer, comprising:
The point of the current automatic driving vehicle will be decompressed into the primal environment data of the current automatic driving vehicle
Cloud data；
According to the corresponding data analysis mode of each redundancy industrial personal computer, in the point cloud data of the current automatic driving vehicle
In get the corresponding target apperception data of each redundancy industrial personal computer.
Fourth aspect, the embodiment of the invention provides a kind of communication device of automatic driving vehicle, described device includes: to adopt
Collect module and transmission module；Wherein,
The acquisition module, for acquiring the original sensor data of current automatic driving vehicle；
The transmission module, for the primal environment data of the current automatic driving vehicle to be transmitted separately to main industry control
Machine and each redundancy industrial personal computer, so that the main industrial personal computer and each redundancy industrial personal computer are respectively according to the current automatic Pilot vehicle
Primal environment data acquisition to the current automatic driving vehicle target apperception data.
In the above-described embodiments, the transmission module includes: the first transmission submodule and the second transmission submodule；Wherein,
The first transmission submodule, for being corresponded to by the main industrial personal computer in the virtual LAN pre-established
Transmission link the primal environment data of the current automatic driving vehicle are transmitted to the main industrial personal computer；
The second transmission submodule, for passing through each redundancy industry control in the virtual LAN pre-established
The primal environment data of the current automatic driving vehicle are transmitted to each redundancy industrial personal computer by the corresponding transmission link of machine；Its
In, the virtual LAN pre-established is made of the main industrial personal computer and at least one redundancy industrial personal computer.
5th aspect, the embodiment of the invention provides a kind of communication device of automatic driving vehicle, described device includes: the
One receiving module and first obtains module；Wherein,
First receiving module, the primal environment number of the current automatic driving vehicle for receiving radar sensor acquisition
According to；
The first acquisition module gets institute for the primal environment data according to the current automatic driving vehicle
State the corresponding target apperception data of main industrial personal computer.
In the above-described embodiments, the first acquisition module includes: the first decompression submodule and the first acquisition submodule；Its
In,
The first decompression submodule, for institute will to be decompressed into the primal environment data of the current automatic driving vehicle
State the point cloud data of current automatic driving vehicle；
First acquisition submodule, for according to the corresponding data analysis mode of the main industrial personal computer, described current
The corresponding target apperception data of the main industrial personal computer are got in the point cloud data of automatic driving vehicle.
6th aspect, the embodiment of the invention provides a kind of communication device of automatic driving vehicle, described device includes: the
Two receiving modules and second obtain module；Wherein,
Second receiving module, the primal environment number of the current automatic driving vehicle for receiving radar sensor acquisition
According to；
Described second obtains module, for the primal environment data according to the current automatic driving vehicle, gets each
The corresponding target apperception data of a redundancy industrial personal computer.
In the above-described embodiments, the second acquisition module includes: the second decompression submodule and the second acquisition submodule；Its
In,
The second decompression submodule, for institute will to be decompressed into the primal environment data of the current automatic driving vehicle
State the point cloud data of current automatic driving vehicle；
Second acquisition submodule, for working as described according to the corresponding data analysis mode of each redundancy industrial personal computer
The corresponding target apperception data of each redundancy industrial personal computer are got in the point cloud data of preceding automatic driving vehicle.
7th aspect, the embodiment of the invention provides a kind of electronic equipment, comprising:
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes the communication means of automatic driving vehicle described in any embodiment of that present invention.
Eighth aspect, the embodiment of the invention provides a kind of storage mediums, are stored thereon with computer program, the program quilt
The communication means of automatic driving vehicle described in any embodiment of that present invention is realized when processor executes.
