CN115550350A - Intelligent driving automobile data uploading method and system - Google Patents
Intelligent driving automobile data uploading method and system Download PDFInfo
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Abstract
The invention discloses a method and a system for uploading data of an intelligent driving automobile, which relate to the field of intelligent networking of automobiles, and the method comprises the steps of detecting a data uploading trigger event in real time, and broadcasting trigger zone bit information corresponding to the event to a vehicle sensor when the data uploading trigger event is triggered; based on the received trigger flag bit information, the vehicle sensor determines the data to be uploaded and the type of the data to be uploaded; and uniformly caching the data to be uploaded, and uploading all the data to be uploaded to a background server after the caching is finished. The data uploading trigger event comprises an internal trigger event and an external request event; the internal trigger events comprise key events of vehicle collision detection, intelligent driving and sensor system faults, intelligent system mode degradation, decision planning, transverse and longitudinal control and perception fusion identification of an intelligent driving system. The invention effectively solves the problem of uploading various data simultaneously.
Description
Technical Field
The invention relates to the field of intelligent automobile networking, in particular to a method and a system for uploading data of an intelligent driving automobile.
Background
The traditional fuel vehicle or electric vehicle mainly monitors and uploads parameters such as engine emission, SOC (state of charge)/SOH (state of health) of a high-voltage battery, motor speed and the like; the vehicle carrying the automatic driving relates to recording and uploading of a plurality of data such as perception, decision, control and the like in the operation and test process.
Currently, a manner for uploading data of an automatic driving automobile is to acquire perception information, decision information and execution information of automatic driving and define a trigger event by using a classification trigger uploading system, and when the corresponding event is triggered, the system uploads the corresponding information to a cloud. However, the existing data uploading mode is single-system data uploading, and the problem of simultaneous uploading of multiple systems of data cannot be solved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an intelligent driving automobile data uploading method and system, which effectively solve the problem of uploading various data at the same time.
In order to achieve the purpose, the invention provides an intelligent driving automobile data uploading method which specifically comprises the following steps:
detecting a data uploading trigger event in real time, and broadcasting trigger zone bit information corresponding to the event to a vehicle sensor when the data uploading trigger event is triggered;
based on the received trigger flag bit information, the vehicle sensor determines the data to be uploaded and the type of the data to be uploaded;
and uniformly caching the data to be uploaded, and uploading all the data to be uploaded to a background server after the caching is finished.
On the basis of the technical proposal, the device comprises a shell,
the data uploading trigger event comprises an internal trigger event and an external request event;
the internal trigger events comprise key events of vehicle collision detection, intelligent driving and sensor system faults, intelligent system mode degradation and decision planning, transverse and longitudinal control and perception fusion identification of an intelligent driving system;
the external request event comprises a local active upload request and a remote active upload request.
On the basis of the technical scheme, when the data uploading trigger event is triggered, the triggering marker bit information corresponding to the event is broadcasted to the vehicle sensor, and the method specifically comprises the following steps:
when a data uploading trigger event is triggered and identified by the ADECU, the ADECU sends a trigger flag bit information Ethernet data message corresponding to the event to the network port in a form;
a gateway corresponding to the network port receives the information of the trigger zone bit and broadcasts the received information of the trigger zone bit to a vehicle sensor and a TBOX;
the trigger flag bit information includes an event type and an event trigger time.
On the basis of the technical scheme, the vehicle sensor determines the data to be uploaded and the type of the data to be uploaded based on the received trigger flag bit information, and the specific steps comprise:
the ADECU and the vehicle sensor determine data to be uploaded and the type of the data to be uploaded according to the trigger zone bit information;
and the corresponding vehicle sensor sends the data of the preset time period before and after the event triggering time to the corresponding network port in the form of Ethernet data packets and forwards the data to the TBOX by the gateway.
On the basis of the technical scheme, the data to be uploaded are uniformly cached, and all the data to be uploaded are uploaded to the background server after the cache is completed, and the method specifically comprises the following steps:
the TBOX receives the information of the trigger zone bit and waits for receiving the data needing to be uploaded;
and the TBOX receives the data packets sent by the vehicle sensors, repacks and compresses the data packets with the time stamps after all the data packets are received, and uploads the data packets to the background server.
