CN114633752A - Mode switching method and device of automatic driving system and electronic equipment - Google Patents
Mode switching method and device of automatic driving system and electronic equipment Download PDFInfo
- Publication number
- CN114633752A CN114633752A CN202210214309.5A CN202210214309A CN114633752A CN 114633752 A CN114633752 A CN 114633752A CN 202210214309 A CN202210214309 A CN 202210214309A CN 114633752 A CN114633752 A CN 114633752A
- Authority
- CN
- China
- Prior art keywords
- mode
- component
- mode switching
- switching
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 179
- 230000008569 process Effects 0.000 claims abstract description 134
- 238000012544 monitoring process Methods 0.000 claims abstract description 55
- 238000004891 communication Methods 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 16
- 238000013473 artificial intelligence Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 230000001960 triggered effect Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The disclosure provides a mode switching method and device of an automatic driving system and electronic equipment, relates to the technical field of artificial intelligence, and particularly relates to an unmanned driving technology. The method comprises the following steps: acquiring a mode switching instruction through a mode switching monitoring component; according to the mode switching instruction, sending a mode switching request to a mode switching service component of a target process in at least two processes through a mode switching monitoring component, wherein the mode switching request comprises a target mode; and controlling the components running in the target process to be switched from the first components corresponding to the current mode to the second components corresponding to the target mode through the mode switching service components. The method realizes mode switching applicable to a distributed automatic driving system.
Description
Technical Field
The present disclosure relates to unmanned technologies in the field of artificial intelligence technologies, and in particular, to a mode switching method and apparatus for an automatic driving system, and an electronic device.
Background
The automatic driving system has various operation scenes in the actual operation process, and different scenes need different operation functional components, so that the automatic driving system corresponds to different modes of the automatic driving system, and therefore the automatic driving system often needs to switch modes in the operation process.
However, at present, an automatic driving system usually adopts a distributed structure, and there are many functional components in the automatic driving system, different functional components may operate in different processes, and the processes may operate on the same host or different hosts, so that the mode switching scheme is not suitable for the distributed automatic driving system.
Disclosure of Invention
The disclosure provides a mode switching method and device of an automatic driving system and electronic equipment suitable for a distributed automatic driving system.
According to a first aspect of the present disclosure, there is provided a mode switching method of an automatic driving system, including:
acquiring a mode switching instruction through a mode switching monitoring component;
according to the mode switching instruction, sending a mode switching request to a mode switching service component of a target process in at least two processes through a mode switching monitoring component, wherein the mode switching request comprises a target mode;
and controlling the components running in the target process to be switched from the first components corresponding to the current mode to the second components corresponding to the target mode through the mode switching service components.
According to a second aspect of the present disclosure, there is provided a mode switching apparatus of an automatic driving system, comprising:
the acquisition module is used for acquiring a mode switching instruction through the mode switching monitoring component;
a sending module, configured to send a mode switching request to a mode switching service component of a target process of the at least two processes through a mode switching monitoring component according to the mode switching instruction, where the mode switching request includes the target mode;
and the switching module is used for controlling the components operated in the target process to be switched from the first components corresponding to the current mode to the second components corresponding to the target mode through the mode switching service components.
According to a third aspect of the present disclosure, there is provided an electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.
According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of the first aspect described above.
According to a fifth aspect of the present disclosure, there is provided a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of an electronic device can read the computer program, execution of the computer program by the at least one processor causing the electronic device to perform the method of the first aspect.