The embodiment of the present invention proposes communication means, device, electronic equipment and the storage medium of a kind of automatic driving vehicle,
Radar sensor first acquires the original sensor data of current automatic driving vehicle；Then by the original of current automatic driving vehicle
Environmental data is transmitted separately to main industrial personal computer and each redundancy industrial personal computer, divides winner's industrial personal computer and each redundancy industrial personal computer
Not according to the target apperception data of the primal environment data acquisition of current automatic driving vehicle to current automatic driving vehicle.Also
It is to say, in the inventive solutions, main industrial personal computer can be separately received the current automatic Pilot of radar sensor transmission
The primal environment data of vehicle；According to the primal environment data acquisition of current automatic driving vehicle to current automatic driving vehicle
Target apperception data.Each redundancy industrial personal computer can also be separately received the current automatic driving vehicle of radar sensor transmission
Primal environment data；According to the target sense of the primal environment data acquisition of current automatic driving vehicle to current automatic driving vehicle
Primary data.And in the communication means of existing automatic driving vehicle, radar sensor first acquires current automatic driving vehicle
Original sensor data；Then the primal environment data of current automatic driving vehicle are transmitted to main industrial personal computer by radar sensor；
The primal environment data of current automatic driving vehicle are decoded as the point cloud data of current automatic driving vehicle by main industrial personal computer；Again will
The point cloud data of decoded current automatic driving vehicle is transmitted separately to each redundancy industrial personal computer.It thus can be for main industry control
The transmission bandwidth communicated across machine between machine and each redundancy industrial personal computer requires very high, the network transmission pressure of automated driving system
Power is very big；If transmission delay or network failure occurs in main industrial personal computer, can make a big impact to each redundancy industrial personal computer,
The communication security between main industrial personal computer and each redundancy industrial personal computer is not can guarantee.Therefore, compared to the prior art, the present invention is implemented
Example propose automatic driving vehicle communication means, device, electronic equipment and storage medium, can not only reduce main industrial personal computer with
Transmission bandwidth between each redundancy industrial personal computer, it can also be ensured that the communication peace between main industrial personal computer and each redundancy industrial personal computer
Entirely, to reduce communications cost, communication performance is promoted；Also, the technical solution realization of the embodiment of the present invention is simple and convenient, is convenient for
Universal, the scope of application is wider.
Detailed description of the invention
Fig. 1 is the flow diagram of the communication means for the automatic driving vehicle that the embodiment of the present invention one provides；
Fig. 2 is the structural schematic diagram of the communication system for the automatic driving vehicle that the embodiment of the present invention one provides；
Fig. 3 is the flow diagram of the communication means of automatic driving vehicle provided by Embodiment 2 of the present invention；
Fig. 4 is the flow diagram of the communication means for the automatic driving vehicle that the embodiment of the present invention three provides；
Fig. 5 is the first structure diagram of the communication device for the automatic driving vehicle that the embodiment of the present invention four provides；
Fig. 6 is the second structural schematic diagram of the communication device for the automatic driving vehicle that the embodiment of the present invention five provides；
Fig. 7 is the third structural schematic diagram of the communication device for the automatic driving vehicle that the embodiment of the present invention six provides；
Fig. 8 is the structural schematic diagram for the electronic equipment that the embodiment of the present invention seven provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
In description, only some but not all contents related to the present invention are shown in the drawings.
Embodiment one
Fig. 1 is the flow diagram of the communication means for the automatic driving vehicle that the embodiment of the present invention one provides, and this method can
With by the communication device of automatic driving vehicle, perhaps radar sensor can integrate to execute the device or radar sensor
In any smart machine with network communicating function.As shown in Figure 1, the communication means of automatic driving vehicle may include following
Step:
The original sensor data of S101, the current automatic driving vehicle of acquisition.
In a specific embodiment of the present invention, radar sensor can acquire the raw sensor of current automatic driving vehicle
Data.Sensor is a kind of detection device, can experience measured information, and the information that can will be experienced, according to certain rules
Be for conversion into the information output of electric signal or other required forms, with meet the transmission of information, processing, storage, display, record and
Control etc. requires；The basic task of radar is the interested target of detection, measures the shapes such as distance, Fang Wen, the speed in relation to target
State parameter, radar are mainly made of the part such as antenna, transmitter, receiver and display.When radar is in conjunction with sensor technology
Together, just there is radar sensor.Radar sensor has the features such as easy for installation, maintenance is simple, low in cost, with Internet of Things
The development of network technology, demand of the radar sensor in intelligent parking lot are growing day by day.By taking CW doppler radar sensor as an example,
Its working principle is that: 24GHz is selected as tranmitting frequency, using the difference on the frequency for sending and receiving signal, object is calculated by formula
The speed of body movement.By being mixed for reference signal and echo-signal, it is identical that dual channel sensor exports two Frequency and Amplitudes, phase
The intermediate-freuqncy signal IF1 and IF2 that potential difference is 90 °, according to the signal type that 90 ° of phases guide, the direction of motion of recognizable object.
