CN115447641A - Remote command sending method and device, computer equipment and storage medium - Google Patents
Remote command sending method and device, computer equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/20—Trackside control of safe travel of vehicle or vehicle train, e.g. braking curve calculation
Abstract
The application relates to the technical field of automatic driving, in particular to a remote command sending method, a device, computer equipment and a storage medium, wherein the remote command sending method comprises the following steps: transmitting the generated first remote command to the vehicle terminal; receiving response feedback information aiming at the first remote command sent by the vehicle terminal; verifying the validity of the first remote command according to the response feedback information; and if the verification result of the first remote command is legal, sending the generated second remote command to the vehicle terminal so that the vehicle terminal can execute the operation corresponding to the second remote command. The technical problem that the safety of the existing vehicle control is low is solved, and the technical effect of improving the safety of the vehicle control is achieved.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a method and an apparatus for sending a remote command, a computer device, and a storage medium.
Background
With the continuous improvement of the overall automation degree of a full-Automatic driving operation signal control system, currently, a vehicle is mainly controlled in a manner that a central dispatcher of an ATS (Automatic Train Supervision) issues a remote command at the center to remotely control the vehicle and the like, for example, remotely execute operations such as remote resetting, remote restarting and remote closing of a fault device.
However, once a dispatcher malfunctions or a remote command is mistaken due to system abnormality or the like, the vehicle is easily guided to a dangerous side scene, and therefore, the safety of vehicle control is low at present.
Disclosure of Invention
The embodiment of the application provides a remote command sending method, a remote command sending device, computer equipment and a storage medium.
In a first aspect of an embodiment of the present application, a remote command sending method is provided, which is applied to a control terminal, and includes:
transmitting the generated first remote command to a vehicle terminal;
receiving response feedback information aiming at the first remote command sent by the vehicle terminal;
verifying the validity of the first remote command according to the response feedback information;
if the verification result of the first remote command is legal, the generated second remote command is sent to the vehicle terminal, and the vehicle terminal executes the operation corresponding to the second remote command.
In an optional embodiment of the present application, after receiving the response feedback information for the first remote command sent by the vehicle terminal, the method further comprises:
determining the receiving time of receiving the response feedback information and sending the response feedback information the interval duration between the sending moments of a remote command;
and judging whether the response feedback information is matched with the scheduling control information corresponding to the first remote command.
In an alternative embodiment of the present application, if the result of the verification of the first remote command is legal, and sending the generated second remote command to the vehicle terminal so that the vehicle terminal can execute an operation corresponding to the second remote command, wherein the operation comprises:
if the interval duration is not longer than the preset duration and the response feedback information is matched with the scheduling control information corresponding to the first remote command, the generated second remote command is sent to the vehicle terminal so that the vehicle terminal can execute the operation corresponding to the second remote command.
In an optional embodiment of the present application, the method further comprises:
and if the interval duration is longer than the preset duration or the response feedback information is not matched with the scheduling control information corresponding to the first remote command, generating remote failure warning information aiming at the first remote command.
In an optional embodiment of the present application, the method further comprises:
receiving execution success information sent by a vehicle terminal; or
And receiving execution failure information sent by the vehicle terminal, and analyzing the content of the execution failure information to obtain a failure index in the execution failure information.
In a second aspect of the present application, there is provided a remote command transmitting method, the remote command sending method is applied to a vehicle terminal and comprises the following steps:
receiving a first remote command sent by a control terminal;
determining response feedback information corresponding to the first remote command, and sending the response feedback information to the control terminal so that the control terminal can verify the validity of the first remote command;
receiving a second remote command sent by the control terminal after the verification result of the first remote command is legal, and executing the operation corresponding to the second remote command on the terminal vehicle.
In an alternative embodiment of the present application, after receiving a second remote command sent by the control terminal, the method further comprises:
analyzing the second remote command to obtain verification information corresponding to the second remote command;
and if the verification information is not matched with the preset verification information, generating execution failure information and sending the execution failure information to the control terminal.