On the basis of the technical scheme, the method further comprises the time synchronization realization, and the time synchronization realization specifically comprises the following steps:
under the condition that the vehicle is powered on, the TBOX sends a synchronous pulse signal to the gateway, the vision controller and the intelligent driving controller through PPS hard wires;
the vehicle-mounted Ethernet link sends UCT absolute time to the vision controller and the intelligent driving controller;
and the vision controller and the intelligent driving controller receive the synchronous pulse signals and the UCT absolute time information and keep time synchronization of all nodes in data uploading.
On the basis of the technical proposal, the utility model has the advantages that,
the TBOX adopts UDP protocol to compress and then form a data packet to be uploaded;
when the TBOX uploads the data packet, the data packet is unpacked and then transmitted in a packet-packing mode;
and the single packets obtained after the TBOX unpacking all comprise a message ID, a unpacking type, a frame sequence number, a Data packet total frame sequence number, a Data packet frame sequence number and Data.
On the basis of the technical proposal, the utility model has the advantages that,
the message ID is used for distinguishing the application layer protocol type and the transmission data content;
the unpacking type comprises a starting frame, a unpacking frame and an ending frame;
the frame serial number is used for identifying a serial number unique to the current message time, and for the data packets of the same type, the frame serial number is accumulated along with the time;
the data packet sequence number indicates that when a complete set of data packet transmission is completed, the data packet sequence number is accumulated by 1;
the total frame number of the data packet represents the total frame number required by the transmission of the current complete data packet;
the data packet frame sequence number represents the sequence number of a frame in a currently transmitted data packet;
the Data is the unpacked Data segment.
On the basis of the technical scheme, the background server receives the data uploaded by the TBOX, repackages the message frames to form a complete data packet, and feeds back and retransmits the packet loss condition in real time if the packet loss condition exists in the process of packetizing.
The invention provides an intelligent driving automobile data uploading system, which comprises:
the detection module is used for detecting a data uploading trigger event in real time and broadcasting trigger marker bit information corresponding to the event to the vehicle sensor when the data uploading trigger event is triggered;
the determining module is used for driving the vehicle sensor to determine the data to be uploaded and the type of the data to be uploaded based on the received trigger flag bit information;
and the uploading module is used for uniformly caching the data to be uploaded and uploading all the data to be uploaded to the background server after the caching is finished.
Compared with the prior art, the invention has the advantages that: the method comprises the steps of detecting a data uploading trigger event in real time, broadcasting trigger flag bit information corresponding to the event to a vehicle sensor when the data uploading trigger event is triggered, then determining data to be uploaded and the type of the data to be uploaded by the vehicle sensor based on the received trigger flag bit information, finally uniformly caching the data to be uploaded and uploading all the data to be uploaded to a background server after caching is completed, so that the problem of uploading multiple data simultaneously is effectively solved, and a time synchronization mechanism is adopted to ensure the accuracy of data uploading.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of an intelligent driving automobile data uploading method in an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides an intelligent driving automobile data uploading method, which comprises the steps of detecting a data uploading trigger event in real time, broadcasting trigger zone bit information corresponding to the event to a vehicle sensor when the data uploading trigger event is triggered, determining the data to be uploaded and the type of the data to be uploaded by the vehicle sensor based on the received trigger zone bit information, caching the data to be uploaded in a unified mode, uploading all the data to be uploaded to a background server after caching is completed, effectively solving the problem of uploading multiple data at the same time, ensuring the accuracy of data uploading by adopting a time synchronization mechanism, and further establishing an unpacking retransmission and packet loss compensation protocol of an Ethernet data packet and ensuring the integrity of data packet uploading. The embodiment of the invention correspondingly provides an intelligent driving automobile data uploading system.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments.
It should be noted that, for the vehicle described in the present invention, the gateway having the CAN bus and the ethernet data uploading function, the visual controller having the panoramic and forward-looking video data ethernet uploading function, the Electronic Control Unit (ECU) having the vehicle Control execution end, such as the engine controller EECU, the Electronic brake system EBS, etc., the automatic drive controller (ADECU) having the intelligent drive decision Control function and being capable of ethernet-transmitting the key data (sensing fusion data, decision planning, system status, etc.), the vehicle-mounted Terminal (TBOX) capable of receiving the ethernet data and uploading it to the cloud in a wireless communication manner, the enterprise trailer platform capable of receiving the vehicle-side communication data and analyzing the vehicle-side CAN bus Control data, the intelligent drive key data and the sensor raw data, and the vehicle-mounted network and the wireless network for implementing the work and communication of all the Electronic Control Units (ECUs). The ADECU, the gateway, and the vision controller can receive GPS (PPS, UCT absolute time) timing, and the TBOX has PPS (Pulse Per Second) timing.
