CN114629936A - Automation driving domain controller multiplexing method, equipment and computer readable storage medium - Google Patents

Automation driving domain controller multiplexing method, equipment and computer readable storage medium Download PDF

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CN114629936A
CN114629936A CN202210246664.0A CN202210246664A CN114629936A CN 114629936 A CN114629936 A CN 114629936A CN 202210246664 A CN202210246664 A CN 202210246664A CN 114629936 A CN114629936 A CN 114629936A
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unmanned vehicle
acu
base station
mec server
function
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马二虎
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Zhidao Network Technology Beijing Co Ltd
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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • 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
    • H04L67/10—Protocols in which an application is distributed across nodes in the network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • 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]

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Abstract

The application relates to an autopilot domain controller reuse method, apparatus, and computer-readable storage medium. The method is applied to automatic driving, and comprises the following steps: detecting the current state of the unmanned vehicle, wherein the unmanned vehicle is provided with an automatic driving area controller ACU; if the current state of the unmanned vehicle is the first state, the original functions of the ACU are kept; and if the current state of the unmanned vehicle is the second state, switching the ACU into the function of the mobile edge computing MEC server. The scheme that this application provided can save the cost of unmanned car and make full use of ACU.

Description

Automation driving domain controller multiplexing method, equipment and computer readable storage medium
Technical Field
The present application relates to the field of autonomous driving, and more particularly, to an autonomous driving domain controller multiplexing method, apparatus, and computer-readable storage medium.
Background
As an intelligent computing platform, an automatic driving Control Unit (ACU) faces to the L3/L4 unmanned application, can integrate the data processing of a computing intensive sensor and the development of a sensor fusion work and a Control strategy into a Control Unit, and is helpful for building a structured and organized vehicle controller network. In the related art, the ACU is mainly used at the vehicle end and interacts with a sensor at the vehicle end, that is, the ACU in the related art is only used as the ACU, and the situation of multiplexing two devices does not exist. However, the function of the ACU is not always required for unmanned vehicles. When a function other than the ACU is required, another device is required. At this time, on the one hand, the cost of the unmanned vehicle is increased, and on the other hand, the ACU is not fully utilized.
Disclosure of Invention
To solve or partially solve the problems in the related art, the present application provides an automatic driving area controller multiplexing method, apparatus, and computer-readable storage medium, which can save the cost of unmanned vehicles and make full use of ACUs.
The application provides a first aspect of an automatic driving domain controller multiplexing method, which is applied to automatic driving, and the method comprises the following steps:
detecting the current state of an unmanned vehicle, wherein the unmanned vehicle is provided with an automatic driving Area Controller (ACU);
if the current state of the unmanned vehicle is a first state, the original functions of the ACU are kept;
and if the current state of the unmanned vehicle is the second state, switching the ACU to a function of a mobile edge computing MEC server.
The second aspect of the present application provides an autopilot domain controller multiplexing apparatus, which is applied to autopilot, and includes:
the system comprises a detection module, a control module and a display module, wherein the detection module is used for detecting the current state of an unmanned vehicle, and the unmanned vehicle is provided with an automatic driving area controller ACU;
the function maintaining module is used for maintaining the original functions of the ACU if the current state of the unmanned vehicle is a first state;
and the function switching module is used for switching the ACU into the function of the mobile edge computing MEC server if the current state of the unmanned vehicle is the second state.
A third aspect of the present application provides an electronic device comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method as described above.
A fourth aspect of the present application provides a computer-readable storage medium having stored thereon executable code, which, when executed by a processor of an electronic device, causes the processor to perform the method as described above.
