CN115314422B - Link delay statistical method and device for parallel driving central control vehicle instruction - Google Patents
Link delay statistical method and device for parallel driving central control vehicle instruction Download PDFInfo
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Abstract
The application discloses a link delay statistical method and device for a parallel driving central control vehicle instruction. The method is executed by a server side and comprises the following steps: receiving a vehicle control instruction sent by a cockpit, and acquiring the sending time of the cockpit from the vehicle control instruction; the vehicle control instruction is transmitted to the vehicle end, a receipt response replied after the vehicle end executes the vehicle control instruction is received, and vehicle end receipt time is obtained from the receipt response; determining the link delay of the vehicle control instruction according to the sending time of the cockpit and the return receipt time of the vehicle end, and determining a statistical period corresponding to the link delay of the vehicle control instruction; determining the storage position of the link delay of the vehicle control instruction in the annular storage space and storing the link delay in the annular storage space according to the determined statistical period, the vehicle end receipt time and the unit duration corresponding to the storage unit in the annular storage space; and calculating the link delay corresponding to the statistical period according to the link delay stored by the related storage unit in the annular storage space in the statistical period, and sending the link delay to the cockpit. The link delay statistical mode is flexible.
Description
Technical Field
The application relates to the technical field of parallel driving, in particular to a link delay statistical method and device for a parallel driving central control instruction.
Background
Remote control means that an operator controls an automobile or other machines out of the visual field through a display screen, a steering wheel and other simulation operation devices and through a wired network or a wireless network. The simulation operation device is connected with the controlled actual device through a local area network or a wide area network, the control distance can break through the limitation of space, the simulation operation device is widely applied to operation machines in dangerous environments in remote explosion elimination, dangerous rescue and the like, and the simulation operation device is also rapidly popularized in emerging industries such as remote operation, parallel driving and the like.
Parallel driving is one of remote control, and parallel driving refers to a vehicle running on a road, image information is collected and processed through a vehicle-end camera or a vehicle-end controller and then is sent to a cockpit through a wireless network, and the cockpit controls a controlled vehicle through a simulated steering wheel and the like according to information such as returned images and the like to perform a series of remote action control such as acceleration, deceleration, turning and the like on the vehicle.
Because remote control needs to be transmitted through networks such as a wireless local area network and a wide area network, the real-time performance of transmission is very important, and once network delay misjudgment is carried out, the operation is far away from the actual situation, and a major accident can be caused. Therefore, the network delay judgment of the system is an especially important key parameter. In the related art, the video time delay from a vehicle end to a cockpit is generally counted, the prior art cannot count the network time delay from the cockpit to the vehicle end based on video data, and the video data cannot truly reflect the network time delay condition of issuing a vehicle control instruction due to large video data volume and long video data processing time.
Disclosure of Invention
The embodiment of the application provides a link delay statistical method and device for a parallel driving central vehicle control instruction, and network delay of issuing the vehicle control instruction is obtained in a more flexible statistical mode.
The embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides a link delay statistical method for a parallel driving central control instruction, which is executed by a server and includes:
receiving a vehicle control instruction sent by a cockpit, and acquiring the sending time of the cockpit of the vehicle control instruction from the vehicle control instruction;
the vehicle control instruction is transmitted to a vehicle end, a receipt response replied after the vehicle end executes the vehicle control instruction is received, and vehicle end receipt time for the vehicle end to send the receipt response is obtained from the receipt response;
determining the link delay of the vehicle control instruction according to the sending time of the cockpit and the return receipt time of the vehicle end, and determining a statistical period corresponding to the link delay of the vehicle control instruction;
determining and storing the storage position of the link delay of the vehicle control instruction in an annular storage space according to the statistical period corresponding to the link delay of the vehicle control instruction, the vehicle end receipt time and the unit time length corresponding to a storage unit in the annular storage space;
and acquiring the link delay stored by the storage unit corresponding to the statistical period in the annular storage space, determining the link delay corresponding to the statistical period according to the link delay stored by the storage unit corresponding to the statistical period, and sending the determined link delay corresponding to the statistical period to the cockpit.
In a second aspect, an embodiment of the present application provides a link delay statistical device for a parallel driving central control command, which is applied to a server, and the device includes:
the first time acquisition unit is used for receiving a vehicle control instruction sent by a cockpit and acquiring the sending time of the cockpit of the vehicle control instruction from the vehicle control instruction;
the second time acquisition unit is used for forwarding the vehicle control instruction to the vehicle end, receiving a response receipt response replied by the vehicle end after the vehicle end executes the vehicle control instruction, and acquiring vehicle end response time of the response receipt response sent by the vehicle end from the response receipt response;
the link delay calculation unit is used for determining the link delay of the vehicle control instruction according to the sending time of the cockpit and the receipt time of the vehicle end and determining a statistical period corresponding to the link delay of the vehicle control instruction;
the link delay storage unit is used for determining and storing the storage position of the link delay of the vehicle control instruction in the annular storage space according to the statistical period corresponding to the link delay of the vehicle control instruction, the vehicle end receipt time and the unit time length corresponding to the storage unit in the annular storage space;
and the link delay counting unit is used for acquiring the link delay stored by the storage unit corresponding to the counting period in the annular storage space, determining the link delay corresponding to the counting period according to the link delay stored by the storage unit corresponding to the counting period, and sending the determined link delay corresponding to the counting period to the cockpit.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a link delay statistical method of parallel driving central control instructions.