Referring to fig. 1, the method for uploading data of an intelligent driving automobile provided by the embodiment of the invention specifically comprises the following steps:
s1: detecting a data uploading trigger event in real time, and broadcasting trigger zone bit information corresponding to the event to a vehicle sensor when the data uploading trigger event is triggered;
in the invention, the data uploading trigger event comprises an internal trigger event and an external request event; the internal trigger events comprise key events of vehicle collision detection, intelligent driving and sensor system faults, intelligent system mode degradation, decision planning, transverse and longitudinal control and perception fusion identification of an intelligent driving system; the external request event comprises a local active upload request and a remote active upload request.
In the invention, when a data uploading trigger event is triggered, trigger marker bit information corresponding to the event is broadcasted to a vehicle sensor, and the specific steps comprise:
s101: when a data uploading trigger event is triggered and identified by the ADECU, the ADECU sends the trigger flag bit information corresponding to the event to the network port in the form of an Ethernet data message; the trigger flag bit information includes an event type and an event trigger time.
S102: a gateway corresponding to the network port receives the trigger zone bit information and broadcasts the received trigger zone bit information to a vehicle sensor and a TBOX;
s2: based on the received trigger flag bit information, the vehicle sensor determines the data to be uploaded and the type of the data to be uploaded;
in the invention, based on the received information of the trigger zone bit, a vehicle sensor determines the data to be uploaded and the type of the data to be uploaded, and the specific steps comprise:
s201: the ADECU and the vehicle sensor determine data to be uploaded and the type of the data to be uploaded according to the trigger zone bit information;
s202: and the corresponding vehicle sensor sends the data of the preset time period before and after the event triggering time to the corresponding network port in the form of Ethernet data packets and forwards the data to the TBOX by the gateway.
S3: and uniformly caching the data to be uploaded, and uploading all the data to be uploaded to a background server, such as an enterprise vehicle management platform, after the caching is finished.
In the invention, data to be uploaded is cached in a unified way and all the data to be uploaded are uploaded to a background server after the caching is finished, and the method specifically comprises the following steps:
s301: the TBOX receives the information of the trigger zone bit and waits for receiving the data needing to be uploaded;
s302: and the TBOX receives the data packets sent by the vehicle sensors, repacks and compresses the data packets with the time stamps after all the data packets are received, and uploads the data packets to the background server.
It should be noted that each sensor and each gateway should have a certain buffer capacity (for example, storage for about 1 min), and when receiving the trigger flag bit information sent by the ADECU, obtain data of a time period before and after the event trigger time (for example, 10s before and 30s after the event trigger time) from the buffer data and send the data to the ethernet port.
The data uploading method for the intelligent driving automobile further comprises the step of realizing time synchronization, wherein the time synchronization comprises the following specific steps: under the condition that the vehicle is powered on, the TBOX sends a synchronous pulse signal to the gateway, the vision controller and the intelligent driving controller through the PPS hard wire; the vehicle-mounted Ethernet link sends UCT absolute time to the vision controller and the intelligent driving controller; and the vision controller and the intelligent driving controller receive the synchronous pulse signals and the UCT absolute time information and keep time synchronization of all nodes in data uploading.
Further, the TBOX uses a UDP (User data gram Protocol) Protocol to perform compression and then upload a data packet; when the TBOX uploads the data packet, the data packet is unpacked and then transmitted in a packet package mode: and the single packets obtained after the TBOX unpacking all comprise the message ID, the unpacking type, the frame sequence number, the Data packet total frame sequence number, the Data packet frame sequence number and Data.
When the data packets are transmitted by using the UDP protocol, since the UDP protocol may have a problem of unreliability, in order to avoid the data packets from being lost, a packet loss retransmission mechanism is defined between the sender and the receiver.
The single packet data of the UDP data transmission protocol may transmit about 1K (1024 Byte) data packets, and when the data packet to be transmitted is greater than 1K, 1 or more packet IDs of ethernet data packets need to be transmitted.
