CN110446180A - A kind of vehicle intelligent terminal system and its operating method - Google Patents
A kind of vehicle intelligent terminal system and its operating method Download PDFInfo
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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
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/02—Terminal devices
- H04W88/06—Terminal devices adapted for operation in multiple networks or having at least two operational modes, e.g. multi-mode terminals
Abstract
The invention discloses a kind of vehicle intelligent terminal system and its operating method, the car-mounted terminal includes: a data communication interactive device；One data operation processing unit；One data storage device；One energy supply control module；And one instruction control module；And an operating system, the operating system drives the vehicle intelligent terminal, and uses mixed communication to the process that the Vehicular intelligent terminal generates.Efficient short haul connection between vehicle and vehicle is realized using LET-V/DSRC two-film technique, and terminal is integrated with wireless WIFI communication module, public network communication module, network interface communication module and serial communication modular.To realize vehicle and vehicle, intelligent interaction cooperates with and cooperates between vehicle and infrastructure, reaches Optimum utilization system resource, improves traffic safety, alleviates traffic congestion, truly realizes the target of wisdom traffic.
Description
Technical field
The present invention relates to the communications field, in particular to a kind of vehicle intelligent terminal system based on vehicle-carrying communication two-film technique
And its operating method.
Background technique
With the development of science and technology the outburst of artificial intelligence technology, traffic administration cannot be limited only to again traffic police's
It dredges, carrying out wisdom management already to traffic with completely new science and technology becomes a kind of new fashion trend, and V2X (vehicle and the external world)
Technology has good prospect in the management of wisdom traffic.
V2X is the efficient data exchange and transmission carried out between vehicle and vehicle, Che Yulu using dedicated short-range communication technology.
Road ahead situation can be learnt in real time by V2X technology, played the role of a kind of prompting and warning, guaranteed traffic safety and vehicle
Traffic efficiency.
In existing related patents, application number " 201410397940.9 " describes a kind of vehicle-mounted mobile based on DSRC
Terminal and its communication means.The program realizes the real-time Transmission of move vehicle data, enhances the information exchange between vehicle, but
The communication of this scheme medium or short range uses only a kind of DSRC technology, and DSRC short-range communication technology is deposited and cannot be protected in heavy load situations
The problem of demonstrate,proving the fairness of node access channel.
In existing related patents, application number " 201811639988.0 " describes a kind of bus or train route association based on LTE-V
With car-mounted terminal application system.The program is to realize to keep nothing in real time with other vehicles, roadside device using the LTE-V communication technology
Line short wave communication, to anti-collision warning before realizing, the urgent status early warning of vehicle, emergency vehicle is reminded, intersection anti-collision warning and
Amusement function.Possess bigger bandwidth compared to DSRC, LTE-V, thus can preferably support non-safety application, such as file
Downloading connected with internet, but LTE-V active safety early warning performance not as good as DSRC.
In existing related patents, application number " 201611198532.6 " describe it is a kind of based on V2X wireless communication
Vehicle-mounted intelligent end device.It can be realized being in communication with each other of vehicle and vehicle, vehicle and object, the actual displayed and prompting of information.But the party
Case accesses more peripheral equipment, such as laser radar, millimetre-wave radar equipment to perceive ambient enviroment, higher cost, installation
It is more complicated cumbersome, existing product and technology are not combined well.To not very practical at this stage at present.
And compared with the maturation of DSRC technology, LTE-V just obtains extensive concern within the short period of release, because it has
Standby some considerable advantages: first is that LTE-V can reuse existing cellular infrastructure and frequency spectrum, operator does not need cloth and builds
Dedicated roadside device and the dedicated frequency spectrum of offer.DSRC, but also with relatively high advantage, but is difficult in terms of active safety
Guarantee vehicle real-time interconnection.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of vehicle intelligent terminal system and its operating methods, utilize LET-
V/DSRC two-film technique realizes efficient short haul connection between vehicle and vehicle, and terminal is integrated with wireless WIFI communication mould
Block, public network communication module, network interface communication module and serial communication modular.To realize vehicle and vehicle, vehicle and infrastructure
Between intelligent interaction collaboration and cooperation, reach Optimum utilization system resource, improve traffic safety, alleviate traffic congestion, very
The target of wisdom traffic is realized in positive meaning.
In order to solve the above-mentioned technical problem, the technical solution of the present invention is as follows:
A kind of vehicle intelligent terminal system, comprising:
One vehicle intelligent terminal, the car-mounted terminal are installed among vehicle, and the car-mounted terminal includes:
One data communication interactive device, the data communication interactive device obtain the process number of current vehicle intelligent terminal
According to, and communication interaction is to the data communication interactive device of other vehicles；
One data operation processing unit, the data operation processing unit connect the control loop and external rings of the vehicle
Border data, to obtain the driving information of the vehicle and environmental information and carry out calculation process current process data；
One data storage device, it is current to store that the data storage device communicates to connect the data operation processing unit
Process data；
One energy supply control module, the energy supply control module are vehicle intelligent terminal energy supply；And
One instruction control module, the instruction control module are provided with equipment lamp and trouble light；And
One operating system, the operating system drives the vehicle intelligent terminal, and produces to the Vehicular intelligent terminal
Raw process uses mixed communication.