The technical scheme provided by the application can comprise the following beneficial effects: when the current state of the unmanned vehicle is the first state, the original function of the ACU of the automatic driving area controller is kept, and when the current state of the unmanned vehicle is the second state, the ACU is switched to be the function of the mobile edge computing MEC server.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
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The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a schematic flow chart of an autopilot domain controller multiplexing method according to an embodiment of the present application;
fig. 2 is a schematic diagram illustrating a location of an MEC server in a network and connections to a plurality of base stations according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an autonomous driving domain controller multiplexing apparatus according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the field of L3/L4 unmanned driving, the ACU acts as an intelligent computing platform that integrates computationally intensive sensor data processing and sensor fusion work and control strategy development into one control unit and facilitates the creation of a structured and organized vehicle controller network. In the related art, the ACU is mainly used at the vehicle end and interacts with a sensor at the vehicle end, that is, the ACU in the related art is only used as the ACU, and the situation of multiplexing two devices does not exist. However, the function of the ACU is not always required for unmanned vehicles. When functions other than ACU are required, an additional device is required. At this time, on the one hand, the cost of the unmanned vehicle is increased, and on the other hand, the ACU is not fully utilized.
In view of the above problems, embodiments of the present application provide a method for multiplexing an automatic driving area controller, which can save the cost of an unmanned vehicle and fully utilize ACU.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Referring to fig. 1, it is a schematic flow chart of an automatic driving domain controller multiplexing method shown in the embodiment of the present application, which is applicable to automatic driving, and mainly includes steps S101 to S103, which are described as follows:
step S101: a current state of an unmanned vehicle is detected, wherein the unmanned vehicle is deployed with an automatic driving domain controller ACU.
In the field of autonomous driving, an unmanned vehicle is also called an unmanned vehicle, an autonomous vehicle or an intelligent driving vehicle, and refers to various automobiles which are equipped with various detection devices and can start, stop and run without manual operation of human beings under the control of a computer program. An automatic driving Control Unit (ACU) deployed on an unmanned vehicle has the capability of completing various tasks such as multi-sensor fusion, positioning, path planning, decision Control, wireless communication, high-speed communication and the like. The current state of the unmanned vehicle can be detected through various detection devices of the unmanned vehicle equipment, such as data collected by a power management system, a laser radar, a positioning module, a camera and the like.
Step S102: and if the current state of the unmanned vehicle is detected to be the first state, the original functions of the ACU deployed by the unmanned vehicle are kept.
In this embodiment of the present application, the first state of the unmanned vehicle is a state corresponding to an original function of an automatic driving Control Unit (ACU) deployed on the unmanned vehicle. In this state, ACU is indispensable or required to play a major role. For example, when an unmanned vehicle is in a driving state, the ACU must play a major role from a safety perspective, and in such a state, it is necessary to maintain the original functions of the ACU, such as the ability to perform various tasks such as multi-sensor fusion, positioning, path planning, decision control, wireless communication, and high-speed communication.
Step S103: and if the current state of the unmanned vehicle is detected to be the second state, switching the ACU to be the function of the mobile edge computing MEC server.
As mentioned above, the ACU itself has the capability of completing various tasks such as multi-sensor fusion, positioning, path planning, decision control, wireless communication, high-speed communication, etc. To accomplish the above-mentioned large number of complex and precise operations, the ACU generally configures at least one processor with a relatively strong core Computing power, and a Mobile Edge Computing (MEC) (also sometimes referred to as Multi-Access Edge Computing (MEC)) server provides an Information Technology (IT) service environment and cloud Computing capability in a Radio Access Network (RAN) near a Mobile device (e.g., unmanned vehicle), creating a highly distributed environment for deploying applications and services. As can be seen from the above description, the common feature of the ACU and the MEC is that both have relatively strong computing capabilities, which provides a premise for the two to be capable of being switched or multiplexed with each other, so that if the current state of the unmanned vehicle is detected to be the second state, the ACU can be switched to the function of the MEC server. For example, when it is detected that the unmanned vehicle is currently in a stationary or stopped state, the demand for the ACU is much smaller when the unmanned vehicle is in the stationary state or in a low speed state than when the unmanned vehicle is in a normal speed operation state or in a high speed operation state. In this state, the ACU may be switched to the function of the MEC server.
