CN115225695B - Radar message sending method, device, equipment, medium and program product - Google Patents

Radar message sending method, device, equipment, medium and program product Download PDF

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Publication number
CN115225695B
CN115225695B CN202210837011.XA CN202210837011A CN115225695B CN 115225695 B CN115225695 B CN 115225695B CN 202210837011 A CN202210837011 A CN 202210837011A CN 115225695 B CN115225695 B CN 115225695B
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China
Prior art keywords
configuration information
point cloud
cloud data
upper computer
sending
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CN115225695A (en
Inventor
尹树力
申耀明
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Apollo Intelligent Technology Beijing Co Ltd
Baidu USA LLC
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Apollo Intelligent Technology Beijing Co Ltd
Baidu USA LLC
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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
    • H04L67/14—Session management
    • H04L67/141—Setup of application sessions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/0635—Clock or time synchronisation in a network
    • H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
    • H04J3/0658—Clock or time synchronisation among packet nodes
    • H04J3/0661—Clock or time synchronisation among packet nodes using timestamps
    • H04J3/0667—Bidirectional timestamps, e.g. NTP or PTP for compensation of clock drift and for compensation of propagation delays
    • 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
    • H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • Computer Security & Cryptography (AREA)
  • Information Transfer Between Computers (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The disclosure provides a radar message sending method, device, equipment, medium and program product, relates to the technical field of artificial intelligence, and particularly relates to the technical field of intelligent traffic and automatic driving. The specific implementation scheme is as follows: acquiring network connection configuration information; generating simulated radar point cloud data; and sending a target message to an upper computer based on the network connection configuration information, wherein the target message comprises the simulated radar point cloud data, and the message format of the target message is the same as the point cloud data message format of the target radar. The present disclosure may reduce the consumption of radar.

Description

Radar message sending method, device, equipment, medium and program product
Technical Field
The disclosure relates to the technical field of intelligent transportation and automatic driving, in particular to a radar message sending method, a device, equipment, a medium and a program product.
Background
Radar is currently widely used, and data of radar is required to be used in many situations, for example: in the context of hardware debugging or testing of autopilot systems (e.g., L3-L4 level autopilot), it is necessary to debug, test, or develop based on radar data. At present, real data generated by real radars are used in the scenes, and some systems are connected with a plurality of real radars to perform bench tests or complete machine tests such as reliability and the like.
Disclosure of Invention
The present disclosure provides a radar messaging method, apparatus, device, medium, and program product.
According to an aspect of the present disclosure, there is provided a radar message transmitting method, including:
acquiring network connection configuration information;
generating simulated radar point cloud data;
and sending a target message to an upper computer based on the network connection configuration information, wherein the target message comprises the simulated radar point cloud data, and the message format of the target message is the same as the point cloud data message format of the target radar.
According to another aspect of the present disclosure, there is provided a radar message transmitting apparatus, including:
the first acquisition module is used for acquiring network connection configuration information;
the first generation module is used for generating simulated radar point cloud data;
the first sending module is used for sending a target message to the upper computer based on the network connection configuration information, wherein the target message comprises the simulated radar point cloud data, and the message format of the target message is the same as the point cloud data message format of the target radar.
According to another aspect of the present disclosure, there is provided an electronic device including:
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 methods provided by the present disclosure.
According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the method provided by the present disclosure.
According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method provided by the present disclosure.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a flowchart of a method for sending a radar message provided in the present disclosure;
FIG. 2 is a schematic diagram of a radar simulation scenario provided by the present disclosure;
fig. 3 is a schematic diagram of a radar message transmission provided by the present disclosure;
fig. 4 is a schematic diagram of a radar message transmitting device provided in the present disclosure;
fig. 5 is a schematic diagram of another radar message transmitting device provided by the present disclosure;
fig. 6 is a schematic diagram of another radar message transmitting device provided by the present disclosure;
fig. 7 is a schematic diagram of another radar message transmitting device provided by the present disclosure;
fig. 8 is a block diagram of an electronic device used to implement an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one 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.