Preferably, the data communication interactive device include double-mold dedicated short-range communication module, a wireless communication module,
One communication module and a locating module.
Preferably, the bimodulus dedicated short-range communication module includes that a long term evolution vehicle-carrying communication module and one are vehicle-mounted dedicated
Short range communication module.
Preferably, the data operation processing unit includes a core processor, a data preprocessing module and a data
Analysis module, the core processor control the data preprocessing module and the data analysis module.
Preferably, the operating system is provided with a shared section key, shared drive described in one of process creation
Area, other processes are written and read in the shared section key.
Preferably, the operating system is provided with multiple message queues, the message queue by each process message groups
At each message queue is correspondingly arranged on an identifier, is mutually indepedent between each message queue.
Preferably, further include a terminal frame, the terminal frame include a shell mechanism, a central control circuit plate,
One wireless receiving and dispatching antenna sets and a power supply conversion transformer.
Preferably, the communication module includes public network communication module, network interface communication module and serial communication modular.
The present invention also provides a kind of operating methods, comprising the following steps:
(a) system initialization obtains driving data and environmental data, carries out pretreatment and data analysis；
(b) communication pattern is created by the vehicle intelligent terminal；
(c) location information is obtained, realizes high level of synchronization；
(d) the high-speed data interaction of vehicle intelligent terminal and cloud platform is realized.
By adopting the above technical scheme, due to using bimodulus short-range communication technology, so that the beneficial effects of the present invention are:
1, the information exchange between vehicle and vehicle, between vehicle and cloud is realized.It is characterized in that vehicle intelligent terminal is same
When be integrated with LTE-V (Long Term Evolution-vehicle communication) and DSRC (vehicle-mounted dedicated short-range communication) technology.Real-time high-efficiency rate
The active safety warning function of low latency had both may be implemented in short range communication function, and the big data transmission of high stable also may be implemented
Interaction.
2, the information exchange between vehicle and vehicle, between vehicle and cloud is realized.It is characterized in that vehicle intelligent terminal
It may be mounted at car, in addition to the available information itself generated, the existing information of vehicle can also be obtained.It can access
The existing video monitoring system of vehicle CAN bus system, vehicle, the existing navigation system of vehicle, vehicle have auxiliary and drive system
System carries out communication interaction with existing equipment by serial ports and network interface communication.
3, the information exchange between vehicle and vehicle, between vehicle and cloud is realized.It is characterized in that vehicle intelligent terminal
It is integrated with GPS/ Beidou bimodulus positioning device, it is possible to provide real-time high-precision location information and clock information, for guaranteeing to connect
The standard time of the time set and standard time time service center of receiving accurate location information and time reference signal keeps height
It is synchronous.
4, the information exchange between vehicle and vehicle, between vehicle and cloud is realized.It is characterized in that vehicle intelligent terminal
It supports 4G to communicate and reserves the interface of 5G communication, to realize the data interaction of vehicle intelligent terminal Yu cloud platform high speed.
5, the information exchange between vehicle and vehicle, between vehicle and cloud is realized.It is characterized in that vehicle intelligent terminal
Design small and exquisite exquisiteness itself, integrated level is high, a variety of data transmit-receive antennas can other than drawing vehicle outside, host can be with hidden
Installation, integrated level is high, is easily installed adaptation.
Detailed description of the invention
Fig. 1 is the systematic schematic diagram of vehicle intelligent terminal system of the invention；
Fig. 2 is shared drive the design of communication schematic diagram of the invention；
Fig. 3 is DSRC protocol hierarchy design drawing of the invention；
Fig. 4 is that client of the invention and server-side message send form schematic diagram；
Fig. 5 is SOCKET communication flow diagram of the invention；
Fig. 6 is the constructional appearance schematic diagram of the vehicle intelligent terminal of the invention.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below
The each embodiment of the present invention involved in technical characteristic can be combined with each other as long as they do not conflict with each other.
The present invention provides a kind of vehicle intelligent terminal systems, wherein the vehicle intelligent terminal system includes a vehicle-mounted intelligence
Energy terminal and an operating system, wherein the operating system drives the vehicle intelligent terminal, and whole to the Vehicular intelligent
The process that end generates uses mixed communication.
As shown in Figure 1, specifically, the car-mounted terminal is installed among vehicle, the vehicle intelligent terminal includes a number
According to communication interaction device, the data communication interactive device obtains the process data of current vehicle intelligent terminal, and communication interaction
To the data communication interactive device of other vehicles；One data operation processing unit, the data operation processing unit are connected
The control loop and external environment data of the vehicle, to obtain the driving information of the vehicle and environmental information and carry out operation
Handle current process data；One data storage device, the data storage device communicate to connect the data operation processing unit
To store current process data；One energy supply control module, the energy supply control module are vehicle intelligent terminal energy supply；And
One instruction control module, the instruction control module are provided with equipment lamp and trouble light.