S102, the primal environment data of current automatic driving vehicle are transmitted separately to main industrial personal computer and each redundancy industry control
Machine makes winner's industrial personal computer and each redundancy industrial personal computer respectively according to the primal environment data acquisition of current automatic driving vehicle to working as
The target apperception data of preceding automatic driving vehicle.
In a specific embodiment of the present invention, radar sensor can be by the primal environment data of current automatic driving vehicle
It is transmitted separately to main industrial personal computer and each redundancy industrial personal computer, alloing winner's industrial personal computer and each redundancy industrial personal computer, basis is worked as respectively
Target apperception data of the primal environment data acquisition of preceding automatic driving vehicle to current automatic driving vehicle.Specifically, radar
Sensor can be in the virtual LAN pre-established, by the corresponding transmission link of main industrial personal computer by current automatic Pilot vehicle
Primal environment data be transmitted to main industrial personal computer；Radar sensor can also pass through in the virtual LAN pre-established
The primal environment data of current automatic driving vehicle are transmitted to each redundancy work by the corresponding transmission link of each redundancy industrial personal computer
Control machine；Wherein, the virtual LAN pre-established is made of main industrial personal computer and at least one redundancy industrial personal computer.
Fig. 2 is the structural schematic diagram of the communication system for the automatic driving vehicle that the embodiment of the present invention one provides.Such as Fig. 2 institute
Show, the communication system of automatic driving vehicle may include: radar sensor, main industrial personal computer and redundancy industrial personal computer.Radar sensor
The primal environment data of current automatic driving vehicle can be transmitted to main industrial personal computer by the corresponding transmission link of main industrial personal computer；
The primal environment data of current automatic driving vehicle can also be transmitted to redundancy by the corresponding transmission link of redundancy industrial personal computer
Industrial personal computer.Preferably, the communication system of automatic driving vehicle can also include: the network switch.Radar sensor can first by
The primal environment data of current automatic driving vehicle are transmitted to the network switch, then pass through main industrial personal computer by the network switch
The primal environment data of current automatic driving vehicle are transmitted to main industrial personal computer by corresponding transmission link.In addition, radar sensor
The primal environment data of current automatic driving vehicle first can be transmitted to the network switch, then be passed through by the network switch
The primal environment data of current automatic driving vehicle are transmitted to redundancy industrial personal computer by the corresponding transmission link of redundancy industrial personal computer.
The communication means for the automatic driving vehicle that the embodiment of the present invention proposes, radar sensor first acquire current automatic Pilot
The original sensor data of vehicle；Then by the primal environment data of current automatic driving vehicle be transmitted separately to main industrial personal computer and
Each redundancy industrial personal computer allows winner's industrial personal computer and each redundancy industrial personal computer respectively according to the original of current automatic driving vehicle
Environmental data gets the target apperception data of current automatic driving vehicle.That is, in the inventive solutions, it is main
Industrial personal computer can be separately received the primal environment data of the current automatic driving vehicle of radar sensor transmission；According to it is current from
Target apperception data of the dynamic primal environment data acquisition for driving vehicle to current automatic driving vehicle.Each redundancy industrial personal computer
The primal environment data of the current automatic driving vehicle of radar sensor transmission can be separately received；According to current automatic Pilot
Target apperception data of the primal environment data acquisition of vehicle to current automatic driving vehicle.And in existing automatic driving vehicle
Communication means in, radar sensor first acquires the original sensor data of current automatic driving vehicle；Then radar sensor
The primal environment data of current automatic driving vehicle are transmitted to main industrial personal computer；Main industrial personal computer is by the original of current automatic driving vehicle
Beginning environmental data is decoded as the point cloud data of current automatic driving vehicle；Again by the point cloud of decoded current automatic driving vehicle
Data are transmitted separately to each redundancy industrial personal computer.It thus can be for logical across machine between main industrial personal computer and each redundancy industrial personal computer
The transmission bandwidth requirement of letter is very high, and the network transmission pressure of automated driving system is very big；Prolong if transmission occurs in main industrial personal computer
Slow or network failure, then can make a big impact to each redundancy industrial personal computer, not can guarantee main industrial personal computer and each redundancy work
Communication security between control machine.Therefore, compared to the prior art, the communication party for the automatic driving vehicle that the embodiment of the present invention proposes
Method can not only reduce the transmission bandwidth between main industrial personal computer and each redundancy industrial personal computer, it can also be ensured that main industrial personal computer and each
Communication security between a redundancy industrial personal computer promotes communication performance to reduce communications cost；Also, the embodiment of the present invention
Technical solution realization is simple and convenient, it is universal to be convenient for, and the scope of application is wider.