In a third aspect of the present application, there is provided a remote command transmitting apparatus applied to a control terminal, the apparatus including:
the first sending module is used for sending the generated first remote command to the vehicle terminal;
the first receiving module is used for receiving response feedback information aiming at the first remote command sent by the vehicle terminal;
the verification module is used for verifying the legality of the first remote command according to the response feedback information;
the second sending module is used for sending the generated second remote command to the vehicle terminal if the verification result of the first remote command is legal so that the vehicle terminal can execute the operation corresponding to the second remote command; or the like, or, alternatively,
the remote command transmitting apparatus is applied to a vehicle terminal, and the apparatus includes:
the second receiving module is used for receiving a first remote command sent by the control terminal;
the third sending module is used for determining response feedback information corresponding to the first remote command and sending the response feedback information to the control terminal so that the control terminal can check the validity of the first remote command;
and the third receiving module is used for receiving a second remote command sent by the control terminal after the verification result of the first remote command is legal, and executing the operation corresponding to the second remote command on the terminal vehicle.
In a fourth aspect of embodiments of the present application, there is provided a computer device, including: comprising a memory storing a computer program and a processor implementing the steps of the method as claimed in any one of the above when the processor executes the computer program.
In a fifth aspect of the embodiments of the present application, there is provided a computer-readable storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the method as in any one of the above.
According to the remote command sending method, the generated first remote command is sent to the vehicle terminal, then the legality of the first remote command is verified according to the response feedback information sent by the vehicle terminal, and the second remote command used for indicating the vehicle terminal to execute the corresponding operation is sent to the vehicle terminal under the condition that the verification result of the first remote command is legal, so that the wrong issuing of the remote command caused by misoperation of workers or system faults and the like is avoided, the accuracy and reliability of the remote command are higher, the technical problem that the safety of vehicle control is lower at present is solved, and the technical effect of improving the safety of vehicle control is achieved.
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 view of an application scenario of a remote command sending method according to an embodiment of the present application;
fig. 2 is a flowchart of a method for sending a remote command according to an embodiment of the present application;
fig. 3 is a flowchart of a method for sending a remote command according to an embodiment of the present application;
fig. 4 is a flowchart of another remote command sending method according to an embodiment of the present application;
fig. 5 is a flowchart of another remote command sending method according to an embodiment of the present application;
FIG. 6 is an interaction diagram of a remote command sending process provided by one embodiment of the present application;
fig. 7 is a schematic structural diagram of a remote command transmitting apparatus according to an embodiment of the present application;
FIG. 8 is a schematic structural diagram of another remote command transmitting device according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
In the process of implementing the present application, the inventors found that the safety of the vehicle control is low at present. In view of the foregoing problems, embodiments of the present application provide a remote command sending method, apparatus, computer device, and storage medium, so as to improve security of remote command execution.
The solution in the embodiment of the present application may be implemented by using various computer languages, for example, object-oriented programming language Java and transliteration scripting language JavaScript, etc.
In order to make the technical solutions and advantages in the embodiments of the present application more clearly understood, the following description of the exemplary embodiments of the present application with reference to the accompanying drawings is made in further detail, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all the embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The following briefly describes an application environment of the remote command sending method provided in the embodiment of the present application:
referring to fig. 1, the remote command transmission method provided by the embodiment of the present application is applied to a full-automatic driving operation signal control system 10, the control system 10 comprises at least: a control terminal 101 and a number of vehicle terminals 102. The control terminal 101 is configured to receive the operation parameters, the environment parameters, and the like uploaded by each vehicle terminal 102, generate a corresponding remote command based on the operation parameters and the environment parameters, and send the remote command to the vehicle terminal 102, so that the corresponding vehicle terminal 102 controls the vehicle of the terminal 101 to operate based on the remote command. Of course, the remote command may also be opened or semi-opened to a worker, and the worker reconfigures the remote command or modifies and updates the remote command in real time, and the like. The vehicle terminal 102 is used for receiving real-time operation parameters, environment parameters and the like of each terminal vehicle 20 and uploading the real-time operation parameters, the environment parameters and the like to the control terminal 101; meanwhile, each remote command issued by the control terminal 101 is received, and the vehicle of the control terminal 101 is controlled to execute corresponding control operation based on each remote command. It should be noted that the vehicle in the embodiment of the present application may be a vehicle body, an on-vehicle device, or other load devices related to the vehicle, and the embodiment of the present application is not particularly limited, and may be specifically selected or set according to actual situations. The control terminal 101 may be a control device corresponding to an Automatic train monitoring subsystem (ATS), the ATS may implement Automatic supervision and control of the operation of the vehicle on the line in the track traffic management, and the ATS subsystem cooperates with subsystems in other systems to jointly complete management and control of the vehicle and the signal device. The vehicle terminal 102 may be a VOBC (vehicle controller), which continuously communicates with an ATS control center to control the operation of the traction, braking, doors, etc. under the protection of a security system. Safety supervision is carried out on overspeed, target point glancing-in and vehicle door states to ensure that the vehicle runs in an allowable envelope curve; when the safe operation cannot be continued, emergency braking and the like are automatically implemented.