Preferably, the data communication interactive device include double-mold dedicated short-range communication module, a wireless communication module,
One communication module and a locating module.
Preferably, the bimodulus dedicated short-range communication module includes that a long term evolution vehicle-carrying communication module and one are vehicle-mounted dedicated
Short range communication module.
Preferably, the data operation processing unit includes a core processor, a data preprocessing module and a data
Analysis module, the core processor control the data preprocessing module and the data analysis module.
Preferably, the operating system is provided with a shared section key, shared drive described in one of process creation
Area, other processes are written and read in the shared section key.
Preferably, the operating system is provided with multiple message queues, the message queue by each process message groups
At each message queue is correspondingly arranged on an identifier, is mutually indepedent between each message queue.
Preferably, further include a terminal frame, the terminal frame include a shell mechanism, a central control circuit plate,
One wireless receiving and dispatching antenna sets and a power supply conversion transformer.
More specifically: 1) terminal supports LTE-V/DSRC dual mode communication technology, supports real-time short range communication, rapidly and efficiently
Information is passed to periphery vehicle intelligent terminal in time.
2) vehicle intelligent terminal installation can access vehicle CAN bus information, the existing real-time video monitoring of vehicle in the car
With vehicle supplementary controlled system.
3) pass through GPS/ Beidou positioning information, it is possible to provide real-time location information and clock information, for guaranteeing to receive mark
The time set of quasi- time signal and the standard time at standard time time service center keep high level of synchronization.
4) wireless WIFI communication modular terminal supports wireless WIFI communication, supports 2.4G/5G frequency range.
WiFi is the abbreviation of Wireless Fidelity, refers exclusively to IEEE802.11b wireless standard.To be propped up in equipment
Hold WIFI function, it is necessary first to which WIFI supplier provides corresponding driver, and compiles out the corresponding drive of module under linux
Dynamic, then load driver, equipment can be carried out some radio operations.Secondly, wifi is made with hostapd open source software
At a hot spot, dhcp service is opened, realizes automatic distribution IP.
5) Ethernet interface communicates, and meets the specification of IEEE 1588, supports 10/100/1000Mbps adaptive ethernet rate,
Support 802.3 standard of IEEE
6) serial communication supports RS232/RS485/CAN communication, and the low operating current of 200uA is supported to contact anti-± 8KV, empty
Gas resists ± 15KV, meets industrial grade standard, and highest supports 470kbit/s.
7) public network communication module supports 4G to communicate and reserves the interface of 5G communication, the friendship with cloud platform real-time perfoming data
Mutually.Intelligent road side device data is uploaded to cloud center, while supporting under cloud center photos and sending messages to intelligent interaction device.Duty
Formula is supported: FDD LTE, TDD LTE, WCDMA, GSM；It supports DL MIMO, supports Rx-diverrsity；Operating temperature range reaches
To -40~85 DEG C.
A variety of communication LTE-V, DRSC, WIFI, 4G antenna is independent and can be external, and host is mounted on shelter signal
It will not be by any influence.
More specifically, data operation processing unit passes through many-sided data application artificial intelligence big data analysis to acquisition
Technology has the front ends intelligent algorithms such as data prediction, data analysis.Data processing equipment is transported to data information is received
It calculates, the environmental data of a variety of near-field communications is pre-processed, the planning in executable path is carried out according to the data, according to institute
The acquistion probability for stating localizing environment perception data and the raster data is calculated, to obtain grid environment sensing data；Root
Probability filling is carried out to the tracking data according to the tracking data and the localizing environment perception data, to obtain tracking ring
Border perception data.
More specifically, the data storage device realizes that algorithm data storage, center issue data storage, device log number
It is cached according to centre data is uploaded under storage and suspension state.
More specifically, the energy supply control module, provides stable voltage output.Voltage support 8v-36v Width funtion is simultaneous
Hold, is additionally provided power supply conversion transformer and is mainly used in 220V alternating current is converted into what central control circuit plate was able to use
Direct current, the mode of connection as the case may be depending on.
It should be noted that according to above embodiment, present invention has an advantage that
1, advantage of the invention is that being the vehicle intelligent terminal based on LTE-V/DSRC two-film technique, containing there are many communications
Mode, bimodulus short range communication, serial communication function, network interface communication function, wireless WIFI communication function and 4G/5G network communication function
Energy.
2, advantage of the invention is that the vehicle intelligent terminal based on LTE-V/DSRC two-film technique, can collide in forward direction
The active safeties warning aspects such as early warning, the urgent status early warning of vehicle, emergency vehicle prompting, intersection anti-collision warning have preferably
Performance, can also carry out keeping higher stability when big data transmission between the terminals.
3, advantage of the invention has been accessible to vehicle CAN bus system, vehicle in vehicle intelligent terminal installation in the car
Some real-time video monitoring systems, DAS (Driver Assistant System), data interact, the final intelligent driving for realizing vehicle.