Further, after the ACU is switched to the function of the mobile edge computing MEC server, if the fact that the current state of the unmanned vehicle is changed to the first state is detected, the MEC server is switched to the original function of the ACU. For example, when the unmanned vehicle returns to the driving state from the stationary or stopped state, the function of the ACU is indispensable, and therefore, the MEC server may be switched to the original function of the ACU, and the specific method may be to disconnect the communication connection between the MEC server and the base station and perform only the function of the conventional ACU.
It is understood that in the field of edge computing, when one MEC server is deployed in a network, it is typically connected to multiple base stations. As shown in fig. 2, the location of the MEC server (denoted MEC SERVER in the figure) in the network and the connection with a plurality of base stations (denoted eNodeB in the figure) are illustrated. It should be noted that, in the field of intelligent driving or car networking, the network diagram illustrated in fig. 2 may also be an unmanned car, where the user equipment (denoted by UE in the figure) is also used. Since the MEC server is connected to a plurality of base stations, there are concerns about transmission delay and various problems in base station handover. For example, in the embodiment of the present application, when the ACU switches to the MEC function, a base station with a lower transmission delay should be preferentially selected to connect with; as another example, when a mobile device (e.g., other unmanned vehicle) switches to another base station, it should be able to guarantee continuity of data transmission, and so on. The following are described separately.
As an embodiment of the present application, the function of switching the ACU to the MEC server may be implemented through steps S201 to S204, which are described as follows:
step S201: and positioning the unmanned vehicle with the ACU to obtain the current position of the unmanned vehicle.
In the embodiment of the present application, positioning an unmanned vehicle with an ACU deployed may be performed by using a conventional technical solution, for example, based on a GPS, an inertial measurement unit, or a combination of the two, that is, an inertial navigation device. In view of the inherent defects of the conventional solutions, such as low navigation accuracy, poor satellite signals, etc., the present application may adopt other solutions, specifically, the positioning is performed on the unmanned vehicle with the ACU deployed, and the obtaining of the current position of the unmanned vehicle may be: acquiring a positioning equipment beacon packet sent by auxiliary positioning equipment; acquiring the relative distance between the unmanned vehicle and the auxiliary positioning equipment; and fusing the beacon packet of the positioning equipment and the relative distance between the unmanned vehicle and the auxiliary positioning equipment by adopting a Kalman filtering algorithm to obtain the current position of the unmanned vehicle. In the above embodiments, the auxiliary positioning device may be a device integrating speed measurement, image shooting and calculation functions, for example, a device integrating a GPS module, an inertial measurement unit, a laser radar, a camera, a central processing unit, and the like. Further, the above-mentioned fusing the beacon packet of the positioning device and the relative distance between the unmanned vehicle and the auxiliary positioning device by using the kalman filter algorithm, and obtaining the current position of the unmanned vehicle may specifically be: predicting the prior estimation values of the self position, the speed and the acceleration of the unmanned vehicle at the current moment and the error covariance prior estimation value according to the self position, the speed and the acceleration of the unmanned vehicle at the previous moment; the method comprises the steps that the prior estimated values of the position, the speed and the acceleration of the unmanned vehicle at the current moment and the measured value of the speed of a target vehicle at the current moment are adopted to obtain the posterior estimated values of the position, the speed and the acceleration of the unmanned vehicle at the current moment; and updating the self-position information of the unmanned vehicle by utilizing the relative distance between the unmanned vehicle and the auxiliary positioning equipment and the coordinate matching of the auxiliary positioning equipment, wherein the self-position, the speed and the initial value and the speed measured value of the acceleration of the unmanned vehicle can be obtained by an inertial navigation system of the unmanned vehicle.
Step S202: and acquiring a base station closest to the unmanned vehicle according to the current position of the unmanned vehicle and a base station set configured in a preset area of the current position.
The preset area of the current position of the unmanned vehicle may be an area within a certain range of a square circle with the unmanned vehicle as the center, and a plurality of base stations, that is, a base station set, may be deployed in the area. Since the base station set is a base station deployed in advance, and the position of the base station set is determined, after the current position of the unmanned vehicle is obtained, which base station is closest to the unmanned vehicle can be calculated according to the current position of the unmanned vehicle and the position of each base station in the base station set configured in the preset area of the current position.