Referring to fig. 2, the following embodiment specifically describes an example in which the method provided by the embodiment of the present application is applied to the control terminal to safely issue a remote command, with the control terminal as an execution main body. The remote command sending method provided by the embodiment of the application comprises the following steps 201 to 204:
and step 201, the control terminal sends the generated first remote command to the vehicle terminal.
The first remote command refers to remote scheduling control information sent by a worker to the vehicle terminal at the control terminal, for example, commands for controlling emergency braking, door closing, speed acceleration, speed reduction and the like. The generation of the first remote command can be generated by the control terminal in real time based on the operation parameters and the environment parameters uploaded by the vehicle terminal, and can also be configured in advance or in real time for workers.
The response feedback information refers to feedback information of the vehicle terminal after receiving the first remote command, and the response feedback information may include any form of accepting the command, rejecting the command, information content needing further verification, and the like. The response feedback information may be generated and fed back to the control terminal after a certain interval period even though feedback is performed, and the form, content, period, and the like of the response feedback information are not limited in any way in the embodiment of the present application and may be specifically set according to actual situations.
And 203, the control terminal checks the validity of the first remote command according to the response feedback information.
The validity check is used for calibrating whether the first remote command is accurate or not, and errors of the first remote command caused by misoperation or system faults and the like are avoided. The validity check method includes, but is not limited to, the following two methods: in the first mode, the vehicle terminal compares a received first remote command with a preset command type, command content and the like to determine whether the first remote command is legal, generates response feedback information for representing the legality of the first remote command and sends the response feedback information to the control terminal, and the control terminal can directly determine whether the first remote command is legal according to the response feedback information; in the second mode, the vehicle terminal does not check the validity of the first remote command, only the control information corresponding to the first remote command needs to be determined, and the control information is sent to the control terminal as response feedback information, and after receiving the response feedback information, the control terminal compares various feedback control information in the response feedback information with the initial operation information corresponding to the first remote command, so as to determine whether the first remote command is legal or not.
And 204, if the verification result of the first remote command is legal, the control terminal sends the generated second remote command to the vehicle terminal so that the vehicle terminal can execute the operation corresponding to the second remote command.
If the verification result of the first remote command is legal, the fact that the operation of a worker is accurate and the system normally runs means that the current first remote command is completely accurate, and the control terminal can send a second remote command which is finally used for the vehicle terminal to execute to the vehicle terminal. It should be explained that the second remote command is a command that can be used to instruct the vehicle terminal to control the terminal vehicle to perform a corresponding operation, such as starting, closing the door, slowing down the vehicle, the type and specific content of the second remote command may be the same as or different from those of the first remote command, and the embodiment of the present application is not particularly limited.
According to the remote command sending method, the generated first remote command is sent to the vehicle terminal, the legality of the first remote command is checked according to the response feedback information sent by the vehicle terminal, the second remote command used for indicating the vehicle terminal to execute the corresponding operation is sent to the vehicle terminal under the condition that the checking result of the first remote command is legal, the wrong issuing of the remote command caused by misoperation of workers or system faults and the like is avoided, the accuracy and the reliability of the remote command are higher, the technical problem that the safety of vehicle control is lower at present is solved, and the technical effect of improving the safety of vehicle control is achieved.