Embodiment two
Fig. 3 is the flow diagram of the communication means of automatic driving vehicle provided by Embodiment 2 of the present invention, and this method can
With by the communication device of automatic driving vehicle, perhaps main industrial personal computer be can integrate to execute the device or main industrial personal computer any
In smart machine with network communicating function.As shown in figure 3, the communication means of automatic driving vehicle may include following step
It is rapid:
S301, the primal environment data for receiving the current automatic driving vehicle that radar sensor acquires.
In a specific embodiment of the present invention, main industrial personal computer can receive the current automatic Pilot vehicle of radar sensor acquisition
Primal environment data.Specifically, main industrial personal computer can be corresponding by main industrial personal computer in the virtual LAN pre-established
Transmission link receive radar sensor acquisition current automatic driving vehicle primal environment data.
S302, the primal environment data according to current automatic driving vehicle, get the corresponding target apperception of main industrial personal computer
Data.
In a specific embodiment of the present invention, main industrial personal computer can be according to the primal environment number of current automatic driving vehicle
According to getting the corresponding target apperception data of main industrial personal computer.Specifically, main industrial personal computer can be by the original of current automatic driving vehicle
The point cloud data of current automatic driving vehicle is decompressed into beginning environmental data；Then according to the corresponding data parsing side of main industrial personal computer
Formula gets the corresponding target apperception data of main industrial personal computer in the point cloud data of current automatic driving vehicle.
The communication means for the automatic driving vehicle that the embodiment of the present invention proposes, radar sensor first acquire current automatic Pilot
The original sensor data of vehicle；Then by the primal environment data of current automatic driving vehicle be transmitted separately to main industrial personal computer and
Each redundancy industrial personal computer allows winner's industrial personal computer and each redundancy industrial personal computer respectively according to the original of current automatic driving vehicle
Environmental data gets the target apperception data of current automatic driving vehicle.That is, in the inventive solutions, it is main
Industrial personal computer can be separately received the primal environment data of the current automatic driving vehicle of radar sensor transmission；According to it is current from
Target apperception data of the dynamic primal environment data acquisition for driving vehicle to current automatic driving vehicle.Each redundancy industrial personal computer
The primal environment data of the current automatic driving vehicle of radar sensor transmission can be separately received；According to current automatic Pilot
Target apperception data of the primal environment data acquisition of vehicle to current automatic driving vehicle.And in existing automatic driving vehicle
Communication means in, radar sensor first acquires the original sensor data of current automatic driving vehicle；Then radar sensor
The primal environment data of current automatic driving vehicle are transmitted to main industrial personal computer；Main industrial personal computer is by the original of current automatic driving vehicle
Beginning environmental data is decoded as the point cloud data of current automatic driving vehicle；Again by the point cloud of decoded current automatic driving vehicle
Data are transmitted separately to each redundancy industrial personal computer.It thus can be for logical across machine between main industrial personal computer and each redundancy industrial personal computer
The transmission bandwidth requirement of letter is very high, and the network transmission pressure of automated driving system is very big；Prolong if transmission occurs in main industrial personal computer
Slow or network failure, then can make a big impact to each redundancy industrial personal computer, not can guarantee main industrial personal computer and each redundancy work
Communication security between control machine.Therefore, compared to the prior art, the communication party for the automatic driving vehicle that the embodiment of the present invention proposes
Method can not only reduce the transmission bandwidth between main industrial personal computer and each redundancy industrial personal computer, it can also be ensured that main industrial personal computer and each
Communication security between a redundancy industrial personal computer promotes communication performance to reduce communications cost；Also, the embodiment of the present invention
Technical solution realization is simple and convenient, it is universal to be convenient for, and the scope of application is wider.
Embodiment three
Fig. 4 is the flow diagram of the communication means for the automatic driving vehicle that the embodiment of the present invention three provides, and this method can
With by the communication device of automatic driving vehicle, perhaps redundancy industrial personal computer can integrate to execute the device or redundancy industrial personal computer
In any smart machine with network communicating function.As shown in figure 4, the communication means of automatic driving vehicle may include following
Step:
S401, the primal environment data for receiving the current automatic driving vehicle that radar sensor acquires.