Step S203: and accessing the MEC server to a base station closest to the unmanned vehicle.
Under the same condition, the closer the base station to the MEC server, the smaller the time delay when the base station and the MEC server transmit data, so that the MEC server can be accessed to the base station closest to the unmanned vehicle.
Step S204: processing an edge calculation request from a base station closest to the unmanned vehicle.
In this embodiment of the application, the edge calculation request from the base station closest to the unmanned vehicle may be a request sent by some user equipment such as unmanned vehicles and smart phones in a cell of the base station to the base station, and is used to request completion of a certain edge calculation service. And after receiving the request, the base station closest to the unmanned vehicle broadcasts the request to the MEC server, and the MEC server receives and processes the request.
As another embodiment of the present application, the function of switching the ACU to the MEC server can be further implemented through step S301 to step S304, which is described as follows:
step S301: receiving an edge calculation request broadcast by a base station in a base station set, wherein the edge calculation request comprises the source data length of an edge calculation service.
It should be noted that the edge calculation request here is a request for completing a certain service sent by a mobile device (e.g., an unmanned vehicle or a smart phone) in a cell to which a certain base station belongs, and is generally sent by the mobile device to the certain base station in the cell to which the certain base station belongs, and then the base station broadcasts the edge calculation request to an MEC server connected to the base station.
Step S302: and acquiring the minimum computing resource demand according to the source data length of the edge computing service and the computing delay threshold of the edge computing service, wherein the minimum computing resource demand is the minimum computing resource required by the MEC server to complete the edge computing service.
In this embodiment of the present application, the computation delay threshold of the edge computation service may be determined according to the service priority of the edge computation service, that is, the priority of processing different services, for example, the real-time performance of voice is higher than the real-time performance of text information, so the service priority of voice is higher than the service priority of text information.
Step S303: and acquiring the surplus transmission resources of the MEC server.
The surplus transmission resources of the MEC server refer to transmission resources, such as bandwidth, left by the MEC server, in addition to transmission resources used for guaranteeing service transmission of the traditional access network. Specifically, the transmission resource of the MEC server may be allocated by receiving the data buffer amount of the service data reported by the mobile device, and calculating the surplus transmission resource according to the data buffer amount of the service data.
Step S304: and switching the ACU to the function of the mobile edge computing MEC server based on the source data length of the edge computing service, the surplus transmission resource of the MEC server and the minimum computing resource demand.
Specifically, the implementation of step S304 may be: acquiring the transmission delay of the edge computing service according to the surplus transmission resources of the MEC server and the source data length of the edge computing service; when the available computing resources of the MEC server are larger than the minimum computing resource demand and the transmission delay of the edge computing service is smaller than the minimum transmission delay of the base station in the base station set, allocating corresponding surplus transmission resources and available computing resources for the edge computing request according to the source data length of the edge computing service; the MEC server which is distributed with the surplus transmission resources and the available calculation resources is accessed to the base station with the minimum transmission time delay in the base station set; and processing the edge calculation request from the base station with the minimum transmission delay by using surplus transmission resources and available calculation resources.
It should be noted that, in the above embodiment, the available computing resources of the MEC server are required to be greater than the minimum computing resource demand, and the transmission delay of the edge computing service is less than the minimum transmission delay of the base station in the base station set, because when the mobile edge computing resource is greater than the minimum computing resource requirement, and when the transmission delay of the edge computing service is greater than the computing delay threshold of the edge computing service, the computing resource of the MEC server and the wireless resource of the base station can both meet the computing requirement and the transmission requirement of the edge computing service of the mobile equipment, and ensure the service quality of the application service of the mobile equipment, at the moment, the base station schedules the transmission resource and the computing resource matched with the source data length of the edge computing service for transmitting and computing the edge computing service of the mobile equipment, thereby providing the mobile device with maximized computing resources and maximizing the benefits brought by the mobile edge computing.