According to the technical scheme of the disclosure, mode switching of the distributed automatic driving system is realized.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a schematic diagram of an autonomous driving system provided in accordance with an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart diagram illustrating a mode switching method of an automatic driving system according to an embodiment of the disclosure;
fig. 3 is a schematic structural diagram of a mode switching device of an automatic driving system according to an embodiment of the disclosure;
FIG. 4 is a schematic block diagram of an electronic device used to implement methods of embodiments of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
FIG. 1 is a schematic diagram of an autonomous driving system provided in accordance with an embodiment of the present disclosure. The scenario of multi-process and cross-machine process in the distributed mode system is illustrated. As shown in fig. 1, a process a (process a), a process b (process b), and a process c (process c) included in the automatic driving system are illustrated. Wherein, the process A and the process B are deployed on the Machine 1(Machine1), and the process C is deployed on the Machine 2(Machine 2). Three processes support two modes, Mode 1(Model) and Mode 2(Mode2), each Mode containing several functional components, for example, Mode 1 of process A includes Component 1(Component1) and Component 2(Component2), and Mode2 includes Component 3(Component3) and Component 4(Component 4). In addition, the automatic driving system may further include a process that does not require mode switching, such as process D (process D) in the figure, and the process D operates the component 13 and the component 14 regardless of the mode in which the automatic driving system operates. Fig. 1 illustrates only two modes, and in practical applications, the processes may support multiple modes, and the modes corresponding to different processes may be different, for example, in addition to the above examples, other processes corresponding to mode 3, mode 4, and the like may be included in the automatic driving system.
In addition to the functional components described above, in order to implement Mode switching, a Mode switching monitoring component (Mode switch) and a Mode switching service component (Mode service) are also included in the process of the embodiment of the present disclosure. In fig. 1, for example, the process a and the process C include the mode switching monitoring component, and in practical application, the mode switching monitoring component may be set in the process as needed. The mode switching service component may be provided in all processes supporting more than two modes, for example, the three processes A, B, C include the mode switching service component, and the process D does not include the mode switching service component. Process A in FIG. 1 also contains a Human Machine Interface (HMI) component.
The mode switching monitoring component is used for acquiring a mode switching instruction triggered by a user through a man-machine interface, or a mode switching instruction triggered by other signals, such as automatic triggering caused by scene change in the vehicle driving process. The mode switching service module is used for receiving a mode switching request from the mode switching monitoring module, and if the mode switching command request is received, the mode switching service module switches the mode of the component of the process in which the mode switching service module is located.
On the basis of the above framework, the present disclosure provides a mode switching method, device and electronic device for an automatic driving system, which are applied to the unmanned driving field in the technical field of artificial intelligence, and particularly can be applied to the operation scene switching process of an automatic driving vehicle to realize mode switching for a distributed automatic driving system.
Hereinafter, the mode switching method of the automatic driving system provided by the present disclosure will be described in detail by specific embodiments. It is to be understood that the following detailed description may be combined with other embodiments, and that the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 2 is a schematic flowchart of a mode switching method of an automatic driving system according to an embodiment of the disclosure. The method is mainly executed by a mode switching device of the automatic driving system, and the device can be realized in a software and/or hardware mode. As shown in fig. 2, the method includes:
s201, acquiring a mode switching instruction through a mode switching monitoring assembly.
The mode switching instruction may be triggered by a user through a human-computer interface, for example, the user clicks a mode switching button on the human-computer interface to trigger, or may be automatically triggered by the automatic driving vehicle during driving, for example, a scene changes during driving of the automatic driving vehicle, for example, a scene of normal driving is switched to a scene of automatic parking, so as to trigger the mode switching. The mode switch monitoring component may be a mode switch monitoring component in any process in the autonomous driving system.
S202, according to the mode switching instruction, a mode switching request is sent to a mode switching service component of a target process in at least two processes through the mode switching monitoring component.
Wherein, the mode switching request comprises a target mode.
At least two processes in the step refer to all processes included in the distributed automatic driving system, the target process refers to a process related to mode switching, namely a process supporting more than two modes, according to the mode switching instruction, the mode switching monitoring component sends a mode switching request to the mode switching service component in the target process, and the target process may include one or more processes. For example, the mode switch monitoring component in process A sends mode switch requests to the mode switch service component in process A, B, C, respectively.
S203, controlling the running component in the target process to be switched from the first component corresponding to the current mode to the second component corresponding to the target mode through the mode switching service component.
After receiving the mode switching request, the mode switching service component in the target process switches the component running in the process according to the target mode in the mode switching request, and switches the running component from the first component corresponding to the current mode to the second component corresponding to the target mode, for example, for the process a, the running component in the process a is switched from the components 1 and 2 corresponding to the mode 1 to the components 3 and 4 corresponding to the mode 2.
