CN115550350B - Intelligent driving automobile data uploading method and system - Google Patents
Intelligent driving automobile data uploading method and system Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
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- H—ELECTRICITY
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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- H—ELECTRICITY
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- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
- H04L69/164—Adaptation or special uses of UDP protocol
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Abstract
The invention discloses an intelligent driving automobile data uploading method and system, and relates to the field of automobile intelligent networking, wherein the method comprises the steps of detecting a data uploading triggering event in real time, and broadcasting triggering zone bit information corresponding to the event to a vehicle sensor when the data uploading triggering event triggers; based on the received trigger zone bit information, the vehicle sensor determines 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 completed. The data uploading triggering event comprises an internal triggering event and an external requesting event; the internal triggering events comprise critical events of collision detection, intelligent driving and sensor system fault, intelligent system mode degradation, decision planning of an intelligent driving system, horizontal and vertical control and perception fusion identification of the vehicle. The invention effectively solves the problem of uploading various data simultaneously.
Description
Technical Field
The invention relates to the field of intelligent networking of automobiles, in particular to an intelligent driving automobile data uploading method and system.
Background
The traditional fuel vehicle or electric vehicle mainly monitors and uploads parameters such as engine emission, high-voltage battery SOC (state of charge)/SOH (state of health) and motor rotation speed; and the automatic driving vehicle is carried, and the recording and uploading of numerous data such as perception, decision, control and the like are involved in the operation and test process.
Currently, for uploading data of an automatic driving automobile, a classification triggering uploading system is used for acquiring sensing information, decision information and execution information of the automatic driving and defining a triggering event, 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 that multi-system data are uploaded at the same time 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 simultaneously.
In order to achieve the above 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 triggers;
based on the received trigger zone bit information, the vehicle sensor determines 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 completed.
On the basis of the technical proposal, the method comprises the following steps,
The data uploading triggering event comprises an internal triggering event and an external requesting event;
the internal triggering event comprises key events of collision detection, intelligent driving and sensor system fault, intelligent system mode degradation, decision planning, horizontal and vertical control and perception fusion identification of an intelligent driving system;
the external request event includes a local active upload request and a remote active upload request.
On the basis of the technical scheme, when the data uploading triggering event triggers, triggering zone bit information corresponding to the event is broadcasted to the vehicle sensor, and the specific steps comprise:
When the data uploading triggering event is triggered and identified by ADECU, ADECU sends the triggering zone bit information corresponding to the event to the network port in the form of an Ethernet data message;
The gateway corresponding to the network port receives the trigger zone bit information and broadcasts the received trigger zone bit information to the vehicle sensor and the TBOX;
the trigger zone bit information comprises an event type and event trigger time.
Based on the above 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 zone bit information, and the specific steps include:
ADECU and the vehicle sensor determine the type of the data to be uploaded according to the trigger zone bit information;
The corresponding vehicle sensor sends the data of the preset time periods 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 through the gateway.
On the basis of the technical scheme, the method for uniformly caching the data to be uploaded and uploading all the data to be uploaded to the background server after the caching is completed comprises the following specific steps:
the TBOX receives the trigger zone bit information and waits for receiving the data to be uploaded;
And the TBOX receives the data packets sent by the vehicle sensor, repacks and compresses the data packets with a time stamp after all the data packets are received, and then uploads the data packets to the background server.
On the basis of the technical scheme, the method further comprises the step of realizing time synchronization, wherein the specific steps of realizing the time synchronization comprise the following steps:
Under the condition that a vehicle is electrified, the TBOX sends a synchronous pulse signal to a gateway, a visual controller and an intelligent driving controller through a PPS hard wire;
the vehicle-mounted Ethernet link transmits UCT absolute time to the visual controller and the intelligent driving controller;
and the visual controller and the intelligent driving controller receive the synchronous pulse signals and UCT absolute time information, and keep time synchronization of all nodes uploading data.
On the basis of the technical proposal, the method comprises the following steps,
Uploading a data packet formed after the TBOX is compressed by adopting a UDP protocol;
when the TBOX uploads a data packet, the data packet is unpacked and then transmitted in a packet mode;
The single packets obtained after the TBOX unpacking comprise a message ID, unpacking type, frame sequence number, data packet total frame sequence number, data packet frame sequence number and Data.