Referring to fig. 3, in an alternative embodiment of the present application, after the control terminal receives the response feedback information for the first remote command sent by the vehicle terminal in step 202, the sending of the remote command further includes the following steps 301 to 302:
The interval duration is used for representing the response rate of the vehicle terminal to the remote command sent by the control terminal, the response effect is higher when the interval duration is larger, and conversely, the response effect is worse when the interval duration is shorter.
For example, whether the identification of the vehicle terminal in the response feedback information and the first remote command is consistent or not, whether the command type is consistent or not, and the like are determined.
After response feedback information aiming at the first remote command and sent by the vehicle terminal is received, the interval duration between the receiving time of receiving the response feedback information and the sending time of sending the first remote command is determined, and whether the response feedback information is matched with the scheduling control information corresponding to the first remote command or not is judged, so that the reliability of checking the first remote command can be greatly improved, and the safety and the reliability of vehicle control are further improved.
In an optional embodiment of the application, in step 204, if the verification result of the first remote command is legal, the control terminal sends the generated second remote command to the vehicle terminal, so that the vehicle terminal executes an operation corresponding to the second remote command, including the following steps:
and if the interval duration is not greater than the preset duration and the response feedback information is matched with the scheduling control information corresponding to the first remote command, the control terminal sends the generated second remote command to the vehicle terminal so that the vehicle terminal can execute the operation corresponding to the second remote command.
The preset time length Tfr may be specifically set according to actual conditions, and may be, for example, 20 seconds, 15 seconds, and the like, which is not specifically limited in this embodiment. According to the embodiment of the invention, the generated second remote command is sent to the vehicle terminal only when the control terminal determines that the interval duration between the receiving time of the response feedback information and the sending time of the first remote command is not more than the preset duration and the response feedback information is matched with the scheduling control information corresponding to the first remote command, so that the vehicle terminal executes the operation corresponding to the second remote command, the problem of interaction delay between the control terminal and the vehicle terminal caused by the conditions of terminal equipment failure and the like can be avoided, the execution reliability of the second remote command is greatly improved, and the safety and the reliability of vehicle control are further improved.
In an optional embodiment of the present application, the remote command sending method further includes the following steps:
and if the interval duration is longer than the preset duration or the response feedback information is not matched with the scheduling control information corresponding to the first remote command, the control terminal generates remote failure warning information aiming at the first remote command.
As long as any one of the condition that the interval duration is longer than the preset duration and the condition that the response feedback information is not matched with the scheduling control information corresponding to the first remote command means that the current remote command is sent to be failed, the control terminal can generate remote failure warning information for the first remote command, and remind corresponding workers of the current remote command error in time, and the workers can make adjustment in time conveniently. Furthermore, the remote failure warning information may further include a failure type or a parameter or information causing a remote failure, so that a worker may find a failure reason in time, and efficiency of correcting the first remote command is improved.
In an optional embodiment of the present application, the receiving of the feedback information of the vehicle terminal in the remote command sending method at least includes the following two cases:
in the first case, the control terminal receives the execution success information transmitted from the vehicle terminal.
The execution success information is used for representing that the second remote command is legal, and corresponding operation can be executed on the terminal vehicle based on the second remote command, or corresponding operation is already carried out on the terminal vehicle based on the second remote command, and the operation is successful.
In the second case, the control terminal receives the execution failure information sent by the vehicle terminal, and analyzes the content of the execution failure information to obtain a failure index in the execution failure information.
Correspondingly, the execution failure information is used for representing that the second remote command is illegal, corresponding operation cannot be executed on the terminal vehicle based on the second remote command, or corresponding operation is already carried out on the terminal vehicle based on the second remote command, but the operation fails. In the case of execution failure, the control terminal performs content analysis based on the obtained execution failure information to obtain a specific failure indicator, that is, which parameter has an abnormality, such as response delay.