It should be noted that, for a target process, if the corresponding mode does not include the target mode, it is not necessary to switch the target process. For example, one target process corresponds to mode 3 and mode 4, and if the target mode is mode2, the target process does not need to be switched.
In the embodiment of the disclosure, the mode switching monitoring component and the mode switching service component are arranged in the process, and the mode switching monitoring component sends the mode switching request to the mode switching service components of other processes, so that the mode switching of the distributed automatic driving system is realized.
On the basis of the above embodiments, the mode switching scene and the mode switching method will be described. In the above embodiments, for switching the mode, that is, switching all components corresponding to the mode, the switching operation may include loading, unloading, enabling, disabling, resetting, and the like. In practical use, besides the above-mentioned switching of modes, there are also switching scenarios for components, that is, loading, unloading, enabling, disabling, resetting, etc. operations for components.
In the case of mode switching, the switching method may be divided into two types, one is light-weight switching, and the other is deep switching. The light-weight switching is to disable the current mode and then enable the target mode; the deep switching is to disable the current mode, then unload the current mode, then load the target mode, and then enable the target mode. In practical use, light-weight switching or deep switching can be adopted according to needs, for example, in some switching scenarios, the requirement on the aging is high, light-weight switching is adopted to realize quick switching, and in some switching scenarios, conflict exists between the current mode and the target mode, for example, in some switching scenarios, some components cannot run simultaneously, deep switching needs to be used.
Optionally, a switching mode is determined according to the current mode and the target mode, and the switching mode is one of a lightweight switching mode and a deep switching mode; and controlling the components running in the target process to be switched from the first component corresponding to the current mode to the second component corresponding to the target mode through the mode switching service component according to the switching mode.
Optionally, the switching mode is a lightweight switching mode; according to a lightweight switching approach, a first component is disabled and a second component is enabled by a mode switching service component. For example, for process A of the previous example, component1 and component2 are disabled and component3 and component4 are enabled according to a lightweight switching approach. Thereby achieving fast handover.
Optionally, the switching mode is a deep switching mode; and according to the deep switching mode, disabling and uninstalling the first component and loading and enabling the second component through the mode switching service component. For example, for process a of the foregoing example, according to the deep switching manner, component1 and component2 are disabled, then component1 and component2 are uninstalled, then component3 and component4 are loaded, and then component3 and component4 are enabled. Therefore, the mode switching is ensured to be successful, and the component conflict is avoided.
The mechanism of communication between the components is further described below.
In the automatic driving system of the embodiment of the disclosure, each process includes a discovery component, and the discovery component is used for monitoring the states of all components in the process where the discovery component is located, namely the states of the components on line or off line. Optionally, the states of all the components in the process where the components are found are monitored by the finding component; and broadcasting the state of the component to enable the mode switching monitoring component to send a mode switching request to a mode switching service component of a target process in at least two processes according to the mode switching instruction and the state of the component, so as to ensure that the mode switching request is correctly sent.
When each component in the automatic driving system is on-line or off-line, the discovery component in the process where the component is located can acquire the state of the component and broadcast the state of the component, so that the discovery components of other processes can acquire the states of the components, that is, any process in the automatic driving system can acquire the states of all the components in other processes. For the mode switching service component, the discovery component may also obtain the status of the mode switching service component.
For the target process related to mode switching, namely the process supporting more than two modes, a mode switching service component is included. After the mode switching monitoring component acquires the mode switching instruction, the mode switching monitoring component can send a mode switching request to the mode switching service component of the target process according to the state of the mode switching service component of the target process acquired by the discovery component. Thereby realizing the mode switching of cross-process.
Since the processes in the autopilot system may be deployed on the same machine (or called host or device) or on different machines, different communication manners may be adopted between the components, for example, different components in the same process or components of different processes on the same machine may communicate by sharing a memory. The components on different machines may communicate with each other in a distributed real-time manner, for example, in a Data Distribution Service (DDS).