In the invention, the message ID is used for distinguishing the application layer protocol type and the transmission data content; the unpacking type comprises a starting frame, a splitting frame and an ending frame, when only the ending frame is sent by the message, the data packet is not subjected to subpackage and unpacking, namely the data length is less than 1K; the frame serial number is used for identifying the unique serial number of the current message time, and for the data packets of the same type, the frame serial number is accumulated along with the time; the data packet sequence number indicates that when a complete set of data packet transmission is completed, the data packet sequence number is accumulated by 1; the total frame number of the data packet represents the total frame number required by the transmission of the current complete data packet; the data packet frame sequence number represents the sequence number of the frame in the currently transmitted data packet; data is the unpacked Data segment.
In the invention, the background server receives the data uploaded by the TBOX, repackages the message frames into a complete data packet, and feeds back and retransmits the packet loss condition in real time if the packet loss condition exists in the process of packaging. The feedback of the packet loss condition includes a packet ID (the same ID is used for the packet loss feedback packet and the unpacking), a packet loss type (defining a packet type, corresponding to the currently received packet), and a frame sequence number (corresponding to the frame sequence number of the multi-packet unpacking protocol).
The following describes a data uploading method for an intelligent driving automobile.
The vehicle-mounted remote Terminal (TBOX) realizes time synchronization of a vehicle-side data uploading controller through a GPS time service function, and corresponds to a vision controller, a vehicle-mounted gateway and an intelligent driving controller (ADECU) in the example.
When a vehicle has a collision event, the ADECU identifies the current abnormal event through a sensor and broadcasts current trigger event information (collision event and event trigger time) through the Ethernet. The gateway routes the current trigger event ethernet message to the TBOX, the vision controller. And when the TBOX finishes receiving the Ethernet data with time stamps of the ADECU (automatic driving decision, perception and control information), the vision controller (video data) and the gateway (drive-by-wire chassis data) and the data content is shown in the table 1, the TBOX answers the completion of receiving the current event data of the ADECU. The TBOX will receive all data as event triggered time aligned data and package it for transmission over the wireless network to the enterprise car management platform.
TABLE 1
When a transmission data packet is large (larger than 1K), a single-frame Ethernet data packet cannot complete data transmission for 1 time, and a data uploading end controller needs to adopt multi-packet unpacking to send data to TBOX; in addition, when the TBOX receives a data packet, if a packet loss occurs during data processing, the TBOX rebroadcasts a packet loss protocol, and the corresponding transmission end retransmits a packet corresponding to the frame number.
Similarly, when a user needs to remotely acquire vehicle data, taking vehicle remote video acquisition as an example, after an ADECU acquires an event request from a TBOX (enterprise vehicle management platform), the ADECU broadcasts a current trigger event (user event-vehicle remote video), the TBOX receives the current event and waits for data reception, a gateway and the ADECU identify that the current event does not need to upload data, and a visual controller identifies that the panoramic video data needs to be uploaded currently, video data before and after an event timestamp are immediately intercepted and uploaded to a TBOX end; TBOX receives and time stamps all event data and starts data upload.
According to the intelligent driving automobile data uploading method, the data uploading trigger event is detected in real time, the trigger zone bit information corresponding to the event is broadcasted to the vehicle sensor when the data uploading trigger event is triggered, then the vehicle sensor determines the data to be uploaded and the type of the data to be uploaded based on the received trigger zone bit information, finally the data to be uploaded are cached in a unified mode, all the data to be uploaded are uploaded to the background server after the caching is completed, the problem of uploading of multiple kinds of data at the same time is effectively solved, the accuracy of the data uploading is guaranteed by adopting a time synchronization mechanism, and further, the unpacking retransmission and packet loss compensation protocols of Ethernet data packets are formulated, and the completeness of the data packet uploading is guaranteed.
In a possible implementation manner, an embodiment of the present invention further provides a readable storage medium, where the readable storage medium is located in a PLC (Programmable Logic Controller) Controller, and the readable storage medium stores a computer program, where the computer program, when executed by a processor, implements the following steps of the method for uploading data of an intelligent driving vehicle:
detecting a data uploading trigger event in real time, and broadcasting trigger zone bit information corresponding to the event to a vehicle sensor when the data uploading trigger event is triggered;
based on the received trigger flag bit information, the vehicle sensor determines the data to be uploaded and the type of the data to be uploaded;
and uniformly caching the data to be uploaded and uploading all the data to be uploaded to a background server after the caching is finished.