In a specific embodiment of the present invention, redundancy industrial personal computer can receive the current automatic Pilot of radar sensor acquisition
The primal environment data of vehicle.Specifically, redundancy industrial personal computer can pass through redundancy industry control in the virtual LAN pre-established
The corresponding transmission link of machine receives the primal environment data of the current automatic driving vehicle of radar sensor acquisition.
S402, the primal environment data according to current automatic driving vehicle get the corresponding mesh of each redundancy industrial personal computer
Mark perception data.
In a specific embodiment of the present invention, redundancy industrial personal computer can be according to the primal environment number of current automatic driving vehicle
According to getting the corresponding target apperception data of each redundancy industrial personal computer.Specifically, redundancy industrial personal computer can be by current automatic Pilot
The point cloud data of current automatic driving vehicle is decompressed into the primal environment data of vehicle；Then according to each redundancy industrial personal computer pair
The data analysis mode answered gets the corresponding target of each redundancy industrial personal computer in the point cloud data of current automatic driving vehicle
Perception data.
The communication means for the automatic driving vehicle that the embodiment of the present invention proposes, radar sensor first acquire current automatic Pilot
The original sensor data of vehicle；Then by the primal environment data of current automatic driving vehicle be transmitted separately to main industrial personal computer and
Each redundancy industrial personal computer allows winner's industrial personal computer and each redundancy industrial personal computer respectively according to the original of current automatic driving vehicle
Environmental data gets the target apperception data of current automatic driving vehicle.That is, in the inventive solutions, it is main
Industrial personal computer can be separately received the primal environment data of the current automatic driving vehicle of radar sensor transmission；According to it is current from
Target apperception data of the dynamic primal environment data acquisition for driving vehicle to current automatic driving vehicle.Each redundancy industrial personal computer
The primal environment data of the current automatic driving vehicle of radar sensor transmission can be separately received；According to current automatic Pilot
Target apperception data of the primal environment data acquisition of vehicle to current automatic driving vehicle.And in existing automatic driving vehicle
Communication means in, radar sensor first acquires the original sensor data of current automatic driving vehicle；Then radar sensor
The primal environment data of current automatic driving vehicle are transmitted to main industrial personal computer；Main industrial personal computer is by the original of current automatic driving vehicle
Beginning environmental data is decoded as the point cloud data of current automatic driving vehicle；Again by the point cloud of decoded current automatic driving vehicle
Data are transmitted separately to each redundancy industrial personal computer.It thus can be for logical across machine between main industrial personal computer and each redundancy industrial personal computer
The transmission bandwidth requirement of letter is very high, and the network transmission pressure of automated driving system is very big；Prolong if transmission occurs in main industrial personal computer
Slow or network failure, then can make a big impact to each redundancy industrial personal computer, not can guarantee main industrial personal computer and each redundancy work
Communication security between control machine.Therefore, compared to the prior art, the communication party for the automatic driving vehicle that the embodiment of the present invention proposes
Method can not only reduce the transmission bandwidth between main industrial personal computer and each redundancy industrial personal computer, it can also be ensured that main industrial personal computer and each
Communication security between a redundancy industrial personal computer promotes communication performance to reduce communications cost；Also, the embodiment of the present invention
Technical solution realization is simple and convenient, it is universal to be convenient for, and the scope of application is wider.
Example IV
Fig. 5 is the first structure diagram of the communication device for the automatic driving vehicle that the embodiment of the present invention four provides.Such as Fig. 5
Shown, the communication device of automatic driving vehicle described in the embodiment of the present invention may include: acquisition module 501 and transmission module
502；Wherein,
The acquisition module 501, for acquiring the original sensor data of current automatic driving vehicle；
The transmission module 502, for being transmitted separately to lead by the primal environment data of the current automatic driving vehicle
Industrial personal computer and each redundancy industrial personal computer, so that the main industrial personal computer and each redundancy industrial personal computer are currently driven according to described automatically respectively
The primal environment data acquisition of vehicle is sailed to the target apperception data of the current automatic driving vehicle.