On the basis of the technical proposal, the method comprises the following steps,
The message ID is used for distinguishing the type of an application layer protocol and the content of transmission data;
The unpacking type comprises a start frame, a split frame and an end frame;
the frame sequence number is used for identifying the sequence number unique to the current message time, and for the data packets of the same type, the frame sequence number is accumulated along with the time;
the data packet sequence number indicates that when a group of complete 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 data packet transmitted currently;
The Data is an unpacked Data fragment.
On the basis of the technical scheme, the background server receives the data uploaded by the TBOX, reassembles the message frames into complete data packets, and feeds back and retransmits the packet loss condition in real time if the packet loss condition exists in the packet assembly process.
The invention provides an intelligent driving automobile data uploading system, which comprises:
the detection module is used for detecting the data uploading trigger event in real time and broadcasting the trigger zone bit information corresponding to the event to the vehicle sensor when the data uploading trigger event triggers;
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 completed.
Compared with the prior art, the invention has the advantages that: the invention effectively solves the problem of simultaneous uploading of various data by detecting the data uploading triggering event in real time and broadcasting triggering zone bit information corresponding to the event to the vehicle sensor when the data uploading triggering event triggers, then determining the data to be uploaded and the type of the data to be uploaded based on the received triggering zone bit information by the vehicle sensor, and finally uniformly caching the data to be uploaded and uploading all the data to be uploaded to a background server after the caching is completed.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of an intelligent driving automobile data uploading method in an embodiment of the 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 triggering event in real time, broadcasting triggering zone bit information corresponding to the event to a vehicle sensor when the data uploading triggering event triggers, determining data to be uploaded and the type of the data to be uploaded by the vehicle sensor based on the received triggering zone bit information, uniformly caching the data to be uploaded and uploading all the data to be uploaded to a background server after the data to be uploaded are cached, so that the problem of simultaneous uploading of various data is effectively solved, and the invention adopts a time synchronization mechanism to ensure the accuracy of data uploading. The embodiment of the invention correspondingly provides an intelligent driving automobile data uploading system.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application.
It should be noted that, for the vehicle described in the present invention, the gateway having the function of uploading CAN bus and ethernet data, the vision controller having the function of uploading the ethernet of the front view and the front view video data, the ECU (Electronic Control Unit ) having the whole vehicle control executing end, such as the engine controller EECU, the electronic brake system EBS, etc., the autopilot controller (ADECU) having the function of intelligent driving decision control, etc., and being capable of transmitting the ethernet of the critical data (sensing the fusion data, decision planning, system status, etc.), the vehicle-mounted Terminal (TBOX) being capable of receiving the ethernet data and uploading it to the cloud in a wireless communication manner, the enterprise vehicle hanging platform being capable of receiving the vehicle-end communication data and analyzing the vehicle-end CAN bus control data, the intelligent driving critical data and the sensor original data, and the vehicle-mounted network and wireless network for implementing the operation and communication by all the Electronic Control Units (ECU). Wherein ADECU, gateway and vision controller can receive GPS time service (PPS, UCT absolute time) function, TBOX has PPS (Pulse Per Second) time service function.
Referring to fig. 1, the method for uploading intelligent driving automobile data provided by the embodiment of the invention specifically includes 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 triggers;
In the invention, the data uploading triggering event comprises an internal triggering event and an external request event; the internal triggering events comprise key events of collision detection, intelligent driving and sensor system fault, intelligent system mode degradation, decision planning, horizontal and vertical control and perception fusion recognition of the intelligent driving system; external request events include local active upload requests and remote active upload requests.
In the invention, when a data uploading triggering event triggers, triggering zone bit information corresponding to the event is broadcasted to a vehicle sensor, and the specific steps comprise:
S101: when the data uploading triggering event is triggered and identified by ADECU, ADECU sends the triggering zone 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: the gateway corresponding to the network port receives the trigger zone bit information and broadcasts the received trigger zone bit information to the vehicle sensor and the TBOX;
s2: based on the received trigger zone bit information, the vehicle sensor determines data to be uploaded and the type of the data to be uploaded;
in the invention, based on the received trigger zone bit information, a vehicle sensor determines data to be uploaded and the type of the data to be uploaded, and the method specifically comprises the following steps:
S201: ADECU and the vehicle sensor determine the type of the data to be uploaded according to the trigger zone bit information;
S202: the corresponding vehicle sensor sends the data of the preset time periods 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 through 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 completed.
In the invention, the data to be uploaded is uniformly cached, and all the data to be uploaded are uploaded to a background server after the caching is completed, and the method comprises the following specific steps:
S301: the TBOX receives the trigger zone bit information and waits for receiving the data to be uploaded;
S302: and the TBOX receives the data packets sent by the vehicle sensor, repacks and compresses the data packets with a time stamp after all the data packets are received, and then uploads the data packets to the background server.