Optionally, the mode switching monitoring component and the target process are deployed in the same device; and sending a mode switching request to a mode switching service component of the target process by a mode switching monitoring component in a memory sharing mode. Thereby improving communication efficiency.
Optionally, the mode switching monitoring component and the target process are deployed in different devices; and sending a mode switching request to a mode switching service component of the target process by adopting a distributed real-time communication mode through the mode switching monitoring component. Thereby ensuring normal communication under the cross-machine condition.
In addition, since there is a possibility that a switching failure occurs when the automatic driving system performs a mode switching, the embodiment of the present disclosure adds an exception handling function thereto. When the mode switching monitoring component sends a mode switching request to the mode switching service component, a timeout parameter can be added into the mode switching request, and the mode switching service component triggers an alarm and feeds back the reason of the switching failure under the condition that the switching is not completed within the timeout time, so that the automatic driving system is prevented from waiting for a long time under the condition of the switching failure.
Fig. 3 is a schematic structural diagram of a mode switching device of an automatic driving system according to an embodiment of the present disclosure. As shown in fig. 3, the mode switching device 500 of the automatic driving system includes:
an obtaining module 301, configured to obtain a mode switching instruction through a mode switching monitoring component;
a sending module 302, configured to send a mode switching request to a mode switching service component of a target process in the at least two processes through the mode switching monitoring component according to the mode switching instruction, where the mode switching request includes the target mode;
a switching module 303, configured to control, by the mode switching service component, a component running in the target process to be switched from a first component corresponding to the current mode to a second component corresponding to the target mode.
In one embodiment, the switching module 303 includes:
the determining unit is used for determining a switching mode according to the current mode and the target mode, wherein the switching mode is one of a lightweight switching mode and a deep switching mode;
and the control unit is used for controlling the components running in the target process to be switched from the first components corresponding to the current mode to the second components corresponding to the target mode through the mode switching service components according to the switching mode.
In one embodiment, the switching mode is a lightweight switching mode; a control unit comprising:
and the first control subunit is used for disabling the first component and enabling the second component through the mode switching service component according to the lightweight switching mode.
In one embodiment, the handover mode is a deep handover mode; a control unit comprising:
and the second control subunit is used for disabling and unloading the first component and loading and enabling the second component through the mode switching service component according to the depth switching mode.
In one embodiment, the sending module 302 includes:
the discovery unit is used for monitoring the states of all the components in the process where the components are found through the discovery components;
a broadcasting unit for broadcasting the status of the component;
and the first sending unit is used for sending a mode switching request to a mode switching service component of a target process in at least two processes through the mode switching monitoring component according to the mode switching instruction and the state of the component.
In one embodiment, the mode switching monitoring component and the target process are deployed in the same device; a sending module 302, comprising:
and the second sending unit is used for sending the mode switching request to the mode switching service component of the target process in a memory sharing mode through the mode switching monitoring component.
In one embodiment, the mode switch monitoring component and the target process are deployed in different devices; a sending module 302, comprising:
and the third sending unit is used for sending the mode switching request to the mode switching service component of the target process in a distributed real-time communication mode through the mode switching monitoring component.
The device of the embodiment of the present disclosure may be used to execute the mode switching method of the automatic driving system in the above method embodiment, and the implementation principle and the technical effect are similar, which are not described herein again.
The present disclosure also provides an electronic device and a non-transitory computer-readable storage medium storing computer instructions, according to embodiments of the present disclosure.
According to an embodiment of the present disclosure, the present disclosure also provides a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of the electronic device can read the computer program, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any of the embodiments described above.