Further, transmission module 502 includes: 5021 (not shown) of the first transmission submodule and the second transmission submodule
5022 (not shown) of block；Wherein,
The first transmission submodule 5021, for passing through the main industrial personal computer in the virtual LAN pre-established
The primal environment data of the current automatic driving vehicle are transmitted to the main industrial personal computer by corresponding transmission link；
The second transmission submodule 5022, for passing through each redundancy in the virtual LAN pre-established
The primal environment data of the current automatic driving vehicle are transmitted to each redundancy industrial personal computer by the corresponding transmission link of industrial personal computer；
Wherein, the virtual LAN pre-established is made of the main industrial personal computer and at least one redundancy industrial personal computer.
Method provided by the embodiment of the present invention one can be performed in the communication device of above-mentioned automatic driving vehicle, has the side of execution
The corresponding functional module of method and beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to the present invention is any
The communication means for the automatic driving vehicle that embodiment provides.
Embodiment five
Fig. 6 is the second structural schematic diagram of the communication device for the automatic driving vehicle that the embodiment of the present invention five provides.Such as Fig. 6
Shown, the communication device of automatic driving vehicle described in the embodiment of the present invention may include: that the first receiving module 601 and first are obtained
Modulus block 602；Wherein,
First receiving module 601, the original ring of the current automatic driving vehicle for receiving radar sensor acquisition
Border data；
The first acquisition module 602 is got for the primal environment data according to the current automatic driving vehicle
The corresponding target apperception data of the main industrial personal computer.
Further, the first acquisition module 602 includes: 6021 (not shown) of the first decompression submodule and first
6022 (not shown) of acquisition submodule；Wherein,
The first decompression submodule 6021, for will be decompressed in the primal environment data of the current automatic driving vehicle
For the point cloud data of the current automatic driving vehicle；
First acquisition submodule 6022, for according to the corresponding data analysis mode of the main industrial personal computer, described
The corresponding target apperception data of the main industrial personal computer are got in the point cloud data of current automatic driving vehicle.
Method provided by the embodiment of the present invention two can be performed in the communication device of above-mentioned automatic driving vehicle, has the side of execution
The corresponding functional module of method and beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to the present invention is any
The communication means for the automatic driving vehicle that embodiment provides.
Embodiment six
Fig. 7 is the third structural schematic diagram of the communication device for the automatic driving vehicle that the embodiment of the present invention six provides.Such as Fig. 7
Shown, the communication device of automatic driving vehicle described in the embodiment of the present invention may include: that the second receiving module 701 and second are obtained
Modulus block 702；Wherein,
Second receiving module 701, the original ring of the current automatic driving vehicle for receiving radar sensor acquisition
Border data；
The second acquisition module 702 is got for the primal environment data according to the current automatic driving vehicle
The corresponding target apperception data of each redundancy industrial personal computer.
Further, the second acquisition module 702 includes: 7021 (not shown) of the second decompression submodule and second
7022 (not shown) of acquisition submodule；Wherein,
The second decompression submodule 7021, for will be decompressed in the primal environment data of the current automatic driving vehicle
For the point cloud data of the current automatic driving vehicle；
Second acquisition submodule 7022 is used for according to the corresponding data analysis mode of each redundancy industrial personal computer, in institute
It states and gets the corresponding target apperception data of each redundancy industrial personal computer in the point cloud data of current automatic driving vehicle.
Method provided by the embodiment of the present invention three can be performed in the communication device of above-mentioned automatic driving vehicle, has the side of execution
The corresponding functional module of method and beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to the present invention is any
The communication means for the automatic driving vehicle that embodiment provides.
Embodiment seven
Fig. 8 is the structural schematic diagram for the electronic equipment that the embodiment of the present invention seven provides.Fig. 8, which is shown, to be suitable for being used to realizing this
The block diagram of the example electronic device of invention embodiment.The electronic equipment 12 that Fig. 8 is shown is only an example, should not be to this
The function and use scope of inventive embodiments bring any restrictions.
As shown in figure 8, electronic equipment 12 is showed in the form of universal computing device.The component of electronic equipment 12 may include
But be not limited to: one or more processor or processing unit 16, system storage 28, connect different system components (including
System storage 28 and processing unit 16) bus 18.
Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
Electronic equipment 12 typically comprises a variety of computer system readable media.These media can be it is any can be electric
The usable medium that sub- equipment 12 accesses, including volatile and non-volatile media, moveable and immovable medium.