In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing one or more programs, which when executed by an electronic device including a plurality of application programs, cause the electronic device to perform a link delay statistical method for parallel driving central control instructions.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:
according to the embodiment of the application, a server receives a vehicle control instruction sent by a cockpit, the cockpit sending time of the vehicle control instruction is obtained from the vehicle control instruction, the vehicle control instruction is forwarded to a vehicle end, the vehicle end controls the vehicle end in response to the received vehicle control instruction, the vehicle end replies a receipt response of the vehicle control instruction to the server end after the vehicle control instruction is executed, the server end receives the receipt response and obtains the vehicle end receipt time from the receipt response, so that the server end can obtain the link delay of the vehicle control instruction according to the cockpit sending time and the vehicle end receipt time, then a statistical period corresponding to the vehicle control instruction is determined, a storage position of the link delay of the vehicle control instruction is determined for storage according to the determined statistical period, the vehicle end receipt time and the unit time length corresponding to the unit storage unit in the annular storage space, and after all the link delays in the statistical period are stored, the link delay corresponding to the statistical period is counted according to all the link delays stored in the storage unit in the statistical period and is issued to the cockpit.
According to the embodiment of the application, the server side counts the link delay of the vehicle control instruction, so that the occupation of vehicle side computing resources can be avoided, and the counting period is strongly related to the number of the storage units in the annular storage space, so that the link delay can be more flexibly counted through the reasonable configuration of parameters related to the counting period, such as the counting period duration, and parameters related to the storage units, such as the unit duration of the storage units, the number of the storage units and the like.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flowchart of a link delay statistical method for a parallel driving central control instruction according to an embodiment of the present application;
fig. 2 is a schematic diagram of a time node associated with a link delay of video data according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a timing process in an embodiment of the present application;
FIG. 4 is a schematic diagram of a time node associated with link delay of a vehicle control command in the embodiment of the present application;
fig. 5 is a schematic view illustrating a link delay calculation flow of a vehicle control command in an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating a manner in which link delays are stored in an annular storage space according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a link delay statistical apparatus for a parallel driving central control instruction according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the present application provides a statistical method for link delay of a parallel driving central control instruction, and as shown in fig. 1, provides a schematic flow chart of the statistical method for link delay of a parallel driving central control instruction in the embodiment of the present application, where the method at least includes the following steps S110 to S150:
and step S110, receiving a vehicle control instruction sent by a cockpit, and acquiring the sending time of the cockpit of the vehicle control instruction from the vehicle control instruction.
The embodiment of the application establishes the server side in advance, and the server side executes the link delay statistics of the application, and the server side has the ability of carrying out communication on information analysis processing and other devices, and the server side can be a cloud server, a vehicle networking server and the like.
The vehicle control instruction is sent by the cockpit, if an operator logs in the cockpit, the operator can see a controlled vehicle under the account under remote control through the user interface, when a certain controlled vehicle needs to be remotely controlled by the cockpit, the user can select a target controlled vehicle through the user interface, corresponding remote driving operation is executed, the remote driving operation is converted into the vehicle control instruction and then is sent to the server side, the vehicle control instruction carries the sending time of the cockpit, and the server side can analyze the sending time of the cockpit of the vehicle control instruction from the vehicle control instruction after receiving the vehicle control instruction.
Step S120, the vehicle control instruction is transmitted to the vehicle end, a receipt response replied after the vehicle end executes the vehicle control instruction is received, and vehicle end receipt time for the vehicle end to send the receipt response is obtained from the receipt response.
The service end can perform instruction conversion on the vehicle control instruction after receiving the vehicle control instruction, convert the vehicle control instruction into a form that the vehicle end can recognize or resolve, issue the converted vehicle control instruction to the corresponding vehicle end, execute the vehicle control instruction after the vehicle end receives the vehicle control instruction, generate a receipt response carrying the receipt time of the vehicle end after the vehicle control instruction is executed, and send the receipt response to the service end, and the service end can analyze the receipt time of the vehicle end which finishes the vehicle control instruction from the receipt response after receiving the receipt response, so that the service end can calculate the link delay required by the vehicle control instruction after the vehicle control instruction is sent from a cockpit, forwarded by the service end and executed at the vehicle end.