4, in the present invention advantage be to realize by near-field communication between multiple vehicle intelligent terminals, cloud communication vehicle with
Vehicle, vehicle and the information exchange in cloud and shared, reach Optimum utilization system resource, improve traffic safety, alleviate and hand over
Logical congestion, truly realizes the target of wisdom traffic.
It is described further by specific embodiment below:
As shown in Fig. 2, the operating system of vehicle intelligent terminal uses Linu x operating system, in linux system,
There are many mode, general asynchronous communication uses SMS queue's pattern for process/thread communication, and real time communication uses the side of shared drive
Formula.Shared drive is the most fast mode of the interprocess communication that operates on same machine, because data are not needed different
It is replicated between process.Usually by one piece of shared section key of a process creation, remaining process is written and read this block memory field.
Message queue is the inside chained list in kernel address space, transmitted between each process by linux kernel in
Hold, is sent in message queue to message sequence, and obtained from queue in several of different ways, each message queue can
To be uniquely identified with IPC identifier, the message queue in kernel is distinguished by the identifier of IPC, different
It is independent from each other between message queue, the message in each message queue constitutes an independent chained list again.
Message queue function is defined as follows:
#include<sys/msg.h>
int msgctl(int msqid,int cmd,struct msqid_ds*buf)；
int msgget(key_t key,int msgflg)；
int msgrcv(int msqid,void*msg_ptr,size_t msg_sz,long int msgtype,int
msgflg)；
int msgsnd(int msqid,const void*msg_ptr,size_t msg_sz,int msgflg)。
In the present embodiment, communication is adopted using the mode of mixed communication according to different real-time demands between process threads
Communication with different communication modes, between completion process.
The first, system process is initialized first.All processes can be used for by system function delivery system information
The process actions such as communication, alarm.Process can be sent by function message and message sink function, asynchronous information is issued, for reality
When property is of less demanding, and prevents information from losing.
The second, the described vehicle intelligent terminal is integrated with LTE-V (Long Term Evolution-vehicle communication) and DSRC (vehicle simultaneously
Carry dedicated short-range communication) technology.
Specifically, DSRC module uses the MK5 module of U.S. Cohda company.DSRC communication meets WAVE and ETSI G5 rule
Model, software will be packaged into DSRC module initialization, creation connection, data transmission, data receiver, the API such as disconnect for applying
Layer calls.
DSRC communication protocol proposes three layers of simple association according to seven layer protocol model of Open System Interconnection architecture OSI
Discuss structure, i.e. physical layer, data link layer and application layer.Protocol lay-ering structure is as shown in Figure 3.
Software design mainly includes the link layer and application layer of OBU unit.The basic function of link layer is for DSRC application
Layer provides one group of service primitive, and by reorganizing service primitive, fixed equipment can same or one group of communication equipment realization point pair
The error-free communication of point or point-to-multipoint.Therefore data link layer will realize 3 basic functions, i.e., carry out ground to different equipment
Location distribution is simultaneously examined and is restored, data flow control according to the shared letter in the address, error frame.To realize these functions, the layer protocol
It is divided into Media access contorl (MAC) sublayer and logic link control (LLC) sublayer.
LLC supports the control function of one or more logical links, and LLC generates the order PDU for transmission and explains institute
The order PDU and response pdus received.
The major function of LLC includes: tissue data flow；It explains the order PDU received and generates response pdus appropriate；Needle
Error control and Fault recovery function are acted；Media access control sublayer is supported to be located at the Media access contorl function under LLC sublayer
Energy.The process of the communication entity includes the control of data cell framing, error check and bottom physical medium.
Specifically, LET-V using move remote C-V2X communication module AG15, AG15 be move remote communication in strict accordance with
IATF16949:2016 automobile industry quality management system standard and manufacture vehicle rule grade C-V2X communication module.Automotive grade manufacture
Keep its stability higher with quality process, and the test of harsh environment can be subjected to, there is superior antistatic and anti-electromagnetic interference
Function.C-V2X PC5Mode 4 is direct-connected, assists without (U) SIM card and cellular network, reduces complexity and cost.DSRC is used
DSRC communication module MK5, the MK5 module of Cohda is designed to provide compact platform, for disposing the vehicle of advanced connection
Application program, the application program can use significant performance of the Cohda mobile radio in mobile environment.MK5 module is one
The mobile IEEE 802.11p radio of the single channel or binary channels Cohda of a automobile qualification, work environment from -40C to+85CPCB
Temperature.
The DMD31 mould group driving of Datang Telecom is supported in LTE-V communication, supports data transmission and reception.Software will be packaged into
LTE-V module initialization, data transmission, data receiver, the API such as disconnects for application layer calling at creation connection.