System storage 28 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (RAM) 30 and/or cache memory 32.Electronic equipment 12 may further include other removable/not removable
Dynamic, volatile/non-volatile computer system storage medium.Only as an example, storage system 34 can be used for read and write can not
Mobile, non-volatile magnetic media (Fig. 8 do not show, commonly referred to as " hard disk drive ").Although being not shown in Fig. 8, Ke Yiti
For the disc driver for being read and write to removable non-volatile magnetic disk (such as " floppy disk "), and to moving non-volatile light
The CD drive of disk (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driver
It can be connected by one or more data media interfaces with bus 18.Memory 28 may include that at least one program produces
Product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform of the invention each
The function of embodiment.
Program/utility 40 with one group of (at least one) program module 42 can store in such as memory 28
In, such program module 42 include but is not limited to operating system, one or more application program, other program modules and
It may include the realization of network environment in program data, each of these examples or certain combination.Program module 42 is usual
Execute the function and/or method in embodiment described in the invention.
Electronic equipment 12 can also be with one or more external equipments 14 (such as keyboard, sensing equipment, display 24 etc.)
Communication, can also be enabled a user to one or more equipment interact with the electronic equipment 12 communicate, and/or with make the electricity
Any equipment (such as network interface card, modem etc.) that sub- equipment 12 can be communicated with one or more of the other calculating equipment
Communication.This communication can be carried out by input/output (I/O) interface 22.Also, electronic equipment 12 can also be suitable by network
Orchestration 20 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet)
Communication.As shown, network adapter 20 is communicated by bus 18 with other modules of electronic equipment 12.Although should be understood that
It is not shown in Fig. 8, other hardware and/or software module can be used in conjunction with electronic equipment 12, including but not limited to: microcode,
Device driver, redundant processing unit, external disk drive array, RAID system, tape drive and data backup storage
System etc..
Processing unit 16 by the program that is stored in system storage 28 of operation, thereby executing various function application and
Data processing, such as realize the communication means of automatic driving vehicle provided by the embodiment of the present invention.
Embodiment eight
The embodiment of the present invention eight provides a kind of computer storage medium.
The computer readable storage medium of the embodiment of the present invention, can be using one or more computer-readable media
Any combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.Computer
Readable storage medium storing program for executing for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, dress
It sets or device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium wraps
It includes: there is the electrical connection of one or more conducting wires, portable computer diskette, hard disk, random access memory (RAM), read-only
Memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory
(CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable
Storage medium can be it is any include or storage program tangible medium, the program can be commanded execution system, device or
Device use or in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (14)
1. a kind of communication means of automatic driving vehicle, which is characterized in that be applied to radar sensor, which comprises
Acquire the original sensor data of current automatic driving vehicle；
The primal environment data of the current automatic driving vehicle are transmitted separately to main industrial personal computer and each redundancy industrial personal computer, are made
The main industrial personal computer and each redundancy industrial personal computer are obtained respectively according to the primal environment data acquisition of the current automatic driving vehicle
To the target apperception data of the current automatic driving vehicle.
2. the method according to claim 1, wherein the primal environment data of the current automatic driving vehicle point
Supplementary biography transports to main industrial personal computer and each redundancy industrial personal computer, comprising:
In the virtual LAN pre-established, by the corresponding transmission link of the main industrial personal computer by the current automatic Pilot
The primal environment data of vehicle are transmitted to the main industrial personal computer；
In the virtual LAN pre-established, by the corresponding transmission link of each redundancy industrial personal computer by it is described it is current from
The dynamic primal environment data for driving vehicle are transmitted to each redundancy industrial personal computer；Wherein, the virtual LAN pre-established by
The main industrial personal computer and at least one redundancy industrial personal computer form.
3. a kind of communication means of automatic driving vehicle, which is characterized in that be applied to main industrial personal computer, which comprises
Receive the primal environment data of the current automatic driving vehicle of radar sensor acquisition；
According to the primal environment data of the current automatic driving vehicle, the corresponding target apperception number of the main industrial personal computer is got
According to.
4. according to the method described in claim 3, it is characterized in that, the original ring according to the current automatic driving vehicle
Border data get the corresponding target apperception data of the main industrial personal computer, comprising:
The point cloud number of the current automatic driving vehicle will be decompressed into the primal environment data of the current automatic driving vehicle
According to；
According to the corresponding data analysis mode of the main industrial personal computer, obtained in the point cloud data of the current automatic driving vehicle
To the corresponding target apperception data of the main industrial personal computer.