The execution feedback information in the embodiment of the application comprises two types, namely execution success information which can be convenient for the staff to determine the execution success, and specific failure indexes under the condition of execution failure, so that the staff can know the specific failure reason in time and make adjustment, the reliability of remote command interaction is improved, and the safety of vehicle control is further improved.
Certainly, there is also a case where the vehicle terminal has a fault or the communication with the control terminal has a fault, so that the execution feedback information cannot be sent to the control terminal in time, in this case, the control terminal may preset a fault duration Tsr, for example, 20 seconds, 15 seconds, and the like, and when the duration between the current time and the second remote command sending time is longer than the fault duration, it may be determined that the vehicle terminal has a fault or the communication with the control terminal has a fault, that is, the second remote command is failed to be executed, so that a worker may check in time, reliability of remote command interaction is improved, and safety of vehicle control is further improved.
Referring to fig. 4, the following embodiment specifically describes an example of applying the method provided by the embodiment of the present application to the vehicle terminal to perform safe execution of the remote command by using the vehicle terminal as an execution subject. The remote command sending method provided by the embodiment of the application comprises the following steps 401 to 403:
The configuration of the first remote command is described in detail in step 201, and is not described herein again, and the control terminal sends the generated first remote command to the vehicle terminal in real time or according to a certain period.
The specific meaning of the response feedback information has been elaborated in the above step 202, the specific manner of performing the validity check is described in detail in step 203, and is not described herein again.
And step 403, the vehicle terminal receives a second remote command sent by the control terminal after the verification result of the first remote command is legal, and executes the operation corresponding to the second remote command on the terminal vehicle.
The second remote command and the operation corresponding to the second remote command are described in detail in step 204, and are not described herein again.
According to the remote command sending method provided by the embodiment of the disclosure, after the vehicle terminal receives the first remote command sent by the control terminal, the response feedback information corresponding to the first remote command is determined, and the response feedback information is sent to the control terminal, so that the legitimacy of the first remote command is verified by the control terminal, and the operation corresponding to the second remote command is executed on the terminal vehicle until the second remote command sent after the verification result of the first remote command by the control terminal is legal is received, so that the accuracy and reliability of the remote command are ensured, and the safety of vehicle control is further improved.
Referring to fig. 5, in an optional embodiment of the present application, after the vehicle terminal receives the second remote command sent by the control terminal in step 403, the method for sending the remote command further includes the following steps 501 to 502:
and step 501, the vehicle terminal analyzes the second remote command to obtain verification information corresponding to the second remote command.
The verification information refers to information for verifying the validity of the second remote command, and may be, for example: the first terminal identifier (e.g., the number or ID of the ATS) of the control terminal, the second terminal identifier (e.g., the number or ID of the VOBC) of the vehicle terminal, the scheduling type (i.e., the type of the remote command), the workstation number or ID of the vehicle terminal executing the second remote command, the time when the first remote command is sent, the time when the vehicle terminal receives the first remote command, the time when the vehicle terminal sends the response feedback information, and the like.
And 502, if the verification information is not matched with the preset verification information, the vehicle terminal generates execution failure information and sends the execution failure information to the control terminal.
The preset verification information can be configured in advance for workers, so that the stability is higher; the calculation can also be based on the first remote command or response feedback information and is calculated by Cyclic Redundancy Check (CRC), and the flexibility and the real-time performance are higher. The execution failure information is used for representing that the vehicle terminal fails to execute the second remote command or that the second remote command is illegal.
According to the embodiment of the application, the second remote command is firstly analyzed to obtain the verification information corresponding to the second remote command, the execution failure information is generated under the condition that the verification information is not matched with the preset verification information, the execution failure information is sent to the control terminal, and the control terminal is timely informed of the current execution error, so that the adjustment can be conveniently and timely made, and the reliability and the safety of the remote control of the vehicle are further improved.