As mentioned above, since the base stations are all connected to mobile devices such as unmanned vehicles and smart phones, these mobile devices may be in motion, for example, moving from a cell under the jurisdiction of one base station to a cell under the jurisdiction of another base station. Therefore, in the method provided in the above embodiment, after switching the ACU to the function of the mobile edge computing MEC server, the MEC server receives the status information of the mobile device sent by the source base station; determining a target base station according to the state information of the mobile equipment; and the MEC server sends the identification of the target base station to the mobile equipment through the source base station, wherein the state information of the mobile equipment comprises the position information and the speed information of the mobile equipment, and the mobile equipment is equipment for sending an edge calculation request to the base station. It can be known from the above embodiments that, since the handover of the mobile device between any two adjacent cells can be regarded as the handover within the coverage of the same MEC server, and the handover process can be calculated and controlled by the corresponding MEC server, the reliability and efficiency of cell handover can be improved, and the continuity of data transmission can be ensured.
It can be known from the above-mentioned multiplexing method of the automatic driving area controller illustrated in fig. 1 that, when the current state of the unmanned vehicle is the first state, the original function of the ACU of the automatic driving area controller is maintained, and when the current state of the unmanned vehicle is the second state, the ACU is switched to the function of the mobile edge computing MEC server.
Corresponding to the embodiment of the application function implementation method, the application also provides an automatic driving domain controller multiplexing device, electronic equipment and a corresponding embodiment.
Fig. 3 is a schematic structural diagram of an automatic driving range controller multiplexing device according to an embodiment of the present application. For convenience of explanation, only portions related to the embodiments of the present application are shown. The autonomous driving domain controller multiplexing apparatus illustrated in fig. 3 is applicable to autonomous driving, and mainly includes a detection module 301, a function holding module 302, and a function switching module 303, where:
the detection module 301 is configured to detect a current state of an unmanned vehicle, where the unmanned vehicle is deployed with an automatic driving area controller ACU;
a function maintaining module 302, configured to maintain an original function of the ACU if the current state of the unmanned vehicle is the first state;
the function switching module 303 is configured to switch the ACU to a function of the mobile edge computing MEC server if the current state of the unmanned vehicle is the second state.
As can be seen from the above-mentioned automatic driving area controller multiplexing apparatus illustrated in fig. 3, when the current state of the unmanned vehicle is the first state, the original function of the automatic driving area controller ACU is maintained, and when the current state of the unmanned vehicle is the second state, the ACU is switched to the function of the mobile edge computing MEC server.
Optionally, the function switching module 303 illustrated in fig. 3 may include a positioning unit, a base station acquiring unit, a first access unit, and a first processing unit, where:
the positioning unit is used for positioning the unmanned vehicle and acquiring the current position of the unmanned vehicle;
the base station acquisition unit is used for acquiring a base station closest to the unmanned vehicle according to the current position of the unmanned vehicle and a base station set configured in a preset area of the current position;
the first access unit is used for accessing the MEC server to a base station closest to the unmanned vehicle;
and the first processing unit is used for processing the edge calculation request from the base station closest to the unmanned vehicle.
Optionally, the positioning unit illustrated in fig. 3 may include a first obtaining unit, a second obtaining unit, and a fusing unit, where:
the first acquisition unit is used for acquiring a positioning equipment beacon packet sent by auxiliary positioning equipment;
the second acquisition unit is used for acquiring the relative distance between the unmanned vehicle and the auxiliary positioning equipment;
and the fusion unit is used for fusing the beacon packet of the positioning equipment and the relative distance between the unmanned vehicle and the auxiliary positioning equipment by adopting a Kalman filtering algorithm to obtain the current position of the unmanned vehicle.