FIG. 4 is a schematic block diagram of an electronic device used to implement methods of embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 4, the electronic device 400 includes a computing unit 401 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)402 or a computer program loaded from a storage unit 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the device 400 can also be stored. The computing unit 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
A number of components in the electronic device 400 are connected to the I/O interface 405, including: an input unit 406 such as a keyboard, a mouse, or the like; an output unit 407 such as various types of displays, speakers, and the like; a storage unit 408 such as a magnetic disk, optical disk, or the like; and a communication unit 409 such as a network card, modem, wireless communication transceiver, etc. The communication unit 409 allows the device 400 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The Server can be a cloud Server, also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service ("Virtual Private Server", or simply "VPS"). The server may also be a server of a distributed system, or a server incorporating a blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (17)
1. A mode switching method of an automatic driving system, comprising:
acquiring a mode switching instruction through a mode switching monitoring component;
according to the mode switching instruction, sending a mode switching request to a mode switching service component of a target process in at least two processes through a mode switching monitoring component, wherein the mode switching request comprises a target mode;
and controlling the components running in the target process to be switched from the first components corresponding to the current mode to the second components corresponding to the target mode through the mode switching service components.
2. The method of claim 1, wherein the controlling, by the mode switching service component, the component running in the target process to be switched from a first component corresponding to a current mode to a second component corresponding to a target mode comprises:
determining a switching mode according to the current mode and the target mode, wherein the switching mode is one of a lightweight switching mode and a deep switching mode;
and controlling the components operated in the target process to be switched from the first components corresponding to the current mode to the second components corresponding to the target mode through the mode switching service components according to the switching mode.
3. The method of claim 2, wherein the handover mode is a lightweight handover mode;
the controlling, by the mode switching service component, the component running in the target process to be switched from the first component corresponding to the current mode to the second component corresponding to the target mode according to the switching manner includes:
according to the lightweight switching mode, the first component is disabled and the second component is enabled through the mode switching service component.
4. The method of claim 2, wherein the handover pattern is a deep handover pattern;
the controlling, by the mode switching service component according to the switching manner, the component running in the target process to be switched from the first component corresponding to the current mode to the second component corresponding to the target mode includes:
and according to the deep switching mode, disabling and uninstalling the first component and loading and enabling the second component through the mode switching service component.
5. The method according to any one of claims 1-4, wherein the sending, by the mode switch monitoring component, the mode switch request to the mode switch service component of the target process of the at least two processes according to the mode switch instruction comprises:
monitoring the states of all the components in the process where the found components are located through the found components;
and broadcasting the state of the component so that the mode switching monitoring component sends a mode switching request to a mode switching service component of a target process in at least two processes according to the mode switching instruction and the state of the component.
6. The method according to any one of claims 1-5, wherein the mode switch monitoring component and the target process are deployed in the same device;
the sending of the mode switching request to the mode switching service component of the target process of the at least two processes by the mode switching monitoring component includes:
and sending a mode switching request to a mode switching service component of the target process by a mode switching monitoring component in a memory sharing mode.
7. The method of any of claims 1-5, wherein the mode switch monitoring component and the target process are deployed in different devices;
the sending of the mode switching request to the mode switching service component of the target process of the at least two processes by the mode switching monitoring component includes:
and sending a mode switching request to a mode switching service component of the target process by a mode switching monitoring component in a distributed real-time communication mode.
8. A mode switching device of an automatic driving system, comprising:
the acquisition module is used for acquiring a mode switching instruction through the mode switching monitoring component;
a sending module, configured to send a mode switching request to a mode switching service component of a target process of the at least two processes through a mode switching monitoring component according to the mode switching instruction, where the mode switching request includes the target mode;
and the switching module is used for controlling the components operated in the target process to be switched from the first components corresponding to the current mode to the second components corresponding to the target mode through the mode switching service components.
9. The apparatus of claim 8, wherein the switching module comprises:
a determining unit, configured to determine a switching manner according to the current mode and the target mode, where the switching manner is one of a lightweight switching manner and a deep switching manner;
and the control unit is used for controlling the components operated in the target process to be switched from the first components corresponding to the current mode to the second components corresponding to the target mode through the mode switching service components according to the switching mode.
10. The apparatus of claim 9, wherein the switching manner is a lightweight switching manner; the control unit includes:
and the first control subunit is used for disabling the first component and enabling the second component through the mode switching service component according to the lightweight switching mode.
11. The apparatus of claim 9, wherein the switching pattern is a deep switching pattern; the control unit includes:
and the second control subunit is used for disabling and uninstalling the first component through the mode switching service component and loading and enabling the second component according to the depth switching mode.