In an optional embodiment of the application, in step 502, if the verification information is not matched with the preset verification information, the vehicle terminal generates execution failure information, and sends the execution failure information to the control terminal, including the following steps:
and if the verification information is not matched with the preset verification information, the vehicle terminal generates target execution failure information based on the target verification information which is not matched with the preset verification information, and sends the target execution failure information to the control terminal.
For example, if the vehicle door fails to be opened, target execution failure information used for representing the vehicle door fault is generated based on relevant parameters of the vehicle door, such as the current vehicle door state and the last door opening time, and the target execution failure information is sent to the control terminal, so that the control terminal can conveniently determine the specific reason of the second remote command execution failure in time, a solution is conveniently, quickly and accurately provided, and the reliability and the safety of remote control of the vehicle are improved.
Of course, there may be another case where the vehicle terminal has not received the second remote command of the control terminal after issuing the response feedback information. For the situation, a waiting time threshold Tsc is set in the embodiment of the application, if the waiting time between the current time and the time when the vehicle terminal sends the response feedback information is greater than the waiting time threshold Tsc, it is determined that interaction between the vehicle terminal and the control terminal fails or the control terminal has relatively serious signal delay, the vehicle terminal can also generate execution failure information, the execution failure information is displayed at the vehicle terminal, and meanwhile, the execution failure information is sent to the control terminal, so that corresponding staff is reminded of the current execution failure, measures can be taken conveniently and timely to perform failure processing, and reliability and safety of vehicle remote control are further improved.
In an optional embodiment of the present application, before the control terminal sends the generated first remote command to the vehicle terminal in step 201, the method for sending the remote command further includes the following steps:
the control terminal receives scheduling control information for the vehicle terminal and generates a first remote command based on the scheduling control information.
The scheduling control information refers to scheduling information configured by a worker through a control terminal, the scheduling information is actually controlled and configured by the worker, for example, a vehicle starting command, a parking command and the like are issued, meanwhile, the specific content of the scheduling control information can be adjusted in real time according to the actual situation, the first remote command generated based on the scheduling control information has higher reliability, errors of the first remote command caused by system faults and the like can be avoided, and the reliability and the safety of vehicle control are further improved.
In an optional embodiment of the present application, the scheduling control information at least includes: the first terminal identification (such as the number or the ID of the ATS) of the control terminal, the second terminal identification (such as the number or the ID of the VOBC) of the vehicle terminal and the scheduling type (namely the type of the remote command) are selected, so that the control terminal can conveniently check the legality of the first remote command from a plurality of unique remote commands, the reliability is higher, and the reliability and the safety of vehicle control can be further improved.
Of course, the scheduling control information may further include a workstation number or ID for executing the command of the first remote command or the second remote command, a time for transmitting the first remote command, a time for receiving the first remote command by the vehicle terminal, a time for transmitting the response feedback information by the vehicle terminal, and the like.
In an optional embodiment of the present application, the method for sending a remote command further includes the following steps:
and if the verification result of the first remote command is illegal, the control terminal generates remote failure warning information aiming at the first remote command.
Under the condition that the checking result of the first remote command is illegal, the control terminal generates remote failure warning information aiming at the first remote command, and reminds corresponding workers of current remote command errors in time, so that the workers can make adjustment in time, the remote command can be timely and accurately sent, and the reliability of vehicle control is further improved.
In an optional embodiment of the present application, after the controlling terminal sends the generated second remote command to the vehicle terminal in step 204, the method further includes the following steps:
and the control terminal receives execution feedback information sent by the vehicle terminal.
And the execution feedback information is used for representing the execution result of the operation corresponding to the second remote command by the vehicle terminal. The execution feedback information may be generated by the vehicle terminal upon successfully receiving a second remote command that may be used to execute an operation on the terminal vehicle in two ways: in the first mode, the vehicle terminal performs pre-verification on the second remote command, and if the second remote command is legal, the vehicle terminal generates to execute feedback information and sends the feedback information to the control terminal; in the second mode, the vehicle terminal directly executes corresponding operation on the terminal vehicle based on the second remote command, generates feedback information to be executed after the operation is finished, and sends the feedback information to the control terminal. The control terminal can determine the execution result of the second remote command in time through the received execution feedback information sent by the vehicle terminal, so that the adjustment can be made in time under the condition that the execution fault occurs, the interaction reliability of the remote command is greatly improved, and the safety of vehicle control is further improved.