Optionally, the function switching module 303 illustrated in fig. 3 may include a second receiving unit, a third acquiring unit, a fourth acquiring unit, and a controller switching unit, where:
a second receiving unit, configured to receive an edge calculation request broadcast by a base station in a base station set, where the edge calculation request includes a source data length of an edge calculation service;
a third obtaining unit, configured to obtain a minimum computation resource demand according to a source data length of an edge computation service and a computation delay threshold of the edge computation service, where the minimum computation resource demand is a minimum computation resource required by the MEC server to complete the edge computation service;
a fourth obtaining unit, configured to obtain the surplus transmission resource of the MEC server;
and the controller switching unit is used for switching the ACU into the function of the mobile edge computing MEC server based on the source data length of the edge computing service, the surplus transmission resource of the MEC server and the minimum computing resource demand.
Optionally, the fourth obtaining unit illustrated in fig. 3 may include a third receiving unit and a resource calculating unit, and the controller switching unit may include a fifth obtaining unit, an allocating unit, a second accessing unit, and a second processing unit, where:
the third receiving unit is used for receiving the data buffer amount of the service data reported by the mobile equipment;
the resource calculation unit is used for distributing the transmission resources of the MEC server according to the data buffer amount and calculating surplus transmission resources;
a fifth obtaining unit, configured to obtain a transmission delay of the edge computing service according to the surplus transmission resource and the source data length of the edge computing service;
the allocation unit is used for allocating corresponding surplus transmission resources and available computing resources for the edge computing request according to the source data length when the available computing resources of the MEC server are larger than the minimum computing resource demand and the transmission delay of the edge computing service is smaller than the minimum transmission delay of the base station in the base station set;
a second access unit, configured to access the MEC server, to which the surplus transmission resources and the available computation resources have been allocated, to a base station with the minimum transmission delay in the base station set;
and the second processing unit is used for processing the edge calculation request from the base station with the minimum transmission delay by adopting the surplus transmission resources and the available calculation resources of the MEC server.
Optionally, the above-mentioned example autonomous driving domain controller multiplexing apparatus may further include a state information receiving module, a determining module, and a sending module, wherein:
a state information receiving module, configured to switch the ACU to a function of the mobile edge computing MEC server in the function switching module 303, where the MEC server receives state information of the mobile device sent by the source base station, and the state information includes position information and speed information;
a determining module, configured to determine a target base station according to the state information of the mobile device;
and the sending module is used for sending the identification of the target base station to the mobile equipment by the MEC server through the source base station.
Optionally, the apparatus illustrated in fig. 3 may further include a secondary switching module, configured to, after the function switching module 303 switches the ACU to the function of the mobile edge computing MEC server, switch the MEC server to the original function of the ACU if the detection module 301 detects that the current state of the unmanned vehicle is changed to the first state.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 4 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Referring to fig. 4, an electronic device 400 includes a memory 410 and a processor 420.
The Processor 420 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 410 may include various types of storage units such as a system memory, a Read Only Memory (ROM), and a permanent storage device. Wherein the ROM may store static data or instructions that are required by the processor 420 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. Further, the memory 410 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, as well. In some embodiments, memory 410 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a digital versatile disc read only (e.g., DVD-ROM, dual layer DVD-ROM), a Blu-ray disc read only, an ultra-dense disc, a flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), a magnetic floppy disk, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.
The memory 410 has stored thereon executable code that, when processed by the processor 420, may cause the processor 420 to perform some or all of the methods described above.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) having executable code (or a computer program or computer instruction code) stored thereon, which, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform part or all of the various steps of the above-described method according to the present application.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (10)

1. An automatic driving domain controller multiplexing method is applied to automatic driving, and is characterized by comprising the following steps:
detecting the current state of an unmanned vehicle, wherein the unmanned vehicle is provided with an automatic driving Area Controller (ACU);
if the current state of the unmanned vehicle is a first state, the original functions of the ACU are kept;
and if the current state of the unmanned vehicle is the second state, switching the ACU to a function of a mobile edge computing MEC server.
2. The autopilot domain controller multiplexing method of claim 1 wherein the switching the ACU to a function of a mobile edge computing MEC server includes:
positioning the unmanned vehicle to obtain the current position of the unmanned vehicle;
acquiring a base station closest to the unmanned vehicle according to the current position of the unmanned vehicle and a base station set configured in a preset area of the current position;
accessing the MEC server to the base station closest to the unmanned vehicle;
processing an edge calculation request from the base station closest to the unmanned vehicle.