Referring to fig. 1, fig. 1 is a flowchart of a method for sending a radar message provided in the present disclosure, as shown in fig. 1, including the following steps:
step S101, network connection configuration information is acquired.
The network connection configuration information may be used for configuration information sent by a data network, for example, including at least one of the following:
network connection configuration information such as internet protocol (Internet Protocol, IP) address, port configuration information, media access control (Medium Access Control, MAC) address, etc.
The acquiring the network connection configuration information may be to establish a network connection to acquire the network connection configuration information, for example, to establish a network connection through an internal network to acquire the network connection configuration information. In some embodiments, the network connection configuration information configured by the server, the host computer, or the like may be received.
Step S102, generating simulated radar point cloud data.
The above-mentioned simulated radar point cloud data is simulated point cloud data of point cloud data for simulating a radar, for example, the simulated point cloud data may be point cloud data simulating an environment of an automatic driving vehicle.
In some embodiments, the above-described simulated radar point cloud data may also be understood as virtual radar point cloud data.
The generating of the simulated radar point cloud data may be a transmission control protocol (Transport Control Protocol, TCP) or a user datagram protocol (User Data Protocol, UDP) point cloud data of the simulated radar; alternatively, the generation of the simulated radar point cloud data may be to use pre-stored three-dimensional point cloud data of an actual scene of the common radar as the simulated radar point cloud data, for example, the three-dimensional point cloud data of the actual scene of the common radar is stored in a local memory, where the memory includes, but is not limited to, a storage device such as an Embedded multimedia Card (eMMC), a secure digital Card (Secure Digital Card, SD), and the like. The real effect of the simulated radar point cloud data can be improved by taking the pre-stored three-dimensional point cloud data as the simulated radar point cloud data.
Step S103, based on the network connection configuration information, a target message is sent to an upper computer, wherein the target message comprises the simulated radar point cloud data, and the message format of the target message is the same as the point cloud data message format of the target radar.
The target message may be a target message that includes a message format simulating radar point cloud data, where the report format of the target message is determined based on the message format of the point cloud data of the target radar.
The target radar may be a pre-selected type of radar, or a plurality of different types of radar.
In the present disclosure, the target radar is a lidar, such as one or more types of lidars. In some embodiments, the target radar may also be a millimeter wave radar, such as one or more different types of millimeter wave radar.
In some embodiments, the target radar may be a radar mounted on an autonomous vehicle, such as a primary LiDAR (abbreviated as LiDAR) of an autonomous vehicle. In some embodiments, the target radar may be a radar mounted on a robot, an airplane, or the like.
The sending the target message to the upper computer based on the network connection configuration information may be sending the target message to the upper computer based on the network connection of the network connection configuration information.
In this disclosure, the host computer includes, but is not limited to: an autonomous vehicle computing platform or computer.
The above-mentioned calculation platform of the automatic driving vehicle may be a calculation platform in the automatic driving vehicle, or may be a remote control platform for remotely controlling the automatic driving vehicle.
The radar data of the automatic driving vehicle can be simulated by the automatic driving vehicle computing platform, so that the consumption of the automatic driving vehicle to the radar is reduced. For example: in system testing, debugging or developing applications, system testing, debugging or developing is performed based on the simulated messages, so that radar is not required to be used, and consumption of radar is reduced.
The computer may be a computer used in the context of hardware system debugging, testing, or development.
In the disclosure, the target message can be applied to the scenes of radar data post-processing, monitoring and debugging, hardware development, hardware testing, automatic driving testing and the like of the upper computer.
In the disclosure, since the message format of the target message sent to the upper computer is the same as the point cloud data message format of the target radar, and the target report includes the simulated radar point cloud data, after the upper computer receives the target message, the target message is considered to be the message sent by the target radar, and the simulated radar point cloud data is the point cloud data of the target radar, so that the message sending of the simulated target radar is realized, and the consumption of the radar is reduced.