Referring to fig. 6, the following outlines the main process of interaction between the control terminal and the vehicle terminal by the remote command transmission method in conjunction with the above-described main embodiment:
(1) the control terminal sends a first remote command to the vehicle terminal; (2) the vehicle terminal sends response feedback information corresponding to the first remote command; (3) the control terminal checks the validity of the first remote command based on the response feedback information; (4) if the verification result of the first remote command is legal, the control terminal sends the generated second remote command to the vehicle terminal; (5) the vehicle terminal rechecks the second remote command or controls the terminal vehicle to execute corresponding operation based on the second remote command; (6) and the vehicle terminal generates execution feedback information and sends the execution feedback information to the control terminal.
Wherein, the execution feedback information is the execution success information or the execution failure information, tfr is the upper limit of the time for waiting for the feedback information to be responded after the control terminal sends the first remote command, that is, the preset duration; tsc is the upper time limit for waiting for the second remote command after the vehicle terminal receives the first remote command, namely the waiting time threshold; tsr is an upper time limit for the control terminal to wait for executing the feedback information after sending the second remote command, that is, the above-mentioned fault duration.
It should be understood that, although the steps in the flowchart are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the sub-steps or stages of other steps.
Referring to fig. 7, an embodiment of the present application provides a remote command transmitting apparatus 700 applied to a control terminal, where the remote command transmitting apparatus 700 includes: a first sending module 710, a first receiving module 720, a checking module 730 and a second sending module 740, wherein:
the first sending module 710 is configured to send the generated first remote command to the vehicle terminal;
the first receiving module 720 is configured to receive response feedback information sent by the vehicle terminal for the first remote command;
the checking module 730 is configured to check the validity of the first remote command according to the response feedback information;
the second sending module 740 is configured to send the generated second remote command to the vehicle terminal if the verification result of the first remote command is legal, so that the vehicle terminal executes an operation corresponding to the second remote command.
In an optional embodiment of the present application, the checking module 730 is specifically configured to determine an interval duration between a receiving time of receiving the response feedback information and a sending time of sending the first remote command; and judging whether the response feedback information is matched with the scheduling control information corresponding to the first remote command.
In an optional embodiment of the application, the second sending module 740 is specifically configured to, if the interval duration is not greater than the preset duration and the response feedback information matches with the scheduling control information corresponding to the first remote command, send the generated second remote command to the vehicle terminal, so that the vehicle terminal executes an operation corresponding to the second remote command.
In an optional embodiment of the present application, the checking module 730 is specifically configured to generate the remote failure warning information for the first remote command if the interval duration is greater than the preset duration, or the response feedback information is not matched with the scheduling control information corresponding to the first remote command.
In an optional embodiment of the present application, the first receiving module 720 is specifically configured to receive execution success information sent by the vehicle terminal; or receiving execution failure information sent by the vehicle terminal, and analyzing the content of the execution failure information to obtain a failure index in the execution failure information.
Referring to fig. 8, an embodiment of the present application provides a remote command transmitting apparatus 800 applied to a vehicle terminal, where the remote command transmitting apparatus 800 includes: a second receiving module 810, a third sending module 820 and a third receiving module 830, wherein:
the second receiving module 810 is configured to receive a first remote command sent by a control terminal;
the third sending module 820 is configured to determine response feedback information corresponding to the first remote command, and send the response feedback information to the control terminal, so that the control terminal verifies the validity of the first remote command;
the third receiving module 830 is configured to receive a second remote command sent by the control terminal after the verification result of the first remote command is legal, and execute an operation corresponding to the second remote command on the terminal vehicle.
In an optional embodiment of the present application, the third sending module 820 is further configured to analyze the second remote command to obtain verification information corresponding to the second remote command; and if the verification information is not matched with the preset verification information, generating execution failure information and sending the execution failure information to the control terminal.