Step S130, determining the link delay of the vehicle control instruction according to the cockpit sending time and the vehicle end receipt time, and determining a statistical period corresponding to the link delay of the vehicle control instruction.
The server side can perform statistics of link delay according to a set statistical period, for example, statistics of link delay is performed every 5 seconds, each statistical period has a one-to-one correspondence with an annular storage space of the server side, for example, a current statistical period corresponds to a storage area from a j-N storage unit to a j storage unit in the annular storage space, a next statistical period corresponds to a storage area from a j +1 storage unit to a j + N +1 storage unit in the annular storage space, and by establishing a correspondence between the statistical period and the storage unit of the annular storage space, the server side can obtain the link delay in each statistical period based on the link delay in the storage unit corresponding to each statistical period.
Step S140, determining and storing the storage position of the link delay of the vehicle control instruction in the annular storage space according to the statistical period corresponding to the link delay of the vehicle control instruction, the vehicle end receipt time and the unit time length corresponding to the storage unit in the annular storage space.
Step S150, obtaining the link delay stored in the storage unit corresponding to the statistical period in the annular storage space, determining the link delay corresponding to the statistical period according to the link delay stored in the storage unit corresponding to the statistical period, and sending the determined link delay corresponding to the statistical period to the cockpit.
Research shows that in the prior art, link delay of a single instruction or single video data is usually counted, since the instruction or video data interacted between a cockpit and a vehicle end is high-frequency, hundreds of information, thousands of information or even more information may be interacted every second, if the link delay is counted by using a single information, the link delay is displayed on the cockpit side, the refresh frequency of the link delay is very high, which causes the prior art to need to count the percentage of the link delay in a curve or graph form on the cockpit side, and an operator cannot intuitively and effectively know the delay condition of the link.
Different from the prior art, the method is used for carrying out link delay statistics by taking a statistical cycle as a unit, because the statistical cycle time length, the unit time length of the storage unit and the number of the storage units corresponding to the statistical cycle are all configurable parameters, the parameter values can be reasonably set according to requirements, the link delay of each statistical cycle is a statistical value of the link delays in all the storage units corresponding to the statistical cycle, the statistical value is a determined time value, when the determined time value is sent to the cockpit, an operator positioned in the cockpit can visually know the link delay condition of a vehicle control instruction in the current statistical cycle, for example, in every 1 second or every 5 seconds, the operator can predict how long the current remote vehicle control action needs to be controlled to a vehicle end through the link delay in the current statistical cycle, time reference is provided for remote control of the operator, and the purpose of safety control is achieved.
It should be noted that, when the link delay of the vehicle control instruction needs to be displayed in the cockpit, since the end point of the vehicle control instruction is located at the vehicle end, the cockpit cannot perform link delay statistics by using instant vehicle end data, and the vehicle end executing the link delay statistics may occupy vehicle end computing resources.
Based on the link delay statistical method shown in fig. 1, in the case that the server side performs link delay statistics on the vehicle control instruction, the link delay statistics is performed by taking a statistical period as a unit, and the statistical period is strongly related to the number of the storage units in the annular storage space, so that different statistical periods can be realized by flexible parameter configuration, such as setting the number of the storage units, the duration of the statistical period, and the unit duration of the storage units, and then the link delays of the vehicle control instructions corresponding to the different statistical periods are obtained.
As shown in fig. 2, in the prior art, when calculating the link delay, the link delay of the video data between the vehicle end and the cockpit is calculated based on Δ t ' = t3' -t 1 '. Here, t1 'is the vehicle-end sending time of the vehicle-end sending the video data, t3' is the cockpit receiving time of the cockpit receiving the video data, t2 'in fig. 2 is the cloud forwarding time of the cloud server forwarding the video data, and Δ t' is the link delay of the video data between the vehicle-end and the cockpit.
Researches show that even if the time synchronization processing is performed on the vehicle end, the cockpit and the cloud end, the time of the vehicle end, the cockpit and the cloud end cannot be truly synchronized due to objective factors such as a network, an error of 0-2000 milliseconds may exist, and a large error exists in the statistics of link delay if the time synchronization processing is not performed on the three.
To address this problem, the method of the present application further includes: and acquiring a first time difference between the service end and the cockpit and a second time difference between the service end and the vehicle end. For example, each time the server establishes a network connection with the cockpit or with the vehicle, the server obtains a first time difference with the cockpit or a second time difference with the vehicle, or recalculates the first time difference or the second time difference when the server or the cockpit or the vehicle is disconnected and reconnected.
Here, the first time difference is calculated as follows:
sending a timing instruction to a cockpit, and recording the sending time of a server of the timing instruction, wherein the timing instruction is used for indicating the cockpit to immediately perform timing processing when receiving the timing instruction and sending a timing receipt to the server;
receiving a first timing receipt sent by a cockpit, acquiring the receiving time of a server side of the first timing receipt, and acquiring the timing receipt time of the cockpit, which is sent by the first timing receipt, from the first timing receipt;
and acquiring the first time difference according to the server sending time of the timing instruction, the cockpit timing receipt time and the server receiving time of the first timing receipt.