The method comprises the steps of detecting a data uploading trigger event in real time, broadcasting trigger flag bit information corresponding to the event to a vehicle sensor when the data uploading trigger event is triggered, then determining data to be uploaded and the type of the data to be uploaded by the vehicle sensor based on the received trigger flag bit information, finally uniformly caching the data to be uploaded and uploading all the data to be uploaded to a background server after caching is completed, so that the problem of uploading multiple data simultaneously is effectively solved, and a time synchronization mechanism is adopted to ensure the accuracy of data uploading.
The storage medium may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The embodiment of the invention provides an intelligent driving automobile data uploading system which comprises a detection module, a determination module and an uploading module.
The detection module is used for detecting a data uploading trigger event in real time and broadcasting trigger zone bit information corresponding to the event to the vehicle sensor when the data uploading trigger event is triggered; the determining module is used for driving the vehicle sensor to determine the data to be uploaded and the type of the data to be uploaded based on the received trigger zone bit information; the uploading module is used for uniformly caching the data to be uploaded and uploading all the data to be uploaded to the background server after the caching is finished.
In the invention, the data uploading trigger event comprises an internal trigger event and an external request event; the internal trigger events comprise key events of vehicle collision detection, intelligent driving and sensor system faults, intelligent system mode degradation and decision planning, transverse and longitudinal control and perception fusion identification of an intelligent driving system; the external request event comprises a local active upload request and a remote active upload request.
In the invention, when a data uploading trigger event is triggered, trigger flag bit information corresponding to the event is broadcasted to a vehicle sensor, and the specific process comprises the following steps:
when a data uploading trigger event is triggered and identified by the ADECU, the ADECU sends a trigger flag bit information Ethernet data message corresponding to the event to the network port in a form;
a gateway corresponding to the network port receives the trigger zone bit information and broadcasts the received trigger zone bit information to a vehicle sensor and a TBOX;
the trigger flag bit information comprises an event type and an event trigger time.
In the invention, based on the received trigger zone bit information, the vehicle sensor determines the data to be uploaded and the type of the data to be uploaded, and the specific process comprises the following steps:
the ADECU and the vehicle sensor determine data to be uploaded and the type of the data to be uploaded according to the trigger zone bit information;
and the corresponding vehicle sensor sends the data of the preset time period before and after the event triggering time to the corresponding network port in the form of Ethernet data packets and forwards the data to the TBOX by the gateway.
The invention also comprises the time synchronization realization, which comprises the following steps:
under the condition that the vehicle is powered on, the TBOX sends a synchronous pulse signal to the gateway, the vision controller and the intelligent driving controller through PPS hard wires;
the vehicle-mounted Ethernet link sends UCT absolute time to the vision controller and the intelligent driving controller;
and the vision controller and the intelligent driving controller receive the synchronous pulse signals and the UCT absolute time information and keep time synchronization of all nodes in data uploading.
In the invention, TBOX adopts UDP protocol to compress and then form data packet to upload; when the TBOX uploads the data packet, the data packet is unpacked and then transmitted in a packet package mode; and the single packets obtained after the TBOX unpacking all comprise the message ID, the unpacking type, the frame sequence number, the Data packet total frame sequence number, the Data packet frame sequence number and Data.
In the invention, the background server receives the data uploaded by the TBOX, repackages the message frames into a complete data packet, and feeds back and retransmits the packet loss condition in real time if the packet loss condition exists in the process of packaging.
The invention effectively solves the problem of uploading various data simultaneously by detecting a data uploading trigger event in real time, broadcasting trigger flag bit information corresponding to the event to a vehicle sensor when the data uploading trigger event is triggered, then determining the data to be uploaded and the type of the data to be uploaded by the vehicle sensor based on the received trigger flag bit information, finally uniformly caching the data to be uploaded and uploading all the data to be uploaded to a background server after the caching is finished.
The previous description is only an example of the present application, and is provided to enable any person skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
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.
Claims (10)
1. The method for uploading the data of the intelligent driving automobile is characterized by comprising the following steps:
detecting a data uploading trigger event in real time, and broadcasting trigger marker bit information corresponding to the event to a vehicle sensor when the data uploading trigger event is triggered;
based on the received trigger flag bit information, the vehicle sensor determines the data to be uploaded and the type of the data to be uploaded;
and uniformly caching the data to be uploaded, and uploading all the data to be uploaded to a background server after the caching is finished.
2. The intelligent driving automobile data uploading method as claimed in claim 1, wherein:
the data uploading trigger event comprises an internal trigger event and an external request event;
the internal trigger events comprise key events of vehicle collision detection, intelligent driving and sensor system faults, intelligent system mode degradation and decision planning, transverse and longitudinal control and perception fusion identification of an intelligent driving system;
the external request event comprises a local active upload request and a remote active upload request.
3. The intelligent driving automobile data uploading method according to claim 1, wherein when the data uploading trigger event is triggered, trigger flag bit information corresponding to the event is broadcasted to a vehicle sensor, and the specific steps include:
when a data uploading trigger event is triggered and identified by the ADECU, the ADECU sends a trigger flag bit information Ethernet data message corresponding to the event to the network port in a form;
a gateway corresponding to the network port receives the information of the trigger zone bit and broadcasts the received information of the trigger zone bit to a vehicle sensor and a TBOX;
the trigger flag bit information includes an event type and an event trigger time.
4. The intelligent driving automobile data uploading method according to claim 3, wherein based on the received trigger flag information, the vehicle sensor determines the data to be uploaded and the type of the data to be uploaded, and the specific steps include:
the ADECU and the vehicle sensor determine the data to be uploaded and the type of the data to be uploaded according to the trigger flag bit information;
and the corresponding vehicle sensor sends the data of the preset time period before and after the event triggering time to the corresponding network port in the form of Ethernet data packets and forwards the data to the TBOX by the gateway.
5. The intelligent driving automobile data uploading method according to claim 4, wherein the data to be uploaded is cached in a unified manner, and all the data to be uploaded are uploaded to a background server after the caching is completed, and the method specifically comprises the following steps:
the TBOX receives the information of the trigger zone bit and waits for receiving the data needing to be uploaded;
and the TBOX receives the data packets sent by the vehicle sensors, repacks and compresses the data packets with the time stamps after all the data packets are received, and uploads the data packets to the background server.
6. The intelligent driving automobile data uploading method according to any one of claims 3 to 5, further comprising time synchronization implementation, wherein the time synchronization implementation comprises the specific steps of:
under the condition that the vehicle is powered on, the TBOX sends a synchronous pulse signal to the gateway, the vision controller and the intelligent driving controller through PPS hard wires;
the vehicle-mounted Ethernet link sends UCT absolute time to the vision controller and the intelligent driving controller;
and the vision controller and the intelligent driving controller receive the synchronous pulse signals and the UCT absolute time information and keep time synchronization of all nodes in data uploading.
7. The intelligent driving automobile data uploading method as claimed in claim 5, wherein:
the TBOX adopts UDP protocol to compress and then form a data packet to be uploaded;
when the TBOX uploads the data packet, the data packet is unpacked and then transmitted in a packet-packing mode;
and the single packets obtained after the TBOX unpacking all comprise a message ID, a unpacking type, a frame sequence number, a Data packet total frame sequence number, a Data packet frame sequence number and Data.
8. The intelligent driving automobile data uploading method as claimed in claim 7, wherein:
the message ID is used for distinguishing the application layer protocol type and the transmission data content;
the unpacking type comprises a starting frame, a unpacking frame and an ending frame;
the frame serial number is used for identifying a serial number unique to the current message time, and for the data packets of the same type, the frame serial number is accumulated along with the time;
the data packet sequence number indicates that when a complete set of data packet transmission is completed, the data packet sequence number is accumulated by 1;
the total frame number of the data packet represents the total frame number required by the transmission of the current complete data packet;
the data packet frame sequence number represents the sequence number of a frame in a currently transmitted data packet;
the Data is the unpacked Data segment.
9. The intelligent driving automobile data uploading method as claimed in claim 8, wherein: and the background server receives the data uploaded by the TBOX, repackages the message frames to form a complete data packet, and feeds back and retransmits the packet loss condition in real time if the packet loss condition exists in the process of packetizing.
10. The utility model provides an intelligence driving car data upload system which characterized in that includes:
the detection module is used for detecting a data uploading trigger event in real time and broadcasting trigger marker bit information corresponding to the event to the vehicle sensor when the data uploading trigger event is triggered;
the determining module is used for driving the vehicle sensor to determine the data to be uploaded and the type of the data to be uploaded based on the received trigger zone bit information;
and the uploading module is used for uniformly caching the data to be uploaded and uploading all the data to be uploaded to the background server after the caching is finished.
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