For specific limitations of the remote command transmitting apparatus 700 and the remote command transmitting apparatus 800, reference may be made to the above-mentioned limitations of the corresponding remote command transmitting method, which will not be described herein again. The respective modules in the remote command transmitting apparatus 700 and the remote command transmitting apparatus 800 described above may be wholly or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, the internal structure of which may be as shown in fig. 9. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a remote command transmitting method as above. The method comprises the following steps: comprising a memory storing a computer program and a processor implementing any of the steps of the above remote command transmitting method when the computer program is executed by the processor.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, is adapted to carry out any of the steps of the above remote command transmitting method.
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 the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. 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.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A remote command sending method is applied to a control terminal, and comprises the following steps:
transmitting the generated first remote command to a vehicle terminal;
receiving response feedback information aiming at the first remote command sent by the vehicle terminal;
verifying the validity of the first remote command according to the response feedback information;
and if the verification result of the first remote command is legal, sending the generated second remote command to the vehicle terminal so that the vehicle terminal can execute the operation corresponding to the second remote command.
2. The method according to claim 1, wherein after said receiving response feedback information for the first remote command sent by the vehicle terminal, the method further comprises:
determining an interval duration between a receiving time of receiving the response feedback information and a sending time of sending the first remote command;
and judging whether the response feedback information is matched with the scheduling control information corresponding to the first remote command.
3. The method according to claim 2, wherein if the verification result of the first remote command is legal, the method sends the generated second remote command to the vehicle terminal, so that the vehicle terminal can execute an operation corresponding to the second remote command, and the method includes:
and if the interval duration is not greater than the preset duration and the response feedback information is matched with the scheduling control information corresponding to the first remote command, sending the generated second remote command to the vehicle terminal so that the vehicle terminal can execute the operation corresponding to the second remote command.
4. The method of claim 2, further comprising:
and if the interval duration is longer than the preset duration or the response feedback information is not matched with the scheduling control information corresponding to the first remote command, generating remote failure warning information aiming at the first remote command.
5. The method according to claim 1, further comprising:
receiving execution success information sent by the vehicle terminal; or
And receiving execution failure information sent by the vehicle terminal, and analyzing the content of the execution failure information to obtain a failure index in the execution failure information.
6. A remote command transmission method applied to a vehicle terminal, the remote command transmission method comprising:
receiving a first remote command sent by a control terminal;
determining response feedback information corresponding to the first remote command, and sending the response feedback information to the control terminal so that the legitimacy of the first remote command can be verified by the control terminal;
and receiving a second remote command sent by the control terminal after the verification result of the first remote command is legal, and executing the operation corresponding to the second remote command on the terminal vehicle.
7. The method according to claim 6, wherein after said receiving a second remote command sent by said control terminal, said method further comprises:
analyzing the second remote command to obtain verification information corresponding to the second remote command;
and if the verification information is not matched with the preset verification information, generating execution failure information, and sending the execution failure information to the control terminal.
8. A remote command transmitting apparatus applied to a control terminal, the apparatus comprising:
the first sending module is used for sending the generated first remote command to the vehicle terminal;
the first receiving module is used for receiving response feedback information which is sent by the vehicle terminal and aims at the first remote command;
the verification module is used for verifying the legality of the first remote command according to the response feedback information;
the second sending module is used for sending the generated second remote command to the vehicle terminal if the verification result of the first remote command is legal, so that the vehicle terminal can execute the operation corresponding to the second remote command; or the like, or, alternatively,
applied to vehicle terminal, the device includes:
the second receiving module is used for receiving a first remote command sent by the control terminal;
the third sending module is used for determining response feedback information corresponding to the first remote command and sending the response feedback information to the control terminal so that the control terminal can check the legality of the first remote command;
and the third receiving module is used for receiving a second remote command sent by the control terminal after the verification result of the first remote command is legal, and executing the operation corresponding to the second remote command on the terminal vehicle.
9. A computer device, comprising: comprising a memory and a processor, said memory storing a computer program, characterized in that said processor realizes the steps of the method according to any of claims 1 to 7 when executing said computer program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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