The second time difference is calculated as follows:
sending a timing instruction to a vehicle end, and recording the sending time of the timing instruction by a server end, wherein the timing instruction is used for indicating the vehicle end to immediately perform timing processing when receiving the timing instruction and sending a timing receipt to the server end;
receiving a second timing receipt sent by the vehicle end, acquiring the receiving time of the server end of the second timing receipt, and acquiring the time of the vehicle end timing receipt sent by the vehicle end from the second timing receipt;
and acquiring the second time difference according to the server sending time of the timing instruction, the vehicle-end timing receipt time and the server receiving time of the second timing receipt.
It should be noted that, the timing of the service end to the cockpit or the vehicle end can be performed simultaneously or sequentially, and the timing sequence is not limited in the application.
As shown in FIG. 3, if the server-side sending time of the timing command is timing 0 Timing and return time of the cockpit or the vehicle end 1 The receiving time of the server side of the timing receipt is timing 2 The first time difference or the second time difference may be calculated according to the following formula (1).
In an alternative embodiment, to improve the accuracy of the first time difference and the second time difference, multiple times of timing are performed, and a minimum value or an average value of the multiple times of timing is taken as a final first time difference or a final second time difference.
It should be noted that the first time difference and the second time difference in the embodiments of the present application use the service-side time as a reference time, that is, the first time difference may be understood as a time difference between the cockpit time and the service-side time, and the second time difference may be understood as a time difference between the vehicle-side time and the service-side time. In this way, in the subsequent link delay calculation process of the vehicle control instruction, different processing is applied to the first time difference and the second time difference, which is specifically referred to the description of the related embodiments below.
After obtaining the first time difference and the second time difference, an embodiment of the present application may obtain the link delay of the vehicle control command by:
and obtaining a time difference value between the vehicle-end receipt time and the sending time of the cockpit, and determining the sum of the time difference value minus the first time difference value and the second time difference value as the link delay of the vehicle control instruction.
Referring to fig. 4 and 5, the cockpit sends a vehicle control command, and the sending time of the cockpit corresponding to the vehicle control command is t 1 After receiving the vehicle control instruction, the server converts the vehicle control instruction, for example, the steering instruction of the steering wheel and the actual turning angle range of the steering wheel of the vehicle end are converted in equal proportion, the accelerator instruction is converted according to a conversion model obtained in advance, the vehicle control instruction is converted into a vehicle end instruction which can be recognized by the vehicle end and then is sent to the vehicle end, and at the moment, the server can record the forwarding time of the vehicle control instruction as t 2 After the vehicle end receives the converted vehicle control instruction, the vehicle end executes the vehicle control instruction, and after the vehicle end executes the vehicle control instruction, the vehicle end generates the vehicle end carrying return receipt time t 3 The vehicle end receipt time refers to the vehicle end time when the vehicle end executes the vehicle control command, and the server receives and records the server receiving time of the receipt response.
Thus, the calculation formula of the link time delay for the vehicle control command consisting of the cockpit → the service end → the vehicle end is as follows:
in the formula (2), Δ t Link delay, delta, for vehicle control commands d1 Is a first time difference, Δ d2 Is a second time difference, wherein the time t is forwarded 2 The time parameter is eliminated in the process of calculating the link delay, belongs to the intermediate auxiliary parameter, and is not represented in the formula (2).
Therefore, by the embodiment, the link delay of the vehicle control instruction can be calculated, the cockpit, the service end and the vehicle end are subjected to timing processing, and the calculation accuracy of the link delay can be improved by introducing the first time difference and the second time difference in the link delay calculation process of the vehicle control instruction.
When the server calculates the link delay of the vehicle control command, in an embodiment of the application, a statistical period corresponding to the link delay of the vehicle control command is determined through the following steps:
acquiring the receiving time of the server side of the receipt response and the server side time corresponding to the current statistical period; that is, when the server receives the receipt response, the server receiving time of the receipt response received by the server can be obtained. As described above, the server side of the present application may perform statistics on link delay according to a set statistical period, and obtain the server side time corresponding to each statistical period according to the period time T of the statistical period.
If the server receiving time belongs to the server time corresponding to the current statistical period, determining that the link delay of the vehicle control instruction corresponds to the current statistical period; and if the receiving time of the server does not belong to the server time corresponding to the current statistical period, determining that the link delay of the vehicle control instruction corresponds to the next statistical period.
Therefore, the statistical period corresponding to the link delay of the vehicle control instruction can be determined, and the link delays corresponding to all the vehicle control instructions belonging to the statistical period are stored in the related storage positions of the annular storage space corresponding to the statistical period based on the statistical period.