5. a kind of communication means of automatic driving vehicle, which is characterized in that be applied to redundancy industrial personal computer, which comprises
Receive the primal environment data of the current automatic driving vehicle of radar sensor acquisition；
According to the primal environment data of the current automatic driving vehicle, the corresponding target apperception of each redundancy industrial personal computer is got
Data.
6. according to the method described in claim 5, it is characterized in that, the original ring according to the current automatic driving vehicle
Border data get the corresponding target apperception data of each redundancy industrial personal computer, comprising:
The point cloud number of the current automatic driving vehicle will be decompressed into the primal environment data of the current automatic driving vehicle
According to；
According to the corresponding data analysis mode of each redundancy industrial personal computer, obtained in the point cloud data of the current automatic driving vehicle
Get the corresponding target apperception data of each redundancy industrial personal computer.
7. a kind of communication device of automatic driving vehicle, which is characterized in that described device includes: acquisition module and transmission module；
Wherein,
The acquisition module, for acquiring the original sensor data of current automatic driving vehicle；
The transmission module, for by the primal environment data of the current automatic driving vehicle be transmitted separately to main industrial personal computer and
Each redundancy industrial personal computer, so that the main industrial personal computer and each redundancy industrial personal computer are respectively according to the current automatic driving vehicle
Target apperception data of the primal environment data acquisition to the current automatic driving vehicle.
8. device according to claim 7, which is characterized in that the transmission module includes: the first transmission submodule and
Two transmission submodules；Wherein,
The first transmission submodule passes through the corresponding biography of the main industrial personal computer in the virtual LAN pre-established
The primal environment data of the current automatic driving vehicle are transmitted to the main industrial personal computer by transmission link；
The second transmission submodule, for passing through each redundancy industrial personal computer pair in the virtual LAN pre-established
The primal environment data of the current automatic driving vehicle are transmitted to each redundancy industrial personal computer by the transmission link answered；Wherein, institute
The virtual LAN pre-established is stated to be made of the main industrial personal computer and at least one redundancy industrial personal computer.
9. a kind of communication device of automatic driving vehicle, which is characterized in that described device includes: that the first receiving module and first are obtained
Modulus block；Wherein,
First receiving module, the primal environment data of the current automatic driving vehicle for receiving radar sensor acquisition；
The first acquisition module gets the master for the primal environment data according to the current automatic driving vehicle
The corresponding target apperception data of industrial personal computer.
10. device according to claim 9, which is characterized in that the first acquisition module includes: the first decompression submodule
With the first acquisition submodule；Wherein,
The first decompression submodule, for described work as will to be decompressed into the primal environment data of the current automatic driving vehicle
The point cloud data of preceding automatic driving vehicle；
First acquisition submodule, for according to the corresponding data analysis mode of the main industrial personal computer, described current automatic
It drives in the point cloud data of vehicle and gets the corresponding target apperception data of the main industrial personal computer.
11. a kind of communication device of automatic driving vehicle, which is characterized in that described device includes: the second receiving module and second
Obtain module；Wherein,
Second receiving module, the primal environment data of the current automatic driving vehicle for receiving radar sensor acquisition；
The second acquisition module is got each superfluous for the primal environment data according to the current automatic driving vehicle
The corresponding target apperception data of remaining industrial personal computer.
12. device according to claim 11, which is characterized in that the second acquisition module includes: the second decompression submodule
Block and the second acquisition submodule；Wherein,
The second decompression submodule, for described work as will to be decompressed into the primal environment data of the current automatic driving vehicle
The point cloud data of preceding automatic driving vehicle；
Second acquisition submodule, for according to the corresponding data analysis mode of each redundancy industrial personal computer, it is described it is current from
The corresponding target apperception data of each redundancy industrial personal computer are got in the dynamic point cloud data for driving vehicle.
13. a kind of electronic equipment characterized by comprising
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now communication means of the automatic driving vehicle as described in claim 1 to 2 perhaps any one of 3 to 4 or 5 to 6.
14. a kind of storage medium, is stored thereon with computer program, which is characterized in that the realization when program is executed by processor
Such as the communication means of automatic driving vehicle described in any one of claims 1 to 6.
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