For example: in the long-time (for example, a period of time of a week is more than 100 hours) pressure test, if a radar is used for sending a message, the consumption of the radar is great, the emission performance of the radar can be reduced, and the pressure or bench is generally narrow in space for long-time test, so that the radar is not beneficial to heat dissipation of the radar or actual sensing application scene, and is a great consumption for the radar; by adopting the method provided by the disclosure to simulate the message transmission of the radar, the consumption of the radar can be reduced, so as to avoid influencing the emission performance of the radar.
It should be noted that the above method provided by the present disclosure may be performed by an electronic device.
In some embodiments, the electronic device may be a System-on-a-chip (SOC) board including an advanced reduced instruction set computer (Advanced RISC Machine, ARM) processor and an FPGA.
In other embodiments, the electronic device may be a computer, a mobile phone, or other electronic devices.
The electronic device performing the above method in the present disclosure may also be referred to as a data simulation device or simulator, i.e. a device for simulating radar point cloud data.
In one embodiment, before step S102 in the embodiment shown in fig. 1, the method further includes:
receiving an acquisition request sent by the upper computer, wherein the acquisition request is used for requesting to acquire first configuration information of the simulated radar point cloud data;
responding to the acquisition request, and sending the first configuration information to the upper computer;
under the condition that second configuration information is received, the simulated radar point cloud data is generated based on the second configuration information, wherein the second configuration information is configuration information which is changed and sent by the upper computer to the first configuration information;
in the event that the second configuration information is not received, the simulated radar point cloud data is generated based on the first configuration information.
The acquisition request may be sent with the host computer viewing or modifying configuration information of the simulated radar point cloud data.
Since the above-mentioned simulated radar point cloud data is simulated data of the target radar, the first configuration information of the above-mentioned simulated radar point cloud data may be understood as first configuration information of the target radar. The first configuration information may include, but is not limited to, an echo pattern, an echo message frequency, and the like radar configuration. In some embodiments, the first configuration information may include configuration information such as data accuracy, data volume, and simulation scene of the simulated radar point cloud data.
The upper computer receives the second configuration information to change the first configuration information, specifically, after receiving the first configuration information, the upper computer modifies the first configuration information and returns modified second configuration information. Thus, upon receiving the second configuration information, the simulated radar point cloud data is generated based on the second configuration information.
And the upper computer determines that the first configuration information does not need to be modified after acquiring the first configuration information when the second configuration information is not received. In this way, the above-described simulated radar point cloud data is generated based on the first configuration information without receiving the second configuration information.
In this embodiment, under the condition that the second configuration information is received, the simulated radar point cloud data is generated based on the second configuration information, so that the simulated radar point cloud data required by the upper computer can be generated based on the second configuration information, and the flexibility of the simulated radar is improved.
In one embodiment, the network connection configuration information includes an IP address, and the acquisition request is an access request for the IP address;
the responding to the acquisition request, sending the first configuration information to the upper computer, includes:
responding to the access request, and sending webpage content to the upper computer, wherein the webpage content is as follows: and processing the first configuration information according to a webpage format file to obtain webpage content comprising the first configuration information.
In this embodiment, the first configuration information may be packaged in advance according to a Web page (Web) format file, so as to obtain the Web page content, where the Web page content is used for displaying on an upper computer. And stores the web page content into the EMMC or SD card. And sending the access request to the bottom layer through the IP address after receiving the outside, and sending the stored webpage content to the webpage end of the upper computer for display by the bottom layer according to the content of the access request.
In this embodiment, configuration information transfer can be implemented through a web page technology, so that the upper computer can directly display the first configuration information through the web page corresponding to the IP address, thereby improving the visibility of the configuration information.
In addition, in this embodiment, when the upper computer modifies the first configuration information, the upper computer may directly modify the web page corresponding to the IP address, and return the modified second configuration information through the web page.
It should be noted that, in the present disclosure, the configuration information is not limited to be transferred through a web page, for example: configuration information transfer may also be performed by bluetooth or the like in some embodiments.
In one embodiment, the target radar in the present disclosure includes at least two radars, and the at least two radars are different in model;
step S103 in the embodiment shown in fig. 1 includes:
and sending at least two messages to the upper computer, wherein the at least two messages respectively comprise at least two pieces of simulated radar point cloud data, and the message formats of the at least two messages are the same as the point cloud data message formats of the at least two radars respectively.
The at least two radars may be two radars of different types, and the scanning ranges of the at least two radars may be the same or different.
In this embodiment, the message format of the point cloud data of each radar may be obtained in advance, for example, different point cloud data message formats of the radar may be implemented through software logic, so that after the simulated radar point cloud data is generated, the simulated radar point cloud data may be added to the corresponding message format to obtain the target message. For example: in the initial process, initializing the radar model and the corresponding point cloud data message format, so that when a message is sent, the corresponding message can be sent according to the radar model.
In this embodiment, it is possible to realize a plurality of radars of different models, which can save cost of debugging or testing, because it is not necessary to purchase a plurality of radars.
For example: as shown in fig. 2, the autopilot host computing platform requires 6 radars in radar system commissioning, specifically 201 as shown in fig. 2. In this embodiment, the data of multiple radars may be simulated, so for 6 radars shown in 201, only 5 simulators shown in 202 may be needed, where the simulators may be understood as devices that send the target message.
It should be noted that fig. 2 is only an illustration of simulating two radars by one simulator, and the present disclosure may be to simulate point cloud data of 6 radars by one simulator, or simulate point cloud data of 6 radars by 3 simulators, respectively.
In some embodiments, the network connection configuration information includes configuration information of at least two ports; the sending at least two messages to the upper computer includes:
and sending at least two messages to the upper computer through the at least two ports respectively.
Thus, the analog messages of different radars can be sent through different ports, so that the message sending efficiency is improved.
In addition, the at least two messages may be sent simultaneously by the multi-core processor, for example: at least two ports simultaneously output at least two paths of messages of different types, and each type of message corresponds to one radar, so that the function of simultaneously outputting at least two radar data by one simulation device is realized.
In some embodiments, the at least two messages may be sent through one port, for example, when the network bandwidth is sufficient, one port outputs the corresponding message of multiple radars at the same time, so that one port simulates the message of multiple radars.
In one embodiment, the method further comprises:
performing time synchronization operation with the upper computer to obtain a time synchronization result;
generating a timestamp of the simulated radar point cloud data based on the time synchronization result;
the target message includes the simulated radar point cloud data and the timestamp.
The time synchronization operation with the upper computer may be implemented by a hardware connection, for example, the upper computer performs reception and processing of a Pulse Per Second (PPS) or a recommended positioning information (Recommended Minimum Specific, GPRMC) signal by hardware, so as to implement time synchronization with the upper computer system. For example: and the FPGA of the SOC receives and processes the PPS or GPRMC signals to obtain synchronous time stamps, and then the time stamps are synchronized to the ARM end, and meanwhile, the ARM end can realize the processing of the simulated radar point cloud data and the processing of the time stamps and output complete target messages.
Alternatively, the time synchronization operation with the upper computer may be time synchronization with the upper computer through a precision time protocol (precise time protocol, PTP).
In this embodiment, since the target message includes a timestamp that is time-synchronized with the host computer, simulation of the target message in two dimensions of time and point cloud data can be achieved, so that the host computer can perform testing, debugging or development with high time requirements based on the target message, so as to improve the simulation effect of radar data.
In one embodiment, as shown in fig. 3, in the radar data simulation system, the FPGA acquires PPS and GPRMC signals 302 through PPS and GPRMC interfaces 301, the arm performs system initialization 303, and the IP address, port, and MAC address initialization 304, and the arm may also perform time synchronization 305 by using PTP protocol, and generate the target packet 306; the ARM host performs configuration information interaction and monitoring parameter transfer 307, and the ethernet interface outputs the target message 308.
In one embodiment, further comprising:
acquiring monitoring parameters of data simulation equipment, wherein the data simulation equipment is equipment for sending the target message to the upper computer;
and sending the monitoring parameters to the upper computer.
The above data simulation device may be understood as a device for performing the radar message transmission provided by the present disclosure.
The monitoring parameter is a device parameter of the data simulation device, such as a virtual device parameter and a real device parameter of the data simulation device, and the device parameter may include at least one of the following:
network parameters, temperature, duration of use, voltage, current, etc.
The sending the monitoring parameter to the upper computer may be actively sending the monitoring parameter to the upper computer.
In this embodiment, the execution time of sending the monitoring parameter to the upper computer is not limited, for example: the steps may be performed periodically or randomly, and the order of execution between the steps and the steps in the embodiment shown in fig. 1 is not limited, and may be performed simultaneously or sequentially.
In this embodiment, the monitoring parameters are sent to the upper computer, so that the upper computer can monitor the data simulation device for simulating the radar data in time, so as to avoid errors or faults of the data simulation device, and the like, so that the simulated radar point cloud data can be acquired better.
In some embodiments, based on the network connection configuration information, sending the target message to the upper computer may include:
and sending the target message to the upper computer through UDP or TCP based on the network connection configuration information, namely sending the UDP or TCP message to the upper computer.
In the method, the message format of the target message sent to the upper computer is the same as the point cloud data message format of the target radar, and the target report comprises the simulated radar point cloud data, so that the message sending of the simulated target radar can be realized, and the consumption of the radar is reduced.
Referring to fig. 4, fig. 4 is a diagram illustrating a radar message transmitting apparatus provided in the present disclosure, and as shown in fig. 4, a radar message transmitting apparatus 400 includes:
a first obtaining module 401, configured to obtain network connection configuration information;
a first generation module 402 for generating simulated radar point cloud data;
the first sending module 403 is configured to send a target message to an upper computer based on the network connection configuration information, where the target message includes the simulated radar point cloud data, and a message format of the target message is the same as a point cloud data message format of a target radar.
In one embodiment, as shown in fig. 5, the radar message transmitting apparatus 500 includes:
a first obtaining module 501, configured to obtain network connection configuration information;
a first generation module 502, configured to generate simulated radar point cloud data;
a first sending module 503, configured to send a target packet to an upper computer based on the network connection configuration information, where the target packet includes the simulated radar point cloud data, and a packet format of the target packet is the same as a point cloud data packet format of a target radar;
a receiving module 504, configured to receive an acquisition request sent by the upper computer, where the acquisition request is used to request to acquire first configuration information of the simulated radar point cloud data;
a second sending module 505, configured to send the first configuration information to the upper computer in response to the acquisition request;
under the condition that second configuration information is received, the simulated radar point cloud data is generated based on the second configuration information, wherein the second configuration information is configuration information which is changed and sent by the upper computer to the first configuration information;
in the event that the second configuration information is not received, the simulated radar point cloud data is generated based on the first configuration information.
In one embodiment, the network connection configuration information includes an internet protocol, IP, address, the acquisition request being an access request for the IP address;
the second sending module 505 is configured to send, in response to the access request, web content to the upper computer, where the web content is: and processing the first configuration information according to a webpage format file to obtain webpage content comprising the first configuration information.
In one embodiment, in the embodiments shown in fig. 4 and 5, the target radar includes at least two radars, and the at least two radars are different in model numbers;
the first sending module is used for sending at least two messages to the upper computer, the at least two messages respectively comprise at least two pieces of analog radar point cloud data, and message formats of the at least two messages are respectively identical to the point cloud data message formats of the at least two radars.
In one embodiment, as shown in fig. 6, the radar message transmitting apparatus 600 includes:
a first obtaining module 601, configured to obtain network connection configuration information;
a first generation module 602, configured to generate simulated radar point cloud data;
a first sending module 603, configured to send a target packet to an upper computer based on the network connection configuration information, where the target packet includes the simulated radar point cloud data, and a packet format of the target packet is the same as a point cloud data packet format of a target radar;
the synchronization module 604 is configured to perform a time synchronization operation with the upper computer, so as to obtain a time synchronization result;
a second generating module 605, configured to generate a timestamp of the simulated radar point cloud data based on the time synchronization result;
the target message includes the simulated radar point cloud data and the timestamp.
In one embodiment, as shown in fig. 7, the radar message transmitting apparatus 700 includes:
a first obtaining module 701, configured to obtain network connection configuration information;
a first generation module 702 for generating simulated radar point cloud data;
a first sending module 703, configured to send a target packet to an upper computer based on the network connection configuration information, where the target packet includes the simulated radar point cloud data, and a packet format of the target packet is the same as a point cloud data packet format of a target radar;
a second obtaining module 704, configured to obtain a monitoring parameter of a data simulation device, where the data simulation device is a device that sends the target message to the upper computer;
and a third sending module 705, configured to send the monitoring parameter to the upper computer.
In one embodiment, the upper computer includes:
an autonomous vehicle computing platform or computer.
The radar message sending device provided by the disclosure can realize each process realized by the radar message sending method provided by the disclosure, and achieve the same technical effect, and in order to avoid repetition, the description is omitted here.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
Wherein, above-mentioned electronic equipment includes: 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 radar messaging method provided by the present disclosure.
The readable storage medium stores computer instructions, where the computer instructions are configured to cause the computer to execute the radar message sending method provided by the present disclosure.
The computer program product described above includes a computer program which, when executed by a processor, implements the radar messaging method provided by the present disclosure.
In the technical scheme of the disclosure, the acquisition, storage, application and the like of the related user personal information all conform to the regulations of related laws and regulations, and the public sequence is not violated.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
Fig. 8 illustrates a schematic block diagram of an example electronic device 800 that may be used to implement 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 telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 8, the apparatus 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to the bus 804.
Various components in device 800 are connected to I/O interface 805, including: an input unit 806 such as a keyboard, mouse, etc.; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, etc.; and a communication unit 809, such as a network card, modem, wireless communication transceiver, or the like. The communication unit 809 allows the device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The computing unit 801 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 performs the various methods and processes described above, such as a radar messaging method. For example, in some embodiments, the radar messaging method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 800 via ROM 802 and/or communication unit 809. When the computer program is loaded into RAM 803 and executed by computing unit 801, one or more steps of the radar-messaging method described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the radar messaging method in any other suitable way (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code 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 code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. 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. The 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 pointing device (e.g., a mouse or 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 may 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 input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background 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 background, 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 a client and a server. The client and server are typically 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 may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims (14)

1. A radar message sending method comprises the following steps:
acquiring network connection configuration information;
generating simulated radar point cloud data, wherein the simulated radar point cloud data comprises three-dimensional point cloud data of a pre-stored actual scene;
based on the network connection configuration information, sending a target message to an upper computer, wherein the target message comprises the simulated radar point cloud data, and the message format of the target message is the same as the point cloud data message format of the target radar;
further comprises:
performing time synchronization operation with the upper computer to obtain a time synchronization result;
generating a timestamp of the simulated radar point cloud data based on the time synchronization result;
the target message includes the simulated radar point cloud data and the timestamp.
2. The method according to claim 1,
before the generating of the simulated radar point cloud data, the method further comprises:
receiving an acquisition request sent by the upper computer, wherein the acquisition request is used for requesting to acquire first configuration information of the simulated radar point cloud data;
responding to the acquisition request, and sending the first configuration information to the upper computer;
under the condition that second configuration information is received, the simulated radar point cloud data is generated based on the second configuration information, wherein the second configuration information is configuration information which is changed and sent by the upper computer to the first configuration information;
in the event that the second configuration information is not received, the simulated radar point cloud data is generated based on the first configuration information.
3. The method of claim 2, the network connection configuration information comprising an internet protocol, IP, address, the acquisition request being an access request for the IP address;
the responding to the acquisition request, sending the first configuration information to the upper computer, includes:
responding to the access request, and sending webpage content to the upper computer, wherein the webpage content is as follows: and processing the first configuration information according to a webpage format file to obtain webpage content comprising the first configuration information.
4. The method of claim 1, wherein the target radar comprises at least two radars, and the at least two radars are different in model numbers;
the sending the target message to the upper computer comprises the following steps:
and sending at least two messages to the upper computer, wherein the at least two messages respectively comprise at least two simulated radar point cloud data, and the message formats of the at least two messages are respectively the same as the point cloud data message formats of the at least two radars.
5. The method of any one of claims 1 to 4, further comprising:
acquiring monitoring parameters of data simulation equipment, wherein the data simulation equipment is equipment for sending the target message to the upper computer;
and sending the monitoring parameters to the upper computer.
6. The method of any one of claims 1 to 4, the host computer comprising:
an autonomous vehicle computing platform or computer.
7. A radar message transmitting apparatus comprising:
the first acquisition module is used for acquiring network connection configuration information;
the first generation module is used for generating simulated radar point cloud data, wherein the simulated radar point cloud data comprise three-dimensional point cloud data of a pre-stored actual scene;
the first sending module is used for sending a target message to an upper computer based on the network connection configuration information, wherein the target message comprises the simulated radar point cloud data, and the message format of the target message is the same as the point cloud data message format of the target radar;
further comprises:
the synchronization module is used for performing time synchronization operation with the upper computer to obtain a time synchronization result;
the second generation module is used for generating a time stamp of the simulated radar point cloud data based on the time synchronization result;
the target message includes the simulated radar point cloud data and the timestamp.
8. The apparatus of claim 7, further comprising:
the receiving module is used for receiving an acquisition request sent by the upper computer, wherein the acquisition request is used for requesting to acquire first configuration information of the simulated radar point cloud data;
the second sending module is used for responding to the acquisition request and sending the first configuration information to the upper computer;
under the condition that second configuration information is received, the simulated radar point cloud data is generated based on the second configuration information, wherein the second configuration information is configuration information which is changed and sent by the upper computer to the first configuration information;
in the event that the second configuration information is not received, the simulated radar point cloud data is generated based on the first configuration information.
9. The apparatus of claim 8, the network connection configuration information comprising an internet protocol, IP, address, the acquisition request being an access request for the IP address;
the second sending module is configured to send, in response to the access request, web content to the upper computer, where the web content is: and processing the first configuration information according to a webpage format file to obtain webpage content comprising the first configuration information.
10. The apparatus of claim 9, wherein the target radar comprises at least two radars, and the at least two radars differ in model;
the first sending module is used for sending at least two messages to the upper computer, the at least two messages respectively comprise at least two simulated radar point cloud data, and the message formats of the at least two messages are respectively identical to the point cloud data message formats of the at least two radars.
11. The apparatus of any of claims 7 to 10, further comprising:
the second acquisition module is used for acquiring monitoring parameters of data simulation equipment, wherein the data simulation equipment is equipment for sending the target message to the upper computer;
and the third sending module is used for sending the monitoring parameters to the upper computer.
12. The apparatus according to any one of claims 7 to 10, the host computer comprising:
an autonomous vehicle computing platform or computer.
13. 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 1-6.
14. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-6.
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