In one embodiment of the present application, the storage location of the link delay of the car control command in the annular storage space is determined by:
determining the time interval length between the vehicle end receipt time and the cycle end time of the statistical cycle, and determining the storage unit span corresponding to the time interval length according to the unit time length, for example, calculating the storage unit span according to the following formula (3):
in the formula (3), the first and second groups,Scellfor the span of a memory cell,Tpis the period end time of the current statistical period,unitthe unit time length corresponding to the storage unit in the annular storage space is obtained.
And acquiring a statistical position of the statistical period, wherein the statistical position is a storage unit of an annular storage space corresponding to the period ending time of the statistical period, and determining a counterclockwise position, which is away from the statistical position by the span of the storage unit, in the annular storage space as a storage position of the link delay of the vehicle control instruction.
Referring to FIG. 6, the counting position of the current counting period T is taken as the starting point, and the interval in the counterclockwise direction is setScellAnd inserting the link delay of the vehicle control instruction into the position of the storage position at the position data inserting position of the storage unit.
In one embodiment of the present application, when the period end time of the statistical period is reached, the method further comprises:
taking the clockwise position of the storage units with the set number of distance from the statistical position corresponding to the current statistical period as the statistical position of the next statistical period;
and cleaning the storage data of all storage units from the statistical position of the current statistical period to the statistical position of the next statistical period.
Continuing with fig. 6, when the service time is the cycle end time of the current statistical cycle T, taking the position of the current statistical cycle T at the interval of N storage units in the counterclockwise direction as the statistical position of the next statistical cycle T +1, and cleaning the data stored in the storage unit between the statistical positions of the current statistical cycle T and the next statistical cycle T +1, note that the storage unit corresponding to the current statistical cycle T is not cleaned, and the storage unit corresponding to the next statistical cycle T +1 is cleaned. The clearing can be understood as clearing data and deleting data, N is the number of the storage units in the statistical period, the value of N is configurable, and the configuration can be performed according to the space size of the annular storage space, the time length of the statistical period, the unit time length and the like in the field.
In the embodiment, at the end of the counting period, the storage area of the next counting period is determined in advance, the storage area of the next counting period is cleared, the influence of dirty data is avoided, and the dirty data processing is executed at the end of the counting period, so that the adverse effect caused by premature clearing can be avoided.
In an embodiment of the present application, obtaining the link delay stored in the relevant storage unit in the annular storage space in the statistical period, and determining the link delay corresponding to the statistical period according to the link delay stored in the relevant storage unit includes:
when the cycle end time of the statistical cycle is reached, acquiring the link delays stored in all the storage units corresponding to the statistical cycle; and determining the average link delay of the link delays stored in all the storage units, and determining the average link delay as the link delay corresponding to the statistical period.
And after the link delay corresponding to the statistical period is obtained, the link delay corresponding to the statistical period is sent to the cockpit for display, the display scheme of the link delay can be displayed in various forms such as sound, characters, graphs and the like, and an operator can predict how long the current remote control action needs to be controlled to the vehicle end through the link delay so as to achieve the aim of safety control. And when the delay is larger than a certain value, the operator is prompted by obvious information whether the network condition of the current link can take over the vehicle.
To sum up, the link delay statistical method for the parallel driving central control instruction at least achieves the following technical effects:
(1) The server side counts the link delay of the vehicle control instruction, so that the computing resource of the vehicle side can be saved;
(2) Before calculating the link delay, the server side firstly carries out timing processing on the cockpit, the vehicle side and the server side, calculates the link delay based on the first time difference and the second time difference when calculating the link delay, improves the accuracy and precision of the link delay and obtains the network issuing condition capable of truly reflecting the vehicle control instruction;
(3) The statistical method of the annular data structure is provided, a statistical period is introduced, strong correlation between the statistical period and a storage unit of an annular storage space is established, the statistical period is taken as a unit to perform batch statistics on the link delay of a vehicle control instruction, and the reference link delay is provided for a cockpit;
(4) The statistical mode is flexible, and statistics can be carried out as long as the statistical period is a multiple of the unit time length of the storage unit.
(5) The method for counting the link delay of the vehicle control instruction is also suitable for counting the uplink delay formed from the cockpit to the vehicle end through the service end, and the link of the vehicle control instruction formed from the vehicle end to the cockpit through the service end can also be called a downlink.