It should be noted that, each sensor and gateway should have a certain buffering capacity (for example, about 1min of storage), and after receiving the trigger bit information sent by ADECU, the sensor and gateway acquire the data of the time before and after the event trigger time (for example, 10s before the event time and 30s after the event time) from the buffered data, and send the data to the ethernet port.
The intelligent driving automobile data uploading method of the embodiment of the invention further comprises the steps of realizing time synchronization, wherein the specific steps of realizing the time synchronization comprise: under the condition that a vehicle is electrified, the TBOX sends a synchronous pulse signal to a gateway, a visual controller and an intelligent driving controller through a PPS hard wire; the vehicle-mounted Ethernet link transmits UCT absolute time to the visual controller and the intelligent driving controller; and the visual controller and the intelligent driving controller receive the synchronous pulse signals and UCT absolute time information, and keep time synchronization of all nodes uploading data.
Further, the TBOX adopts UDP (User Datagram Protocol ) protocol to compress and upload the formed data packet; when the TBOX uploads a data packet, the data packet is unpacked and then transmitted in a packet mode: the single packets obtained after TBOX unpacking all comprise a message ID, unpacking type, frame sequence number, data packet total frame sequence number, data packet frame sequence number and Data.
When a data packet is transmitted by adopting the UDP protocol, the reliability problem possibly exists due to the UDP protocol, and in order to avoid the loss of the data packet, a sender and a receiver define a packet loss retransmission mechanism.
The single packet data of the UDP data transmission protocol may transmit a packet of about 1K (1024 bytes), and when the packet to be transmitted is greater than 1K, the ethernet packet with 1 or more packet IDs needs to be transmitted.
In the invention, the message ID is used for distinguishing the type of the application layer protocol and the content of the transmission data; the unpacking type comprises a start frame, a unpacking frame and an end frame, and when the message is sent, only the end frame indicates that the data packet is not unpacked through the subpacket, namely the data length is smaller than 1K; the frame sequence number is used for identifying the sequence number unique to the current message time, and for the data packets of the same type, the frame sequence number is accumulated along with the time; the data packet sequence number indicates that when a group of complete 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 data packet transmitted currently; data is an unpacked piece of Data.
In the invention, a background server receives the data uploaded by TBOX, and reassembles the message frames into complete data packets, and if the packet loss condition exists in the packet assembly process, the packet loss condition is fed back in real time and retransmitted. The feedback for the packet loss condition includes a packet ID (the same ID is used when the packet loss feedback packet and the unpacking are performed), a packet loss type (a packet type is defined and corresponds to a packet currently being received), and a frame sequence number (a frame sequence number corresponding to a multi-packet unpacking protocol).
The following describes the intelligent driving automobile data uploading method.
The vehicle-mounted remote Terminal (TBOX) realizes time synchronization of the vehicle-end data uploading controller through the GPS time service function, and corresponds to the visual controller, the vehicle-mounted gateway and the intelligent driving controller (ADECU) in the example.
When a vehicle collides, ADECU recognizes the current abnormal event through the sensor and broadcasts the 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, vision controller. When the TBOX receives the trigger event and prepares for event data reception, and when the TBOX completes ADECU (automatic driving decision, perception, control information), the vision controller (video data), the gateway (drive-by-wire chassis data) and the time-stamped ethernet data, the data content is as shown in table 1, the current event data reception is completed in response ADECU. The TBOX triggers time alignment data by event and packages the data and uploads the data to the enterprise car management platform through a wireless network.
TABLE 1
When the transmission data packet is large (more than 1K), the single-frame Ethernet data packet cannot complete data transmission for 1 time, and the data uploading end controller needs to adopt multi-packet unpacking to send the data to the TBOX; in addition, when the TBOX receives the data packet, the packet loss condition occurs when the data is processed, the packet loss protocol is rebroadcast, and the corresponding transmission end retransmits the message with the corresponding frame number.
Similarly, when the user needs to remotely acquire vehicle data, taking acquiring a vehicle remote video as an example, when ADECU acquires an event request from a TBOX (enterprise car management platform), ADECU broadcasts a current trigger event (user event-vehicle remote video), the TBOX receives the current event and waits for data reception, the gateway and ADECU recognize that the current event does not need to be uploaded, the visual controller recognizes that the current video data to be uploaded is not needed, and immediately intercepts the video data before and after the event time stamp and uploads the video data to the TBOX end; the TBOX receives all event data and time stamps it, starting data upload.
According to the intelligent driving automobile data uploading method, the data uploading triggering event is detected in real time, trigger bit information corresponding to the event is broadcasted to the automobile sensor when the data uploading triggering event triggers, then the automobile sensor determines data to be uploaded and the type of the data to be uploaded based on the received trigger bit information, and finally the data to be uploaded are uniformly cached and all the data to be uploaded are uploaded to the background server after the data to be uploaded are cached, so that the problem that various data are uploaded simultaneously is effectively solved, the accuracy of data uploading is guaranteed by adopting a time synchronization mechanism, and further, the method establishes an unpacking retransmission and packet loss supplementing transmission protocol of an Ethernet data packet, and guarantees the completeness of data packet uploading.
In a possible implementation manner, the 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 a computer program is stored on the readable storage medium, where the program is executed by a processor to implement the following steps of the intelligent driving automobile data uploading method:
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 triggers;
based on the received trigger zone bit information, the vehicle sensor determines 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 completed.
The invention effectively solves the problem of simultaneous uploading of various data by detecting the data uploading triggering event in real time and broadcasting triggering zone bit information corresponding to the event to the vehicle sensor when the data uploading triggering event triggers, then determining the data to be uploaded and the type of the data to be uploaded based on the received triggering zone bit information by the vehicle sensor, and finally uniformly caching the data to be uploaded and uploading all the data to be uploaded to a background server after the caching is completed.
The storage media may take the form of 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 a combination of any of the foregoing. 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 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.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. 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 of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ 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 kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected 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 triggers; 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 completed.
In the invention, the data uploading triggering event comprises an internal triggering event and an external request event; the internal triggering events comprise key events of collision detection, intelligent driving and sensor system fault, intelligent system mode degradation, decision planning, horizontal and vertical control and perception fusion recognition of the intelligent driving system; external request events include local active upload requests and remote active upload requests.
In the invention, when a data uploading triggering event triggers, triggering zone bit information corresponding to the event is broadcasted to a vehicle sensor, and the specific process comprises the following steps:
When the data uploading triggering event is triggered and identified by ADECU, ADECU sends the triggering zone bit information corresponding to the event to the network port in the form of an Ethernet data message;
The gateway corresponding to the network port receives the trigger zone bit information and broadcasts the received trigger zone bit information to the vehicle sensor and the TBOX;
the trigger zone bit information comprises an event type and event trigger time.
In the invention, based on the received trigger zone bit information, a vehicle sensor determines data to be uploaded and the type of the data to be uploaded, and the specific process comprises the following steps:
ADECU and the vehicle sensor determine the type of the data to be uploaded according to the trigger zone bit information;
The corresponding vehicle sensor sends the data of the preset time periods 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 through the gateway.
The invention also comprises a time synchronization implementation, wherein the time synchronization implementation comprises the following specific steps:
Under the condition that a vehicle is electrified, the TBOX sends a synchronous pulse signal to a gateway, a visual controller and an intelligent driving controller through a PPS hard wire;
the vehicle-mounted Ethernet link transmits UCT absolute time to the visual controller and the intelligent driving controller;
and the visual controller and the intelligent driving controller receive the synchronous pulse signals and UCT absolute time information, and keep time synchronization of all nodes uploading data.
In the invention, the TBOX adopts UDP protocol to compress and upload the formed data packet; when the TBOX uploads a data packet, the data packet is unpacked and then transmitted in a packet mode; the single packets obtained after TBOX unpacking all comprise a message ID, unpacking type, frame sequence number, data packet total frame sequence number, data packet frame sequence number and Data.
In the invention, a background server receives the data uploaded by TBOX, and reassembles the message frames into complete data packets, and if the packet loss condition exists in the packet assembly process, the packet loss condition is fed back in real time and retransmitted.
According to the invention, the data uploading triggering event is detected in real time, trigger zone bit information corresponding to the event is broadcasted to the vehicle sensor when the data uploading triggering 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, and finally the data to be uploaded is uniformly cached and all the data to be uploaded are uploaded to the background server after the caching is completed, so that the problem of simultaneous uploading of various data is effectively solved.
The foregoing is only a specific embodiment of the application to enable those skilled in the art to understand or practice the 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 (8)
1. The intelligent driving automobile data uploading method is characterized by comprising the following 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 triggers;
based on the received trigger zone bit information, the vehicle sensor determines data to be uploaded and the type of the data to be uploaded;
uniformly caching the data to be uploaded, and uploading all the data to be uploaded to a background server after caching is completed;
the method comprises the specific steps of broadcasting triggering zone bit information corresponding to an event to a vehicle sensor when the data uploading triggering event triggers, wherein the specific steps comprise:
When the data uploading triggering event is triggered and identified by ADECU, ADECU sends the triggering zone bit information corresponding to the event to the network port in the form of an Ethernet data message;
The gateway corresponding to the network port receives the trigger zone bit information and broadcasts the received trigger zone bit information to the vehicle sensor and the TBOX;
The trigger zone bit information comprises an event type and event trigger time;
The vehicle sensor determines data to be uploaded and the type of the data to be uploaded based on the received trigger zone bit information, and the specific steps include:
ADECU and the vehicle sensor determine the type of the data to be uploaded according to the trigger zone bit information;
The corresponding vehicle sensor sends the data of the preset time periods 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 through the gateway.
2. The intelligent driving car data uploading method as claimed in claim 1, wherein:
the data uploading triggering event comprises an internal triggering event and an external requesting event;
the internal triggering event comprises key events of collision detection, intelligent driving and sensor system fault, intelligent system mode degradation, decision planning, horizontal and vertical control and perception fusion identification of an intelligent driving system;
the external request event includes a local active upload request and a remote active upload request.
3. The method for uploading intelligent driving automobile data according to claim 1, wherein the steps of uniformly caching the data to be uploaded and uploading all the data to be uploaded to a background server after the caching is completed comprise:
the TBOX receives the trigger zone bit information and waits for receiving the data to be uploaded;
And the TBOX receives the data packets sent by the vehicle sensor, repacks and compresses the data packets with a time stamp after all the data packets are received, and then uploads the data packets to the background server.
4. The intelligent driving automobile data uploading method according to claim 3, further comprising time synchronization implementation, wherein the time synchronization implementation comprises the following specific steps:
Under the condition that a vehicle is electrified, the TBOX sends a synchronous pulse signal to a gateway, a visual controller and an intelligent driving controller through a PPS hard wire;
the vehicle-mounted Ethernet link transmits UCT absolute time to the visual controller and the intelligent driving controller;
and the visual controller and the intelligent driving controller receive the synchronous pulse signals and UCT absolute time information, and keep time synchronization of all nodes uploading data.
5. A method for uploading intelligent driving vehicle data as defined in claim 3, wherein:
Uploading a data packet formed after the TBOX is compressed by adopting a UDP protocol;
when the TBOX uploads a data packet, the data packet is unpacked and then transmitted in a packet mode;
The single packets obtained after the TBOX unpacking comprise a message ID, unpacking type, frame sequence number, data packet total frame sequence number, data packet frame sequence number and Data.
6. The intelligent driving car data uploading method according to claim 5, wherein:
the message ID is used for distinguishing the type of an application layer protocol and the content of transmission data;
The unpacking type comprises a start frame, a split frame and an end frame;
the frame sequence number is used for identifying the sequence number unique to the current message time, and for the data packets of the same type, the frame sequence number is accumulated along with the time;
the data packet sequence number indicates that when a group of complete 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 data packet transmitted currently;
The Data is an unpacked Data fragment.
7. The intelligent driving car data uploading method as claimed in claim 6, wherein: and the background server receives the data uploaded by the TBOX, reassembles the message frames into complete data packets, and feeds back and retransmits the packet loss condition in real time if the packet loss condition exists in the packet assembly process.
8. An intelligent driving car data uploading system, comprising:
the detection module is used for detecting the data uploading trigger event in real time and broadcasting the trigger zone bit information corresponding to the event to the vehicle sensor when the data uploading trigger event triggers;
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 completed;
the method comprises the specific steps of broadcasting triggering zone bit information corresponding to an event to a vehicle sensor when the data uploading triggering event triggers, wherein the specific steps comprise:
When the data uploading triggering event is triggered and identified by ADECU, ADECU sends the triggering zone bit information corresponding to the event to the network port in the form of an Ethernet data message;
The gateway corresponding to the network port receives the trigger zone bit information and broadcasts the received trigger zone bit information to the vehicle sensor and the TBOX;
The trigger zone bit information comprises an event type and event trigger time;
The vehicle sensor determines data to be uploaded and the type of the data to be uploaded based on the received trigger zone bit information, and the specific steps include:
ADECU and the vehicle sensor determine the type of the data to be uploaded according to the trigger zone bit information;
The corresponding vehicle sensor sends the data of the preset time periods 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 through the gateway.
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