For LTE-V module by using the AG15 far communicated is moved, AG15 is to move remote communication in strict accordance with IATF 16949:2016 vapour
Garage's industry quality management system standard and manufacture vehicle rule grade C-V2X communication module.Based on 14 agreement of 3GPP Release,
AG15 supports C-V2X PC5 direct communication, it is possible to provide the communication range of extension and does not depend on the assistance of cellular network or covering can
It is used in global arbitrary region；It can be vehicle to vehicle (V2V), vehicle to base using the ITS 5.9GHz frequency range that the whole world is unified
Infrastructure (V2I) and vehicle provide the information transmission of low time delay to pedestrian (V2P), have data transmission high reliability and highly dense
The performance characteristics such as degree, high-throughput, high reliability；Can be had between effective guarantee vehicle and between vehicle and infrastructure
Imitate information mutual communication accident to avoid collision.Meanwhile feature-rich interface can facilitate the technical side of client's progress terminal applies
Case exploitation.AG15 Software Protocol Stack uses the QMI (Qualcomm MSM Interface) of high pass.
QMI is a kind of functional interface for multiprocessor interprocess communication that high pass provides, and for the interaction of the side AP and BP, is led to
Popular saying is exactly that terminal device TE (can be mobile phone, PDA, computer) is allowed to operate the AMSS system of the side high pass BP, such as
Function is called, data is read, is arranged NV therein etc..It has the special feature that as follows:
(1) there is synchronous and asynchronous interface；
(2) it supports communicated among multiple processors；
(3) good scalability；
(4) multi-client is supported concurrently to run；
(5) multiple server-sides are supported concurrently to run, and each server-side also corresponds to multiple client；
(6) each server-side also supports version information；
The message of QMI is routed through IPC Router to complete, and IPC router is a message-oriented (message-
Oriented router), for supporting Qualcomm commo client interface (QCCI) and Qualcomm
common service interface(QCSI)。
QCCI is that a set of client that is used for receives information from server or sends a message to the API set of server.
QCSI is then and QMI IDL (interface definition language) compiles the code one generated automatically
It rises and uses, for receiving the request of client and being made a response to it.In addition, it is also used to send instruction message
(indication message) and encoding and decoding (encode/decode) is carried out to message, this message is by the end server master
It is dynamic to issue.
Each service both corresponds to the document definition of a service.idl..idl document definition each
The relevant constant of massage, enumeration type and data structure relevant with message.The type of message has following three kinds:
Request message --- a request message is sent to server-side by client, and is carried out by server-side
Reason.
The message of Reponse message --- each request can have a reponse message to be corresponding to it,
Similar to the return value of a function.If request message is equivalent to calling function, response message, which is equivalent to, returns to calling
The result of side.
Indiction message --- this kind of message is that the asynchronous message of client is issued by server-side.
The code requirement of sensor1API: before any indication message transmission, client is firstly the need of passing through
Request message and server-side establish connection.Indication message can be sent at any time.
It is for example as shown in Figure 4 that the message of client and server-side sends form:
QMI message coding standard
Without using real-coded GA, but the fixed points of Q16 type are used, that is, 16 2 bit complement integer parts are provided
With the fixed-point implementation of 16 fractional parts.
Naming convention
In order to be consistent all message realizations, the end service needs fixed exclusive prefix
Structural body is with _ type ending
It enumerates with _ enum ending
Request message is with _ req_msg ending, and type is with _ REQ ending
Message is responded with _ resp_msg ending, and type is with _ RESP ending
Instruction message is with _ ind_msg ending, and type is with _ IND ending
RS232 serial communication, using the TP3232 chip of 3PEAK company as serial data transceiver, the low work of 200uA
Electric current supports the anti-± 8KV of contact, air to resist ± 15KV, meets industrial grade standard, and highest supports 470kbit/s.
About serial communication modular, predominantly terminal and the equipment for supporting serial ports RS232 carries out data interaction and terminal
The function of location information is read by serial ports from GNSS module.RS232 serial communication, software will encapsulate initialization of (a) serial ports,
The API such as serial ports transmission, serial ports reception, serial-port resolution are called for application layer；
Linux to the access of all devices is carried out by device file, and serial ports is also in this way, for reference string
Mouthful, only need to open its device file can be operated serial equipment.In Linux system in the following, each serial equipment has equipment
File is associated with, device file be located at system /dev catalogue below.As under linux /ttyS0 ,/ttyS1 respectively indicates
Be serial ports 1 and serial ports 2.Exploitation design in the present embodiment for serial communication includes following interface function:
1. opening serial ports
Serial ports access is carried out in the form of device file, so opening serial ports that is to say the operation for opening file.Function
Prototype can be as follows:
Int open (" DE_name ", int open_Status)
Parameter declaration:
(1) DE_name: the device file name to be opened
For example serial ports 1 is opened, as/dev/ttyS0.
(2) open_Status: following File Open mode can be used in modes to open a file:
O_RDONLY: file is opened with read-only mode
O_WRONLY: file is opened with only WriteMode
O_RDWR: file is opened with read-write mode
O_APPEND: it is added to end of file when write-in data
O_CREATE: generating this document if file is not present, and needs to be arranged access right limit mode_ using the mark
t
O_EXCL: specifying the mark, and specifies O_CREATE mark, can generate one if open file exists
A mistake
O_TRUNC: if file exist and successfully with write or only WriteMode open, remove file all the elements,
So that file size becomes 0
O_NOCTTY: if what is opened is a terminal device, this program will not become the control of this corresponding port
Terminal, if the not mark, any one input, such as keyboard abort signal etc., it all will affect process.