The same technical concept as the link delay statistical method of the parallel driving central control instruction in the foregoing embodiment belongs to the same technical concept, the embodiment of the present application further provides a link delay statistical device 700 of the parallel driving central control instruction, as shown in fig. 7, a schematic structural diagram of the link delay statistical device of the parallel driving central control instruction in the embodiment of the present application is provided, and the link delay statistical device 700 of the parallel driving central control instruction is applied to a service end, and includes: a first time obtaining unit 710, a second time obtaining unit 720, a link delay calculating unit 730, a link delay storage unit 740, and a link delay counting unit 750, wherein:
a first time obtaining unit 710, configured to receive a vehicle control instruction sent by a cockpit, and obtain a sending time of the cockpit of the vehicle control instruction from the vehicle control instruction;
a second time obtaining unit 720, configured to forward the vehicle control instruction to the vehicle end, receive a receipt response replied by the vehicle end after the vehicle end executes the vehicle control instruction, and obtain, from the receipt response, vehicle end receipt time for the vehicle end to send the receipt response;
the link delay calculating unit 730 is used for determining the link delay of the vehicle control instruction according to the sending time of the cockpit and the receipt time of the vehicle end, and determining a statistical period corresponding to the link delay of the vehicle control instruction;
the link delay storage unit 740 is configured to determine and store a storage position of the link delay of the vehicle control instruction in the annular storage space according to a statistical period corresponding to the link delay of the vehicle control instruction, the vehicle end receipt time, and a unit duration corresponding to the storage unit in the annular storage space;
and a link delay statistical unit 750, configured to obtain the link delay stored in the storage unit corresponding to the statistical period in the annular storage space, determine the link delay corresponding to the statistical period according to the link delay stored in the storage unit corresponding to the statistical period, and send the determined link delay corresponding to the statistical period to the cockpit.
In one embodiment of the present application, the link delay calculating unit 730 includes a statistical period calculating module;
the counting period calculation module is used for acquiring the receiving time of the server side of the receipt response and the server side time corresponding to the current counting period; if the server receiving time belongs to the server time corresponding to the current statistical period, determining that the link delay of the vehicle control instruction corresponds to the current statistical period; and if the receiving time of the server does not belong to the server time corresponding to the current statistical period, determining that the link delay of the vehicle control instruction corresponds to the next statistical period.
In an embodiment of the present application, the link delay storage unit 740 is configured to determine a time interval length between the vehicle-end receipt time and a cycle end time of a statistical cycle, and determine a storage unit span corresponding to the time interval length according to the unit duration; acquiring a statistical position of the statistical period, wherein the statistical position is a storage unit of an annular storage space corresponding to the period ending time of the statistical period; and determining the anticlockwise position, which is away from the statistical position by the span of the storage unit, in the annular storage space as the storage position of the link delay of the vehicle control command.
In an embodiment of the application, the statistical period calculating module is further configured to, when the period ending time of the statistical period is reached, take a clockwise position where the storage units with a set number of distance from the statistical position corresponding to the current statistical period are located as the statistical position of the next statistical period; and cleaning the storage data of all storage units from the statistical position of the current statistical period to the statistical position of the next statistical period.
In an embodiment of the present application, the link delay statistics unit 750 is configured to, when a cycle end time of a statistics cycle arrives, obtain link delays stored in all storage units corresponding to the statistics cycle; and determining the average link delay of the link delays stored in all the storage units, and determining the average link delay as the link delay corresponding to the statistical period.
In an embodiment of the present application, the link delay statistical apparatus 700 for a parallel driving central control command further includes a timing unit, where the timing unit is configured to obtain a first time difference between the service end and the cockpit and a second time difference between the service end and the vehicle end;
and a link delay calculation unit 730, configured to determine the link delay of the vehicle control instruction according to the cockpit sending time, the vehicle end receipt time, the first time difference, and the second time difference.
In an embodiment of the application, the timing unit is further configured to send a timing instruction to the cockpit and the vehicle end, and record a service end sending time of the timing instruction, where the timing instruction is used to instruct the cockpit and the vehicle end to perform timing processing immediately when receiving the timing instruction and send a timing receipt to the service end; receiving a first timing receipt sent by a cockpit, acquiring the receiving time of a server side of the first timing receipt, and acquiring the timing receipt time of the cockpit, which is sent by the first timing receipt, from the first timing receipt; receiving a second timing receipt sent by the vehicle end, acquiring the receiving time of the service end of the second timing receipt, and acquiring the vehicle end timing receipt time of the second timing receipt sent by the vehicle end from the second timing receipt; acquiring the first time difference according to the server sending time of the timing instruction, the cockpit timing receipt time and the server receiving time of the first timing receipt; and acquiring the second time difference according to the server sending time of the timing instruction, the vehicle-end timing receipt time and the server receiving time of the second timing receipt.
In an embodiment of the present application, the link delay calculating unit 730 is specifically configured to obtain a time difference between the vehicle-end receipt time and the cockpit sending time; and determining the sum of the time difference minus the first time difference and the second time difference as the link delay of the vehicle control instruction.
It can be understood that the above-mentioned link delay statistical apparatus 700 for parallel driving central control instructions can implement the steps of the link delay statistical method for parallel driving central control instructions provided in the foregoing embodiments, and the explanations related to the link delay statistical method for parallel driving central control instructions are all applicable to the link delay statistical apparatus 700 for parallel driving central control instructions, and are not repeated herein.
Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 8, at a hardware level, the electronic device includes a processor and a memory, and optionally further includes an internal bus and a network interface. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 8, but that does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads a corresponding computer program from the nonvolatile memory to the memory and then runs the computer program to form a link delay statistical device of a parallel driving central control instruction on a logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
receiving a vehicle control instruction sent by a cockpit, and acquiring the sending time of the cockpit of the vehicle control instruction from the vehicle control instruction;
the vehicle control instruction is transmitted to a vehicle end, a receipt response replied after the vehicle end executes the vehicle control instruction is received, and vehicle end receipt time for the vehicle end to send the receipt response is obtained from the receipt response;
determining the link delay of the vehicle control instruction according to the sending time of the cockpit and the return receipt time of the vehicle end, and determining a statistical period corresponding to the link delay of the vehicle control instruction;
determining and storing the storage position of the link delay of the vehicle control instruction in an annular storage space according to the statistical period corresponding to the link delay of the vehicle control instruction, the vehicle end receipt time and the unit time length corresponding to a storage unit in the annular storage space;
and acquiring the link delay stored in the storage unit corresponding to the statistical period in the annular storage space, determining the link delay corresponding to the statistical period according to the link delay stored in the storage unit corresponding to the statistical period, and sending the determined link delay corresponding to the statistical period to the cockpit.
The method executed by the link delay statistical device for the parallel driving central control command disclosed in the embodiment of fig. 1 of the present application may be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is arranged in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the instruction processing method for the parallel driving.
The electronic device may further execute the method executed by the link delay statistical apparatus for parallel driving central control instructions in fig. 1, and implement the functions of the link delay statistical apparatus for parallel driving central control instructions in the embodiment shown in fig. 1, which are not described herein again.
An embodiment of the present application further provides a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, and when the instructions are executed by an electronic device including multiple application programs, the electronic device can be caused to execute a method performed by a link delay statistical apparatus of parallel driving central control instructions in the embodiment shown in fig. 1, and is specifically configured to execute:
receiving a vehicle control instruction sent by a cockpit, and acquiring the sending time of the cockpit of the vehicle control instruction from the vehicle control instruction;
the vehicle control instruction is transmitted to a vehicle end, a receipt response replied after the vehicle end executes the vehicle control instruction is received, and vehicle end receipt time for the vehicle end to send the receipt response is obtained from the receipt response;
determining the link delay of the vehicle control instruction according to the sending time of the cockpit and the return receipt time of the vehicle end, and determining a statistical period corresponding to the link delay of the vehicle control instruction;
determining and storing the storage position of the link delay of the vehicle control instruction in an annular storage space according to the statistical period corresponding to the link delay of the vehicle control instruction, the vehicle end receipt time and the unit time length corresponding to a storage unit in the annular storage space;
and acquiring the link delay stored in the storage unit corresponding to the statistical period in the annular storage space, determining the link delay corresponding to the statistical period according to the link delay stored in the storage unit corresponding to the statistical period, and sending the determined link delay corresponding to the statistical period to the cockpit.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A statistical method for link delay of a parallel driving central control vehicle instruction is executed by a server side, and comprises the following steps:
receiving a vehicle control instruction sent by a cockpit, and acquiring the sending time of the cockpit of the vehicle control instruction from the vehicle control instruction;
the vehicle control instruction is transmitted to a vehicle end, a receipt response replied after the vehicle end executes the vehicle control instruction is received, and vehicle end receipt time for the vehicle end to send the receipt response is obtained from the receipt response;
determining the link delay of the vehicle control instruction according to the sending time of the cockpit and the receipt time of the vehicle end, and determining statistical periods corresponding to the link delay of the vehicle control instruction, wherein each statistical period has a one-to-one correspondence with the annular storage space of the service end;
determining and storing the storage position of the link delay of the vehicle control instruction in an annular storage space according to the statistical period corresponding to the link delay of the vehicle control instruction, the vehicle end receipt time and the unit time length corresponding to a storage unit in the annular storage space;
and acquiring the link delay stored in the storage unit corresponding to the statistical period in the annular storage space, determining the link delay corresponding to the statistical period according to the link delay stored in the storage unit corresponding to the statistical period, and sending the determined link delay corresponding to the statistical period to the cockpit.
2. The method of claim 1, wherein the determining a statistical period corresponding to the link delay of the vehicle control command comprises:
acquiring the server receiving time of the receipt response and the server time corresponding to the current counting period;
if the server receiving time belongs to the server time corresponding to the current statistical period, determining that the link delay of the vehicle control instruction corresponds to the current statistical period;
and if the receiving time of the server does not belong to the server time corresponding to the current statistical period, determining that the link delay of the vehicle control instruction corresponds to the next statistical period.
3. The method of claim 1, wherein the determining the storage location of the link delay of the vehicle control command in the annular storage space according to the statistical period corresponding to the link delay of the vehicle control command, the vehicle-end receipt time, and the unit duration corresponding to the storage unit in the annular storage space comprises:
determining the time interval length of the vehicle-end receipt time and the cycle ending time of the counting cycle, and determining the storage unit span corresponding to the time interval length according to the unit time length;
acquiring a statistical position of the statistical period, wherein the statistical position is a storage unit of an annular storage space corresponding to the period ending time of the statistical period;
and determining the anticlockwise position, which is away from the statistical position by the span of the storage unit, in the annular storage space as the storage position of the link delay of the vehicle control command.
4. The method of claim 3, wherein when the end-of-period time of the statistical period is reached, the method further comprises:
taking the clockwise position of the storage units with the set number of distance from the statistical position corresponding to the current statistical period as the statistical position of the next statistical period;
and cleaning the storage data of all storage units from the statistical position of the current statistical period to the statistical position of the next statistical period.
5. The method according to claim 1, wherein the obtaining of the link delay stored in the storage unit corresponding to the statistical period in the annular storage space, and determining the link delay corresponding to the statistical period according to the link delay stored in the storage unit corresponding to the statistical period, includes:
when the cycle ending time of the statistical cycle is reached, acquiring the link delays stored in all storage units corresponding to the statistical cycle;
and determining the average link delay of the link delays stored in all the storage units, and determining the average link delay as the link delay corresponding to the statistical period.
6. The method of claim 1, wherein the method further comprises:
acquiring a first time difference between a service end and a cockpit and a second time difference between the service end and a vehicle end;
the determining the link delay of the vehicle control instruction according to the sending time of the cockpit and the receipt time of the vehicle end comprises the following steps:
determining the link delay of the vehicle control instruction according to the cockpit sending time, the vehicle end receipt time, the first time difference and the second time difference;
wherein obtain the first time difference between service side and the cockpit and the second time difference between service side and the car end, include:
sending a timing instruction to a cockpit and a vehicle end, and recording the service end sending time of the timing instruction, wherein the timing instruction is used for indicating the cockpit and the vehicle end to perform timing processing immediately when receiving the timing instruction and sending a timing receipt to the service end;
receiving a first timing receipt sent by a cockpit, acquiring the receiving time of a server side of the first timing receipt, and acquiring the timing receipt time of the cockpit, which is sent by the first timing receipt, from the first timing receipt; receiving a second timing receipt sent by the vehicle end, acquiring the receiving time of the service end of the second timing receipt, and acquiring the vehicle end timing receipt time of the second timing receipt sent by the vehicle end from the second timing receipt;
acquiring the first time difference according to the server sending time of the timing instruction, the cockpit timing receipt time and the server receiving time of the first timing receipt; and acquiring the second time difference according to the server sending time of the timing instruction, the vehicle-end timing receipt time and the server receiving time of the second timing receipt.
7. The method of claim 6, wherein determining the link delay of the vehicle control order based on the cockpit transmission time, the end-of-vehicle response time, the first time difference, and the second time difference comprises:
acquiring a time difference value between the vehicle end receipt time and the cockpit sending time;
and determining the sum of the time difference minus the first time difference and the second time difference as the link delay of the vehicle control instruction.
8. The utility model provides a link time delay statistical device of accuse car instruction in parallel driving which characterized in that is applied to the server, the device includes:
the first time acquisition unit is used for receiving a vehicle control instruction sent by a cockpit and acquiring the sending time of the cockpit of the vehicle control instruction from the vehicle control instruction;
the second time acquisition unit is used for forwarding the vehicle control instruction to the vehicle end, receiving a response receipt response replied by the vehicle end after the vehicle end executes the vehicle control instruction, and acquiring vehicle end response time of the response receipt response sent by the vehicle end from the response receipt response;
the link delay calculation unit is used for determining the link delay of the vehicle control instruction according to the sending time of the cockpit and the receipt time of the vehicle end, and determining a statistical period corresponding to the link delay of the vehicle control instruction, wherein each statistical period has a one-to-one correspondence relationship with the annular storage space of the service end;
the link delay storage unit is used for determining and storing the storage position of the link delay of the vehicle control instruction in the annular storage space according to the statistical period corresponding to the link delay of the vehicle control instruction, the vehicle end receipt time and the unit time length corresponding to the storage unit in the annular storage space;
and the link delay counting unit is used for acquiring the link delay stored by the storage unit corresponding to the counting period in the annular storage space, determining the link delay corresponding to the counting period according to the link delay stored by the storage unit corresponding to the counting period, and sending the determined link delay corresponding to the counting period to the cockpit.
9. An electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions that when executed cause the processor to perform a link delay statistical method of parallel driving central control instructions according to any one of claims 1 to 7.
10. A computer readable storage medium storing one or more programs which, when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform a link delay statistical method of parallel driving central control instructions according to any one of claims 1-7.
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