3. The autopilot domain controller multiplexing method of claim 2 wherein locating the unmanned vehicle to obtain the current position of the unmanned vehicle comprises:
acquiring a positioning equipment beacon packet sent by auxiliary positioning equipment;
acquiring a relative distance between the unmanned vehicle and the auxiliary positioning equipment;
and fusing the beacon packet of the positioning equipment and the relative distance between the unmanned vehicle and the auxiliary positioning equipment by adopting a Kalman filtering algorithm to obtain the current position of the unmanned vehicle.
4. The autopilot domain controller multiplexing method of claim 1 wherein the switching the ACU to a function of a mobile edge computing MEC server comprises:
receiving an edge calculation request broadcast by a base station in a base station set, wherein the edge calculation request comprises the source data length of an edge calculation service;
acquiring a minimum computing resource demand according to the source data length and a computing time delay threshold of the edge computing service, wherein the minimum computing resource demand is a minimum computing resource required by the MEC server to complete the edge computing service;
acquiring surplus transmission resources of the MEC server;
and switching the ACU to be the function of a Mobile Edge Computing (MEC) server based on the source data length, the surplus transmission resources and the minimum computing resource demand.
5. The autopilot domain controller multiplexing method of claim 4 wherein the obtaining of the surplus transmission resources of the MEC server comprises:
receiving a data buffer amount of the service data reported by the mobile equipment;
distributing transmission resources of the MEC server according to the data buffer amount, and calculating surplus transmission resources;
the switching the ACU to a function of a mobile edge computing MEC server based on the source data length, the surplus transmission resources, and the minimum computing resource demand includes:
acquiring the transmission delay of the edge computing service according to the surplus transmission resources and the source data length;
when the available computing resources of the MEC server are larger than the minimum computing resource demand and the transmission delay of the edge computing service is smaller than the minimum transmission delay of the base station in the base station set, allocating corresponding surplus transmission resources and available computing resources to the edge computing request according to the source data length;
accessing the MEC server which has been allocated the surplus transmission resources and the available computing resources to the base station with the minimum transmission delay in the base station set;
and processing the edge calculation request from the base station with the minimum transmission delay by adopting the surplus transmission resources and the available calculation resources.
6. The autonomous driving domain controller multiplexing method according to any of claims 1 to 5, characterized in that the method further comprises:
after the ACU is switched to a function of a Mobile Edge Computing (MEC) server, the MEC server receives state information of the mobile equipment, which is sent by a source base station, wherein the state information comprises position information and speed information;
determining a target base station according to the state information;
and the MEC server sends the identification of the target base station to the mobile equipment through the source base station.
7. The automated driving domain controller multiplexing method according to any of claims 1 to 6, wherein the method further comprises:
after the ACU is switched to the function of a mobile edge computing MEC server, if the fact that the current state of the unmanned vehicle is changed to the first state is detected, the MEC server is switched to the original function of the ACU.
8. An autopilot domain controller multiplexing apparatus for use in autopilot, the apparatus comprising:
the system comprises a detection module, a control module and a display module, wherein the detection module is used for detecting the current state of an unmanned vehicle, and the unmanned vehicle is provided with an automatic driving area controller ACU;
the function maintaining module is used for maintaining the original functions of the ACU if the current state of the unmanned vehicle is a first state;
and the function switching module is used for switching the ACU into the function of the mobile edge computing MEC server if the current state of the unmanned vehicle is the second state.
9. An electronic device, comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any one of claims 1 to 7.
10. A computer readable storage medium having stored thereon executable code which, when executed by a processor of an electronic device, causes the processor to perform the method of any of claims 1 to 7.
CN202210246664.0A 2022-03-14 2022-03-14 Automation driving domain controller multiplexing method, equipment and computer readable storage medium Pending CN114629936A (en)

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