O_NONBLOCK: the effect of the O_NDELAY mark of the mark and early application is similar.Program is indifferent to DCD signal
The state of line, if specifying the mark, process will be always in dormant state, until DCD signal wire is 0.
Function return value:
Success returns to filec descriptor, if unsuccessfully returning to -1.
2. serial ports read operation
Device file is opened with open function, function returns to a filec descriptor (file descriptors, fd), leads to
Filec descriptor is crossed to access file.Reading operation of serial-port is completed by read function.Function prototype is as follows:
int read(int fd,*buffer,length)；
Parameter declaration:
(1) .int fd: filec descriptor
(2) .*buffer: data buffer zone
(3) .length: the byte number to be read
Function return value:
The byte number for returning and reading successfully is read in read operation, and failure then returns to -1.
3. serial ports write operation
Writing operation of serial-port is completed by write function.Function prototype is as follows:
write(int fd,*buffer,length)；
Parameter declaration:
(1) .fd: filec descriptor
(2) .*buffer: the data buffer zone of storage write-in data
(3) .length: the data word joint number that write-in buffering is gone
Function return value:
Success returns to the byte number of write-in data, which is generally equal to length, if write-in unsuccessfully returns to -1.
4. closing serial ports
It to operating as the operation to ordinary file for device file, also needs to close after opening operation, closes string
Mouth is operated with function close (), function prototype are as follows:
int close(int fd)；
Parameter declaration:
Fd: filec descriptor
Function return value:
Success returns to 0, unsuccessfully returns to -1.
Third, vehicle intelligent terminal are integrated with GPS/ Beidou bimodulus positioning device, it is possible to provide real-time high-precision position
Information and clock information, for guaranteeing that the time set for receiving accurate location information and time reference signal is awarded with the standard time
The standard time of Shi Zhongxin keeps high level of synchronization.Using the U26-M8 module of extra large American Express.GPS frequency band: L1C/A:
1575.42MHz；Beidou frequency band B1:1561.098MHz；RF input impedance: 50 ohm characteristic impedances；Precision: 2.5m CEP；Spirit
Sensitivity: capture -162dbm；Start the time: cold start-up≤29s, recapture≤1s；Time service precision: less than 25ns；Refresh frequency
Rate: 10Hz.
GNSS positioning and communicating part, software will be parsed by the received data of serial ports, and by the longitude and latitude being resolved to,
The information such as speed, time are supplied to application layer according to the speed of 10Hz and use.
The data of every a line represent different meanings, such as:
$GPRMC,131913.000,A,3029.64972,N,11423.62352,E,0.00,0.00,200617,,,A*
67
Field 0:$ GPRMC, sentence ID show that the sentence is Recommended Minimum Specific GPS/
TRANSIT Data (RMC) recommends minimum location information.
Field 1:UTC time, hhmmss.sss format (UTC this be Greenwich Mean Time i.e. zebra time)
Field 2: state, A=positioning, V=no-fix
Field 3: latitude ddmm.mmmm is spent cellular (leading digit deficiency then mends 0)
Field 4: latitude N (north latitude) or S (south latitude)
Field 5: longitude dddmm.mmmm is spent cellular (leading digit deficiency then mends 0)
Field 6: longitude E (east longitude) or W (west longitude)
Field 7: speed, section, Knots
Field 8: azimuth, degree
Field 9:UTC date, DDMMYY format
Field 10: magnetic declination, (000-180) spend (leading digit deficiency then mends 0)
Field 11: magnetic biasing angular direction, E=DongW=Xi
Field 12: mode, A=is automatic, D=difference, E=estimation, N=data invalid (3.0 protocol contents)
Field 13: check value (value after number exclusive or between $ and *)
Then the GNSS information returned is parsed in linux system, and by the data of parsing.Application layer program can
To obtain the location information of GNSS by calling relevant interface.
4th, vehicle intelligent terminal communicates the data interaction for realizing vehicle intelligent terminal and cloud platform high speed by 4G.
Using Yi Yuan company EC20 module.Maximum downstream rate 150Mbps and maximum upper scanning frequency are supported under FDD LTE mode
Rate 50Mbps；Working form: FDD LTE, TDD LTE, WCDMA, GSM；It supports DL MIMO, supports Rx-diverrsity；Work
Reach -40~85 DEG C as temperature range.
Program memory chip uses MT41K128M16JT chip, and 4 2Gb capacity amount to 8Gb, refresh time:
1.25ns@CL=11 (DDR3-1600), temperature range of operation: -40~85 DEG C, the non-AEC-Q100 vehicle rule of technical grade standard authentication
Grade certification.Flash chip uses MTFC8GLDDQ-4M IT chip, interface EMMC4.5, memory capacity 64Gb, running temperature model
Enclose -40~85 DEG C.
The EC20 mould group that 4G module is far communicated using shifting will mainly add 4G on imx6 in linux kernel
Then the driving of module and the support of ppp protocol compile kernel and download to controller.4G drives development process as follows:
(1) kernel, USB driving and PPP driving are compiled；
(2) cross compile Libusb；
(3) cross compile 4G module drive；
(4) driving operation conditions is checked；
(5) cross compile PPP；
(6) Dial Up script is arranged；
(7) dial pppd call gprsdial；
Application layer Socket interface
Application layer network communication journey realizes that server end first initializes Socket based on Socket interface function, then with
Port binding (bind), monitors (listen) port, calls accept obstruction, waits client connection.At this moment such as
Fruit has one Socket of a client initialization, then connects server (connect), if successful connection, at this moment client
Connection with server end just establishes.Client sends request of data, and received server-side requests and handle request, then
Response data is sent to client, and client reads data, finally closes connection, and primary interaction terminates.Specific communication process is such as
Shown in Fig. 5.
The realization of these Socket interfaces is all kernel to complete, and is specifically included such as minor function:
(1) socket () function
int socket(int protofamily,int type,int protocol)；// return to sockfd
Sockfd is descriptor.Socket function corresponds to the opening operation of ordinary file.The opening operation of ordinary file
A file describing word is returned, and socket () is used to create a socket descriptor (socket descriptor), it
One socket of unique identification.This socket describing word is as file describing word, and subsequent operation is useful for it, it
As parameter, some read-write operations are carried out by it.
(2) bind () function
Particular address in one address family is assigned to socket by bind () function.Such as corresponding A F_INET, AF_INET6
An address ipv4 or ipv6 and port number combinations are exactly assigned to socket.
int bind(int sockfd,const struct sockaddr*addr,socklen_t addrlen)；
Three parameters of function are respectively as follows:
Sockfd: i.e. socket describing word, it is by socket () function creation, one socket of unique identification.
Bind () function is exactly that will bind a name to this describing word.
Addr: one const struct sockaddr* pointer, direction will be bound to the protocol address of sockfd.
Addrlen: corresponding is the length of address.
(3) listen (), connect () function
As a server, listen () will be called to monitor this after calling socket (), bind ()
Socket, if at this moment client calls connect () to issue connection request, server end will receive this request.
int listen(int sockfd,int backlog)；
int connect(int sockfd,const struct sockaddr*addr,socklen_t addrlen)；
First parameter of listen function is the socket describing word to be monitored, and second parameter is corresponding socket
The maximum connection number that can be lined up.The socket default of socket () function creation is an active type, listen letter
Socket is become passive type by number, waits the connection request of client.
First parameter of connect function is the socket describing word of client, and the second parameter is server
The address socket, third parameter are the length of the address socket.Client is established by calling connect function and TCP
The connection of server.
(4) accept () function
After socket (), bind (), listen () are successively called in TCP server end, specified socket will be monitored
Address.TCP Client successively calls socket (), connect () just to have sent a connection to TCP server later and asks
It asks.TCP server listens to after this request, will call accept () function that reception is taken to request, and connection so is just established
It is good.It can start network I/O operation later, that is, be analogous to the read-write I/O operation of ordinary file.
int accept(int sockfd,struct sockaddr*addr,socklen_t*addrlen)；// return
Connect connect_fd
Parameter sockfd
Parameter sockfd is exactly the monitoring socket in being explained above, this socket is used to monitor a port, when having
When one client connect with server, it uses this port number, and this port numbers is just closed with this socket at this time
Connection.
Parameter addr
This is a result parameter, it be used to receive a return value, the address at this return value given client end, certainly this
A address is described by some address structure, and user will be appreciated that this what kind of address structure.If to visitor
The address at family is lost interest in, then this value can be set as NULL.
Parameter len
It is also the parameter of result, for receive above-mentioned addr structure size, it indicates that addr structure is occupied
Byte number.Likewise, it also can be set to NULL.
If accept is successfully returned, server is correctly established with client and is connected to, and server passes through at this time
The socket that accept is returned completes the communication with client.
(5) read (), write () function
So far server has built up with client and is connected to.Network I/O can be called to be written and read, that is, realized
Net coughs up the communication between middle different processes！Network I/O operation has following several groups:
read()/write()
recv()/send()
readv()/writev()
recvmsg()/sendmsg()
recvfrom()/sendto()
Read function is responsible for the reading of content from fd, and, when being read as function, read returns to the practical byte number read, if
The value of return is that finishing for file has been read in 0 expression, indicates mistake occur less than 0.If mistake is that EINTR illustrates to read
It is to indicate that network connection is out of joint if it is ECONNREST as caused by interrupting.
Write function returns to the byte write when the nbytes byte content write-in filec descriptor fd. in buf is successful
Number.- 1 is returned when failure, and errno variable is set.In network program, have two when we write to socket file descriptor
Kind may.1) return value of write is greater than 0, indicates to have write the either whole data in part.2) value returned is less than 0, at this time
There is mistake.We will be handled according to type of error.If mistake is EINTR, there is middle dislocation when writing in expression
Accidentally.Indicate that network connection there is a problem (other side has had been switched off connection) if it is EPIPE.
(6) close () function
After server and client establish connection, it will do it some read-write operations, completing read-write operation will close
Corresponding socket describing word is closed, to call fclose to close the file opened like open file has been operated.
int close(int fd)；The socket is labeled as with pass when the default behavior of mono- TCP socket of close
It closes, is then immediately returned to calling process.The describing word cannot be used by calling process again, that is to say, that cannot be re-used as read
Or first parameter of write.
As shown in fig. 6, vehicle intelligent terminal design small and exquisite exquisiteness itself, integrated level is high, a variety of data transmit-receive days
Line can other than drawing vehicle outside, host can be installed with hidden, and integrated level is high, be easily installed adaptation.
From structure, intelligent road side terminal is mainly by shell mechanism, central control circuit plate, wireless receiving and dispatching antenna
Group, power supply conversion transformer composition.
In conclusion invention further provides a kind of operating methods:
9, a kind of operating method, which comprises the following steps:
(a) system initialization obtains driving data and environmental data, carries out pretreatment and data analysis；
(b) communication pattern is created by the vehicle intelligent terminal；
(c) location information is obtained, realizes high level of synchronization；
(d) the high-speed data interaction of vehicle intelligent terminal and cloud platform is realized.
Further, step (a) is further comprising the steps of:
(a1) system initialization obtains driving data and environmental data, carries out to the environmental data of a variety of near-field communications pre-
Processing；
(a2) planning that executable path is carried out according to the data, according to the localizing environment perception data and the grid
The acquistion probability of lattice data is calculated, to obtain grid environment sensing data；
(a3) probability is carried out to the tracking data according to the tracking data and the localizing environment perception data to fill out
It fills, to obtain tracking environmental perception data.
In conjunction with attached drawing, the embodiments of the present invention are described in detail above, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (10)
1. a kind of vehicle intelligent terminal system characterized by comprising
One vehicle intelligent terminal, the car-mounted terminal are installed among vehicle, and the car-mounted terminal includes:
One data communication interactive device, the data communication interactive device obtain the process data of current vehicle intelligent terminal, and
Communication interaction to other vehicles the data communication interactive device；
One data operation processing unit, the data operation processing unit connect the control loop and external environment number of the vehicle
According to obtain the driving information of the vehicle and environmental information and carry out calculation process current process data；
One data storage device, the data storage device communicate to connect the data operation processing unit to store current process
Data；
One energy supply control module, the energy supply control module are vehicle intelligent terminal energy supply；And
One instruction control module, the instruction control module are provided with equipment lamp and trouble light；And
One operating system, the operating system drive the vehicle intelligent terminal, and the Vehicular intelligent terminal is generated
Process uses mixed communication.
2. vehicle intelligent terminal system according to claim 1, which is characterized in that the data communication interactive device includes
Double-mold dedicated short-range communication module, a wireless communication module, a communication module and a locating module.
3. vehicle intelligent terminal system according to claim 2, which is characterized in that the bimodulus dedicated short-range communication module
Including a long term evolution vehicle-carrying communication module and a vehicle-mounted dedicated short-range communication module.
4. vehicle intelligent terminal system according to claim 1, which is characterized in that the data operation processing unit includes
One core processor, a data preprocessing module and a data analysis module, the core processor control the data and locate in advance
Manage module and the data analysis module.
5. vehicle intelligent terminal system according to claim 1, which is characterized in that the operating system is provided with one altogether
Memory field, shared section key described in one of process creation are enjoyed, other processes are written and read in the shared section key.
6. vehicle intelligent terminal system according to claim 1, which is characterized in that the operating system is provided with multiple disappear
Queue is ceased, the message queue is made of the message of each process, and each message queue is correspondingly arranged on an identifier, each to disappear
It is mutually indepedent for ceasing between queue.
7. -6 any vehicle intelligent terminal system according to claim 1, which is characterized in that it further include a terminal frame,
The terminal frame includes that a shell mechanism, a central control circuit plate, a wireless receiving and dispatching antenna sets and a power supply convert transformation
Device.
8. vehicle intelligent terminal system according to claim 7, which is characterized in that the communication module includes public network communication
Module, network interface communication module and serial communication modular.
9. a kind of operating method, which comprises the following steps:
(a) system initialization obtains driving data and environmental data, carries out pretreatment and data analysis；
(b) communication pattern is created by the vehicle intelligent terminal；
(c) location information is obtained, realizes high level of synchronization；
(d) the high-speed data interaction of vehicle intelligent terminal and cloud platform is realized.
10. operating method according to claim 9, which is characterized in that step (a) is further comprising the steps of:
(a1) system initialization obtains driving data and environmental data, pre-processes to the environmental data of a variety of near-field communications；
(a2) planning that executable path is carried out according to the data, according to the localizing environment perception data and the grid number
According to acquistion probability calculated, to obtain grid environment sensing data；
(a3) probability filling is carried out to the tracking data according to the tracking data and the localizing environment perception data, with
Obtain tracking environmental perception data.
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