12. The apparatus of any of claims 8-11, wherein the means for transmitting comprises:
the discovery unit is used for monitoring the states of all the components in the process where the discovery component is located through the discovery component;
a broadcasting unit for broadcasting a status of the component;
and the first sending unit is used for sending a mode switching request to a mode switching service component of a target process in at least two processes through the mode switching monitoring component according to the mode switching instruction and the state of the component.
13. The apparatus according to any one of claims 8-12, wherein the mode switch monitoring component and the target process are deployed in the same device; the sending module comprises:
and the second sending unit is used for sending a mode switching request to the mode switching service component of the target process in a memory sharing mode through the mode switching monitoring component.
14. The apparatus of any of claims 8-12, wherein the mode switch monitoring component and the target process are deployed in different devices; the sending module comprises:
and the third sending unit is used for sending a mode switching request to the mode switching service component of the target process in a distributed real-time communication mode through the mode switching monitoring component.
15. An electronic device, comprising:
at least one processor; and a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
16. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-7.
17. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210214309.5A CN114633752A (en) | 2022-03-04 | 2022-03-04 | Mode switching method and device of automatic driving system and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210214309.5A CN114633752A (en) | 2022-03-04 | 2022-03-04 | Mode switching method and device of automatic driving system and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114633752A true CN114633752A (en) | 2022-06-17 |
Family
ID=81947595
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210214309.5A Pending CN114633752A (en) | 2022-03-04 | 2022-03-04 | Mode switching method and device of automatic driving system and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114633752A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115079618A (en) * | 2022-07-27 | 2022-09-20 | 福思(杭州)智能科技有限公司 | Domain controller control method and apparatus, storage medium, and electronic apparatus |
-
2022
- 2022-03-04 CN CN202210214309.5A patent/CN114633752A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115079618A (en) * | 2022-07-27 | 2022-09-20 | 福思(杭州)智能科技有限公司 | Domain controller control method and apparatus, storage medium, and electronic apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8521929B2 (en) | Virtual serial port management system and method | |
| CN112667266B (en) | Firmware upgrading method, device, equipment and storage medium | |
| CN111586128A (en) | Method, device and equipment for acquiring applet data and storage medium | |
| CN112653758B (en) | Method, device, equipment and medium for updating edge node | |
| CN114035863A (en) | Method, device and equipment for operating android application in Linux system | |
| CN114633752A (en) | Mode switching method and device of automatic driving system and electronic equipment | |
| CN111625195A (en) | Method and device for server capacity expansion | |
| CN113778644B (en) | Task processing method, device, equipment and storage medium | |
| CN112559498B (en) | Method and device for constructing distributed architecture of time sequence space-time database system | |
| CN113608970A (en) | Core board, server, failure recovery method, device and storage medium | |
| CN113742075A (en) | Task processing method, device and system based on cloud distributed system | |
| CN113608765A (en) | Data processing method, device, equipment and storage medium | |
| CN113067769A (en) | Router restarting method, device, equipment and storage medium | |
| CN112631682A (en) | Applet processing method, device, equipment and storage medium | |
| CN114228745B (en) | Driving system module control method, device, equipment, medium, product and vehicle | |
| CN114281389A (en) | Method and device for upgrading SOC (system on chip) and automatic driving vehicle | |
| CN114170821A (en) | Signal machine performance detection method and device and traffic signal lamp control system | |
| CN112799642A (en) | Method, apparatus, device and storage medium for processing data | |
| CN111752695A (en) | Offline method, device, equipment and storage medium | |
| JP2022013631A (en) | Method, device, electronic apparatus, and storage medium for controlling vehicle | |
| CN113253938A (en) | Data processing method, device, equipment, storage medium and computer program product | |
| CN112714420A (en) | Network access method and device of wifi hotspot providing equipment and electronic equipment | |
| CN113596129B (en) | Restarting method, restarting device, restarting equipment and restarting storage medium of cloud mobile phone | |
| CN115686748B (en) | Service request response method, device, equipment and medium under virtualization management | |
| CN114670869A (en) | System, system starting method and device and automatic driving vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |