CN115917466A - Unmanned vehicle chassis control method and device and computer equipment - Google Patents

Unmanned vehicle chassis control method and device and computer equipment Download PDF

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Publication number
CN115917466A
CN115917466A CN202180050220.3A CN202180050220A CN115917466A CN 115917466 A CN115917466 A CN 115917466A CN 202180050220 A CN202180050220 A CN 202180050220A CN 115917466 A CN115917466 A CN 115917466A
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embedded terminal
main
chassis
backup
control node
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钱思维
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DeepRoute AI Ltd
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DeepRoute AI Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A chassis control method of an unmanned vehicle comprises the following steps: s202, monitoring the health state of a main embedded terminal and a main vehicle chassis control node running in the main embedded terminal; s204, when the main embedded terminal breaks down, the chassis is controlled through the backup embedded terminal; and S206, when the main chassis control node running in the main embedded terminal breaks down, controlling the chassis through the backup chassis control node running in the main embedded terminal. The method can improve the driving safety of the unmanned vehicle.

Description

Unmanned vehicle chassis control method and device and computer equipment Technical Field
The application relates to the technical field of unmanned driving, in particular to a method and a device for controlling a chassis of an unmanned vehicle and computer equipment.
Background
Along with the development of computer technology, unmanned technology has emerged. The unmanned automobile is one kind of intelligent automobile, also called as wheeled mobile robot, and mainly depends on an intelligent driver mainly comprising a computer system in the automobile to realize the purpose of unmanned driving. When a control terminal and/or a chassis control node of a traditional unmanned vehicle breaks down, the chassis of the unmanned vehicle loses control, and therefore the driving safety of the unmanned vehicle cannot be guaranteed.
Disclosure of Invention
In view of the above, it is necessary to provide a chassis control method, device and computer equipment for an unmanned vehicle, which can improve the driving safety of the unmanned vehicle.
A chassis control method of a driverless vehicle is applied to a driverless vehicle system; the unmanned vehicle system comprises a main embedded terminal, a backup embedded terminal and a vehicle chassis, wherein a main chassis control node and a backup vehicle chassis control node run in the main embedded terminal and the backup embedded terminal; after the unmanned vehicle system is started, the chassis is controlled by the main embedded terminal and a main vehicle chassis control node running in the main embedded terminal, and the method comprises the following steps:
monitoring the health state of the main embedded terminal and a main vehicle chassis control node running in the main embedded terminal;
when the main embedded terminal breaks down, the chassis is controlled by the backup embedded terminal; and
and when the main vehicle chassis control node running in the main embedded terminal breaks down, the vehicle chassis is controlled by the backup vehicle chassis control node running in the main embedded terminal.
In one embodiment, functional nodes except the main vehicle chassis control node and the backup vehicle chassis control node are operated in the main embedded terminal and the backup embedded terminal; when the main embedded terminal breaks down, the chassis is controlled by the backup embedded terminal, and the method comprises the following steps:
when a fault data source in the main embedded terminal is monitored and is not a main vehicle chassis control node running in the main embedded terminal, controlling the vehicle chassis through a corresponding target function node running in the backup embedded terminal;
when a fault data source in the main embedded terminal is monitored, and the fault data source is a main vehicle chassis control node running in the main embedded terminal, executing the step of controlling the vehicle chassis through a backup vehicle chassis control node running in the main embedded terminal;
and when the source of fault data in the main embedded terminal is not monitored, the chassis is controlled globally through the backup embedded terminal.
In one embodiment, when it is monitored that a source of fault data in the main embedded terminal is not a main chassis control node operating in the main embedded terminal, controlling the chassis by a corresponding target function node operating in the backup embedded terminal includes:
and when a fault data source in the main embedded terminal is monitored, and the fault data source is a backup vehicle chassis control node operated in the main embedded terminal, controlling the vehicle chassis through a main vehicle chassis control node operated in the backup embedded terminal.
In one embodiment, the method further comprises:
and when the main vehicle chassis control node running in the backup embedded terminal breaks down, controlling the vehicle chassis through the backup vehicle chassis control node running in the backup embedded terminal.
In one embodiment, the controlling the chassis by the backup chassis control node operating in the main embedded terminal includes:
receiving an automatic driving control instruction sent by an automatic driving calculation center through a backup vehicle chassis control node running in the main embedded terminal; and
and controlling the chassis through the automatic driving control instruction.
In one embodiment, the automatic driving control instruction is an emergency stop instruction, and controlling the chassis by the automatic driving control instruction includes:
and controlling the chassis to perform emergency braking through the emergency stopping instruction.
In one embodiment, the health status monitoring step of the main embedded terminal includes:
receiving heartbeat data packets sent by the main embedded terminal at fixed time through the backup embedded terminal; and
and when the backup embedded terminal does not receive the heartbeat data packet after exceeding a preset time interval, judging that the main embedded terminal has a fault.
In one embodiment, the health status monitoring step of the master chassis control node comprises:
and monitoring the corresponding main vehicle chassis control node in real time through a monitoring program so as to obtain the health state of the main vehicle chassis control node.
In one embodiment, the method further comprises:
receiving original radar data sent by a radar sensor;
extracting azimuth information in the original radar data;
according to the azimuth angle information, taking original radar data with an azimuth angle within a preset angle range as point cloud data;
judging whether an obstacle exists in front of the driving direction of the unmanned vehicle or not according to the point cloud data; and
and when the obstacle exists, controlling the chassis to carry out emergency braking.
In one embodiment, the determining whether an obstacle exists in front of the driving direction of the unmanned vehicle according to the point cloud data includes:
determining a sector area defined by the preset angle range as an obstacle detection area;
determining a density value of a coordinate point corresponding to the point cloud data in the obstacle detection area; and
and when the density value is larger than a preset density threshold value, judging that an obstacle exists in front of the driving direction of the unmanned vehicle.
A chassis control device of an unmanned vehicle is applied to an unmanned vehicle system; the unmanned vehicle system comprises a main embedded terminal, a backup embedded terminal and a vehicle chassis, wherein a main chassis control node and a backup vehicle chassis control node run in the main embedded terminal and the backup embedded terminal; after the unmanned vehicle system is started, the chassis is controlled by the main embedded terminal and a main vehicle chassis control node running in the main embedded terminal, and the device comprises:
the monitoring module is used for monitoring the main embedded terminal and the health state of a main vehicle chassis control node running in the main embedded terminal;
the control module is used for controlling the chassis through the backup embedded terminal when the main embedded terminal fails; and when the main vehicle chassis control node running in the main embedded terminal breaks down, controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the above embodiments methods when executing the computer program.
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 above method of the embodiments.
According to the control method, the control device and the computer equipment for the chassis of the unmanned vehicle, the health states of the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal are monitored; when the main embedded terminal breaks down, the chassis is controlled by the backup embedded terminal; and when the main vehicle chassis control node running in the main embedded terminal breaks down, controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal. Therefore, the unmanned vehicle system can realize real-time monitoring of the embedded terminal and the chassis control node, and when the embedded terminal and/or the chassis control node of the current user control right fails, the standby embedded terminal and/or the chassis control node can be adopted to take over the control right of the chassis, so that the chassis of the unmanned vehicle can be normally controlled, and the running safety of the unmanned vehicle is improved.
Drawings
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 diagram of an application scenario of a chassis control method of an unmanned vehicle in one embodiment;
FIG. 2 is a schematic flow chart of a method for controlling a chassis of an unmanned vehicle according to one embodiment;
FIG. 3 is a system architecture diagram of a method of controlling a chassis of an unmanned vehicle according to one embodiment;
FIG. 4 is a schematic flow chart of a method for controlling a chassis of an unmanned vehicle according to another embodiment;
FIG. 5 is a block diagram of a chassis control device of the unmanned vehicle in one embodiment;
FIG. 6 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The control method for the chassis of the unmanned vehicle can be applied to the application environment shown in figure 1. The application environment includes an unmanned vehicle system 102. The unmanned vehicle system 102 comprises a main embedded terminal 1021, a backup embedded terminal 1022 and a vehicle chassis 1023, wherein the main embedded terminal 1021 is operated with a main vehicle chassis control node 1021a and a backup vehicle chassis control node 1021b; a main chassis control node 1022a and a backup vehicle chassis control node 1022b run in the backup embedded terminal 1022; the main embedded terminal 1021 and the backup embedded terminal 1022 are isomorphic, and the control logic of the main chassis control node 102a and the backup vehicle chassis control node 102b is the same; after the unmanned vehicle system 102 is started, the chassis is controlled by the main embedded terminal 1021 and the main chassis control node 102a running in the main embedded terminal. Those skilled in the art will understand that the application environment shown in fig. 1 is only a part of the scenario related to the present application, and does not constitute a limitation to the application environment of the present application.
The unmanned vehicle system 102 monitors the health status of the master chassis control node 102a operating in the master embedded terminal 1021 and the master embedded terminal 1021; when the main embedded terminal 1021 has a fault, the chassis is controlled through the backup embedded terminal 1022; and when the main chassis control node 102a operating in the main embedded terminal 1021 has a fault, the chassis 1023 is controlled by the backup chassis control node 1022 operating in the main embedded terminal 1021.
In one embodiment, as shown in fig. 2, a chassis control method for an unmanned vehicle is provided, which is described by taking the method as an example applied to the unmanned vehicle system 102 in fig. 1, and includes the following steps:
s202, the health state of the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal is monitored.
Specifically, the unmanned vehicle system can be loaded in the unmanned vehicle, the unmanned vehicle system comprises a main embedded terminal, a backup embedded terminal and a chassis, and a main chassis control node and a backup chassis control node run in the main embedded terminal and the backup embedded terminal; the main embedded terminal and the backup embedded terminal are isomorphic, and the control logics of the main chassis control node and the backup chassis control node are the same; after the unmanned vehicle system is started, the chassis is controlled by the main embedded terminal and a main vehicle chassis control node running in the main embedded terminal. The main embedded terminal and the backup embedded terminal are isomorphic, and the main embedded terminal and the backup embedded terminal have the same structure and function modules. The main embedded terminal and the backup embedded terminal are respectively provided with independent hardware and power supply.
In one embodiment, a situation may arise where the main embedded terminal and/or the main chassis control node fails during the travel of the unmanned vehicle. The unmanned vehicle system can monitor the health states of the main embedded terminal and the main vehicle chassis control node in real time.
And S204, when the main embedded terminal breaks down, controlling the chassis through the backup embedded terminal.
Specifically, when the unmanned vehicle system monitors that the main embedded terminal has a fault, the unmanned vehicle system can transfer the control authority of the chassis from the main embedded terminal to the backup embedded terminal, and the subsequent unmanned vehicle system can control the chassis through the backup embedded terminal. At this time, the failed main embedded terminal does not have the control authority of the chassis.
And S206, when the main vehicle chassis control node running in the main embedded terminal breaks down, controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal.
Specifically, when the unmanned vehicle system monitors that a main vehicle chassis control node running in the main embedded terminal fails, the unmanned vehicle system can hand over the vehicle chassis control authority from the main vehicle chassis control node running in the main embedded terminal to a backup vehicle chassis control node running in the main embedded terminal, and the subsequent unmanned vehicle system can control the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal. At this time, the main vehicle chassis control node with the fault does not have the chassis control authority.
In one embodiment, the control of the chassis by the unmanned vehicle system includes at least one of lateral control, longitudinal control, gear control, turn light control, and vehicle condition control.
In the control method of the chassis of the unmanned vehicle, the health states of the main embedded terminal and the main chassis control node running in the main embedded terminal are monitored; when the main embedded terminal breaks down, the chassis is controlled by the backup embedded terminal; and when the main vehicle chassis control node running in the main embedded terminal breaks down, the vehicle chassis is controlled through the backup vehicle chassis control node running in the main embedded terminal. Therefore, the unmanned vehicle system can realize real-time monitoring of the embedded terminal and the chassis control node, and when the embedded terminal and/or the chassis control node of the current user control right fails, the standby embedded terminal and/or the chassis control node can be adopted to take over the control right of the chassis, so that the chassis of the unmanned vehicle can be normally controlled, and the running safety of the unmanned vehicle is improved.
In one embodiment, functional nodes except the main chassis control node and the backup chassis control node are operated in the main embedded terminal and the backup embedded terminal; step S204, that is, when the main embedded terminal fails, the step of controlling the chassis by the backup embedded terminal includes: when a fault data source in the main embedded terminal is monitored and is not a main vehicle chassis control node running in the main embedded terminal, controlling a vehicle chassis by backing up a corresponding target function node running in the embedded terminal; when a fault data source in the main embedded terminal is monitored, and the fault data source is a main vehicle chassis control node running in the main embedded terminal, executing a step of controlling a vehicle chassis through a backup vehicle chassis control node running in the main embedded terminal; and when the fault data source in the main embedded terminal is not monitored, the chassis is controlled globally through the backup embedded terminal.
Specifically, the failure of the main embedded terminal may be a failure of a main chassis control node in the main embedded terminal, a failure of a backup chassis control node, or a failure of a functional node other than the main chassis control node and the backup chassis control node. It can be understood that the main chassis control node and the backup chassis control node also belong to the functional nodes in the main embedded terminal. When a fault data source in the main embedded terminal is monitored and is not a main vehicle chassis control node running in the main embedded terminal, the unmanned vehicle system can control the vehicle chassis by backing up a corresponding target function node running in the embedded terminal. When a fault data source in the main embedded terminal is monitored, and the fault data source is a main vehicle chassis control node running in the main embedded terminal, the unmanned vehicle system can execute the step of controlling the vehicle chassis through a backup vehicle chassis control node running in the main embedded terminal. When the source of fault data in the main embedded terminal is not monitored, the chassis is controlled globally through the backup embedded terminal, namely, the backup embedded terminal takes over the control right to the chassis in a full-circle manner, and the main embedded terminal does not have the control right to the chassis any more.
For example, a main chassis control node, a backup chassis control node, a radar preprocessing node, an obstacle detection node, and a monitoring node are respectively operated in the main embedded terminal and the backup embedded terminal. When the fault data source in the main embedded terminal is monitored to be the radar preprocessing node running in the main embedded terminal, the unmanned vehicle system can control the chassis through the corresponding radar preprocessing node running in the backup embedded terminal. When the fault data source in the main embedded terminal is monitored to be the main vehicle chassis control node running in the main embedded terminal, the unmanned vehicle system can control the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal.
In one embodiment, the step of controlling the chassis by backing up the corresponding target function node operating in the embedded terminal when the fault data source in the main embedded terminal is monitored and is not the main chassis control node operating in the main embedded terminal includes: when a fault data source in the main embedded terminal is monitored, and the fault data source is a backup vehicle chassis control node operating in the main embedded terminal, the vehicle chassis is controlled through the main vehicle chassis control node operating in the backup embedded terminal.
Specifically, when it is monitored that the source of the fault data in the main embedded terminal is a backup chassis control node operating in the main embedded terminal, the unmanned vehicle system can control the chassis through the main chassis control node operating in the backup embedded terminal.
In one embodiment, the unmanned vehicle chassis control method further comprises: when the main vehicle chassis control node running in the backup embedded terminal breaks down, the chassis is controlled by the backup vehicle chassis control node running in the backup embedded terminal.
Specifically, when a main vehicle chassis control node operating in the backup embedded terminal fails, the unmanned vehicle system can control the vehicle chassis through the backup vehicle chassis control node operating in the backup embedded terminal.
In one embodiment, the step of controlling the chassis by the backup chassis control node operating in the main embedded terminal in step S206 specifically includes: receiving an automatic driving control instruction sent by an automatic driving calculation center through a backup vehicle chassis control node running in a main embedded terminal; and controlling the chassis through the automatic driving control command.
The automatic driving calculation center is a unified control center of the unmanned vehicle and runs on a control terminal of an unmanned vehicle system.
Specifically, the unmanned vehicle system further comprises a control terminal, and an automatic driving calculation center runs in the control terminal. The automatic driving calculation center can generate an automatic driving control instruction and send the automatic driving control instruction to the main embedded terminal, and the main embedded terminal can receive the automatic driving control instruction sent by the automatic driving calculation center through a backup chassis control node running in the main embedded terminal and control the chassis through the automatic driving control instruction.
In the embodiment, the automatic driving control instruction sent by the automatic driving calculation center is received by the chassis control node of the backup vehicle running in the main embedded terminal; and the chassis is controlled through the automatic driving control instruction, so that when the main chassis control node running in the main embedded terminal sends a fault, the safe running of the unmanned vehicle can be ensured.
In one embodiment, when the host chassis control node is not in fault, the unmanned vehicle system can receive an automatic driving control instruction sent by an automatic driving calculation center through the host chassis control node and control the chassis through the automatic driving control instruction.
In one embodiment, the automatic driving control instruction is an emergency stop instruction, and the step of controlling the chassis through the automatic driving control instruction specifically includes: and the chassis is controlled to perform emergency braking through an emergency stop command.
The emergency stop instruction is an instruction for controlling the chassis to perform emergency stop.
Specifically, the automatic driving calculation center can generate an emergency stop instruction and send the emergency stop instruction to the embedded terminal, and the embedded terminal can receive the emergency stop instruction sent by the automatic driving calculation center through the backup vehicle chassis control node and control the vehicle chassis to perform emergency stop through the emergency stop instruction.
In the above embodiment, when the main vehicle chassis control node sends a fault, the backup vehicle chassis control node receives the emergency stop instruction sent by the mobile driving calculation center, and controls the vehicle chassis to perform emergency braking. In this way, safe driving of the unmanned vehicle can be further ensured when the host chassis control node transmits a failure.
In an embodiment, the step of monitoring the health status of the main embedded terminal in step S202 specifically includes: receiving heartbeat data packets sent by a main embedded terminal at fixed time through a backup embedded terminal; and when the backup embedded terminal does not receive the heartbeat data packet after exceeding the preset time interval, judging that the main embedded terminal has a fault.
The heartbeat data packet is a self-defined command word which is used for regularly informing the self state of the opposite side between the main embedded terminal and the backup embedded terminal, is sent at a certain time interval, is similar to heartbeat, and is called as a heartbeat data packet.
Specifically, the unmanned vehicle system can send heartbeat data packets to the backup embedded terminal after a preset time interval through the main embedded terminal. The unmanned vehicle system can receive the heartbeat data packet sent by the main embedded terminal at regular time through the backup embedded terminal. And when the backup embedded terminal does not receive the heartbeat data packet after exceeding the preset time interval, judging that the main embedded terminal has a fault.
In the embodiment, the backup embedded terminal monitors the heartbeat of the main embedded terminal through a heartbeat mechanism so as to ensure that the backup embedded terminal can find out the failure in time when the main embedded terminal fails, and further improve the safety of the unmanned vehicle.
In one embodiment, the health status monitoring step of the host chassis control node in step S202 specifically includes: and monitoring the corresponding main vehicle chassis control node in real time through a monitoring program so as to obtain the health state of the main vehicle chassis control node.
Specifically, a monitoring program runs in the embedded terminal, and the unmanned vehicle system can monitor the corresponding main vehicle chassis control node in real time through the monitoring program so as to obtain the health state of the main vehicle chassis control node.
In the embodiment, the corresponding main vehicle chassis control node is monitored in real time through the monitoring program in the embedded terminal, so that when the main vehicle chassis control node breaks down, the corresponding embedded terminal can be found in time, and the safety of the unmanned vehicle is further improved.
In one embodiment, the chassis control method for the unmanned vehicle comprises the following steps: receiving original radar data sent by a radar sensor; extracting azimuth information in original radar data; according to the azimuth information, taking original radar data with the azimuth within a preset angle range as point cloud data; judging whether an obstacle exists in front of the driving direction of the unmanned vehicle or not according to the point cloud data; and when the obstacle exists, the chassis of the vehicle is controlled to carry out emergency braking. .
Wherein the point cloud data is a collection of a set of vectors in a coordinate system. The scanning data is recorded in the form of points, each point containing multi-dimensional coordinates, such as three-dimensional coordinates (distance, azimuth, elevation) or four-dimensional coordinates (distance, azimuth, elevation, reflection intensity).
Specifically, the unmanned vehicle system can receive original radar data sent by the radar sensor through the embedded terminal, extract azimuth information in the original radar data, and use the original radar data with the azimuth within a preset angle range as point cloud data according to the azimuth information. The unmanned vehicle system can judge whether an obstacle exists in front of the driving direction of the unmanned vehicle according to the point cloud data, and when the obstacle exists, the chassis of the unmanned vehicle is controlled to brake emergently.
Optionally, the point cloud data may specifically be all raw radar data obtained by scanning with a radar sensor, and may also be data generated by preprocessing raw data obtained by scanning with a radar sensor.
Optionally, the radar sensor may compress the raw radar data to facilitate network transmission. The unmanned vehicle system performs data preprocessing on the original radar data, specifically, may decompress the original radar data.
Optionally, the raw radar data collected by the radar sensor is data containing all azimuth angles. The unmanned vehicle system performs data preprocessing on the original radar data, specifically, the original radar data can be cleaned and filtered.
In the above embodiment, whether an obstacle exists in front of the driving direction of the unmanned vehicle is judged through the point cloud data, so that the obstacle judgment accuracy can be improved. When the obstacle is judged to exist in front of the driving direction of the unmanned vehicle, the unmanned vehicle system can control the chassis to brake emergently, and the safety of the unmanned vehicle is guaranteed.
In one embodiment, the step of determining whether an obstacle exists in front of the unmanned vehicle in the driving direction according to the point cloud data specifically includes: determining a sector area defined by a preset angle range as an obstacle detection area; determining a density value of a coordinate point corresponding to the point cloud data in the obstacle detection area; and when the density value is larger than the preset density threshold value, judging that an obstacle exists in front of the driving direction of the unmanned vehicle.
Specifically, the unmanned vehicle system may determine a sector area defined by a preset angle range as the obstacle detection area. Further, the unmanned vehicle system may determine a density value of a coordinate point corresponding to the point cloud data in the obstacle detection area. The unmanned vehicle system may compare the density value with a preset density threshold, and when the density value is greater than the preset density threshold, the unmanned vehicle system may determine that an obstacle exists ahead of a driving direction of the unmanned vehicle.
In the above embodiment, the sector area defined by the preset angle range is determined as the obstacle detection area, the density value of the coordinate point corresponding to the point cloud data in the obstacle detection area is determined, and then whether an obstacle exists in front of the driving direction of the unmanned vehicle is determined based on the density value, so that the obstacle detection accuracy is further improved.
In one embodiment, as shown in fig. 3, the unmanned vehicle system includes a radar sensor, a main embedded terminal running an embedded real-time operating system, a backup embedded terminal running a redundant backup embedded real-time operating system, and a chassis. The radar sensor can communicate with the main embedded terminal and the backup embedded terminal through the Ethernet. The main embedded terminal and the backup embedded terminal can communicate through the bus. The main embedded terminal and the backup embedded terminal CAN communicate with the chassis through a Controller Area Network (CAN). The Radar sensor may include Lidar (laser Radar) and Radar (Radar). The most essential difference between these two radar sensors is the difference in wavelength between the waves used. Radar belongs to the millimeter wave, with the wavelength range typically between 4-12 mm. Lidar is a nano-wave, typically in the wavelength range of 900-1500 nm. The embedded real-time operating system and the redundancy backup embedded real-time operating system CAN comprise a radar preprocessing module, an obstacle detection module, a CAN chassis control module, a CAN backup node and a CAN monitoring module. The control of the chassis may include at least one of lateral control, longitudinal control, gear control, turn signal control, vehicle state control, and the like.
In one embodiment, as shown in FIG. 4, the unmanned vehicle system may acquire raw radar data via a radar sensor and send the raw radar data to a radar pre-processing module. The radar preprocessing module can be used for preprocessing the original radar data to generate point cloud data. The obstacle detection module may determine whether an obstacle exists ahead of the unmanned vehicle in a traveling direction based on the point cloud data. When an obstacle exists in front of the driving direction of the unmanned vehicle, the CAN chassis control module CAN receive an emergency stop instruction sent by the automatic driving calculation center and control the chassis to perform emergency stop through the emergency stop instruction. Meanwhile, the unmanned vehicle system can monitor the health states of the main embedded terminal and the main vehicle chassis control node through a heartbeat mechanism, and when the main embedded terminal breaks down, the chassis is controlled through the backup embedded terminal; when the main vehicle chassis control node breaks down, the backup vehicle chassis control node controls the vehicle chassis to stop emergently. Therefore, when the embedded terminal and/or the chassis control node of the current user control right fails, the standby embedded terminal and/or the chassis control node can be adopted to take over the control right of the control chassis, so that the chassis of the unmanned vehicle can be normally controlled, and the running safety of the unmanned vehicle is improved.
It should be understood that although the various steps of fig. 2 are shown in order, the steps are not necessarily performed in order. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages, which 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 a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 5, there is provided an unmanned vehicle chassis control apparatus 500 applied to an unmanned vehicle system; the unmanned vehicle system comprises a main embedded terminal, a backup embedded terminal and a chassis, wherein a main chassis control node and a backup chassis control node are operated in the main embedded terminal and the backup embedded terminal; after the unmanned vehicle system is started, the chassis is controlled by the main embedded terminal and a main vehicle chassis control node running in the main embedded terminal. The chassis control device 500 for the unmanned vehicle includes: a monitoring module 501 and a control module 502, wherein:
and the monitoring module 501 is configured to monitor the main embedded terminal and the health state of the main vehicle chassis control node running in the main embedded terminal.
The control module 502 is used for controlling the chassis through the backup embedded terminal when the main embedded terminal fails; and when the main vehicle chassis control node running in the main embedded terminal breaks down, controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal.
In one embodiment, functional nodes except the main chassis control node and the backup chassis control node are operated in the main embedded terminal and the backup embedded terminal; the control module 502 is further configured to control the chassis by backing up a corresponding target function node operating in the embedded terminal when a failure data source in the main embedded terminal is monitored, and the failure data source is not a main chassis control node operating in the main embedded terminal; when a fault data source in the main embedded terminal is monitored, and the fault data source is a main vehicle chassis control node running in the main embedded terminal, executing a step of controlling a vehicle chassis through a backup vehicle chassis control node running in the main embedded terminal; and when the fault data source in the main embedded terminal is not monitored, the chassis is controlled globally through the backup embedded terminal.
In one embodiment, the control module 502 is further configured to control the chassis through the main chassis control node operating in the backup embedded terminal when the failure data source in the main embedded terminal is monitored, and the failure data source is the backup chassis control node operating in the main embedded terminal.
In one embodiment, the control module 502 is further configured to control the chassis via a backup chassis control node operating in the backup embedded terminal when the main chassis control node operating in the backup embedded terminal fails.
In one embodiment, the control module 502 is further configured to receive an autopilot control instruction sent by an autopilot computing center through a backup vehicle chassis control node operating in the main embedded terminal; and controlling the chassis through the automatic driving control instruction.
In one embodiment, the control module 502 is further configured to control the chassis to perform emergency braking according to the emergency stop command.
In one embodiment, the monitoring module 501 is further configured to receive a heartbeat data packet sent by the main embedded terminal at regular time through the backup embedded terminal; and when the backup embedded terminal does not receive the heartbeat data packet after exceeding the preset time interval, judging that the main embedded terminal has a fault.
In one embodiment, the monitoring module 501 is further configured to monitor the corresponding host vehicle chassis control node in real time through a monitoring program to obtain the health status of the host vehicle chassis control node.
In one embodiment, the control module 502 is further configured to receive raw radar data sent by the radar sensor; extracting azimuth information in original radar data; according to the azimuth information, taking original radar data with the azimuth within a preset angle range as point cloud data; judging whether an obstacle exists in front of the driving direction of the unmanned vehicle or not according to the point cloud data; and when the obstacle exists, the chassis of the vehicle is controlled to carry out emergency braking.
In one embodiment, the control module 502 is further configured to determine a sector area defined by a preset angle range as an obstacle detection area; determining a density value of a coordinate point corresponding to the point cloud data in the obstacle detection area; and when the density value is larger than the preset density threshold value, judging that an obstacle exists in front of the driving direction of the unmanned vehicle.
The chassis control device of the unmanned vehicle monitors the health state of the main embedded terminal and the main chassis control node running in the main embedded terminal; when the main embedded terminal breaks down, the chassis is controlled by the backup embedded terminal; and when the main vehicle chassis control node running in the main embedded terminal breaks down, the vehicle chassis is controlled through the backup vehicle chassis control node running in the main embedded terminal. Therefore, the unmanned vehicle system can realize real-time monitoring of the embedded terminal and the chassis control node, and when the embedded terminal and/or the chassis control node of the current user control right fails, the standby embedded terminal and/or the chassis control node can be adopted to take over the control right of the chassis, so that the chassis of the unmanned vehicle can be normally controlled, and the running safety of the unmanned vehicle is improved.
For specific limitations of the chassis control device of the unmanned vehicle, reference may be made to the above limitations on the chassis control method of the unmanned vehicle, and details are not repeated here. All or part of each module in the chassis control device of the unmanned vehicle can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of 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, which may be an unmanned vehicle operating unmanned vehicle system 102 of FIG. 1, described above, and whose internal structure diagram may be as shown in FIG. 6. The computer device comprises a processor, a memory, a network interface, a display screen and an input device which are connected through 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 and a computer program. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. 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 method of controlling a chassis of an unmanned vehicle. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: monitoring the health state of a main embedded terminal and a main vehicle chassis control node running in the main embedded terminal; when the main embedded terminal breaks down, the chassis is controlled by the backup embedded terminal; and when the main vehicle chassis control node running in the main embedded terminal breaks down, controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal.
In one embodiment, functional nodes except the main chassis control node and the backup chassis control node are operated in the main embedded terminal and the backup embedded terminal; the processor, when executing the computer program, further performs the steps of: when a fault data source in the main embedded terminal is monitored and is not a main vehicle chassis control node running in the main embedded terminal, controlling a vehicle chassis by backing up a corresponding target function node running in the embedded terminal; when a fault data source in the main embedded terminal is monitored, and the fault data source is a main vehicle chassis control node running in the main embedded terminal, executing a step of controlling a vehicle chassis through a backup vehicle chassis control node running in the main embedded terminal; and when the fault data source in the main embedded terminal is not monitored, the chassis is controlled globally through the backup embedded terminal.
In one embodiment, the processor, when executing the computer program, further performs the steps of: when a fault data source in the main embedded terminal is monitored, and the fault data source is a backup vehicle chassis control node operating in the main embedded terminal, the vehicle chassis is controlled through the main vehicle chassis control node operating in the backup embedded terminal.
In one embodiment, the processor, when executing the computer program, further performs the steps of: when the main vehicle chassis control node running in the backup embedded terminal breaks down, the vehicle chassis is controlled through the backup vehicle chassis control node running in the backup embedded terminal.
In one embodiment, the processor, when executing the computer program, further performs the steps of: receiving an automatic driving control instruction sent by an automatic driving calculation center through a backup vehicle chassis control node running in a main embedded terminal; and controlling the chassis through the automatic driving control command.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and the chassis is controlled to perform emergency braking through an emergency stop command.
In one embodiment, the processor, when executing the computer program, further performs the steps of: receiving heartbeat data packets sent by a main embedded terminal at regular time through a backup embedded terminal; and when the backup embedded terminal does not receive the heartbeat data packet after exceeding the preset time interval, judging that the main embedded terminal has a fault.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and monitoring the corresponding main vehicle chassis control node in real time through a monitoring program so as to obtain the health state of the main vehicle chassis control node.
In one embodiment, the processor when executing the computer program further performs the steps of: receiving original radar data sent by a radar sensor; extracting azimuth information in original radar data; according to the azimuth information, taking original radar data with the azimuth within a preset angle range as point cloud data; judging whether an obstacle exists in front of the driving direction of the unmanned vehicle or not according to the point cloud data; and when the obstacle exists, the chassis of the vehicle is controlled to carry out emergency braking. .
In one embodiment, the processor, when executing the computer program, further performs the steps of: determining a sector area defined by a preset angle range as an obstacle detection area; determining a density value of a coordinate point corresponding to the point cloud data in the obstacle detection area; and when the density value is larger than the preset density threshold value, judging that an obstacle exists in front of the driving direction of the unmanned vehicle.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: monitoring the health states of a main embedded terminal and a main vehicle chassis control node; when the main embedded terminal breaks down, the chassis is controlled by the backup embedded terminal; and when the main vehicle chassis control node running in the main embedded terminal breaks down, controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal.
In one embodiment, functional nodes except the main chassis control node and the backup chassis control node are operated in the main embedded terminal and the backup embedded terminal; the computer program when executed by the processor further realizes the steps of: when a fault data source in the main embedded terminal is monitored and is not a main vehicle chassis control node running in the main embedded terminal, controlling a vehicle chassis by backing up a corresponding target function node running in the embedded terminal; when a fault data source in the main embedded terminal is monitored, and the fault data source is a main vehicle chassis control node running in the main embedded terminal, executing a step of controlling a vehicle chassis through a backup vehicle chassis control node running in the main embedded terminal; and when the fault data source in the main embedded terminal is not monitored, the chassis is controlled globally through the backup embedded terminal.
In one embodiment, the computer program when executed by the processor further performs the steps of: when a fault data source in the main embedded terminal is monitored, and the fault data source is a backup vehicle chassis control node operating in the main embedded terminal, the vehicle chassis is controlled through the main vehicle chassis control node operating in the backup embedded terminal.
In one embodiment, the computer program when executed by the processor further performs the steps of: when the main vehicle chassis control node running in the backup embedded terminal breaks down, the vehicle chassis is controlled through the backup vehicle chassis control node running in the backup embedded terminal.
In one embodiment, the computer program when executed by the processor further performs the steps of: receiving an automatic driving control instruction sent by an automatic driving calculation center through a backup vehicle chassis control node running in a main embedded terminal; and controlling the chassis through the automatic driving control instruction.
In one embodiment, the computer program when executed by the processor further performs the steps of: and the chassis is controlled to perform emergency braking through an emergency stop command.
In one embodiment, the computer program when executed by the processor further performs the steps of: receiving heartbeat data packets sent by a main embedded terminal at fixed time through a backup embedded terminal; and when the backup embedded terminal does not receive the heartbeat data packet after exceeding the preset time interval, judging that the main embedded terminal has a fault.
In one embodiment, the computer program when executed by the processor further performs the steps of: and monitoring the corresponding main vehicle chassis control node in real time through a monitoring program so as to obtain the health state of the main vehicle chassis control node.
In one embodiment, the computer program when executed by the processor further performs the steps of: receiving original radar data sent by a radar sensor; extracting azimuth information in original radar data; according to the azimuth information, taking original radar data with the azimuth within a preset angle range as point cloud data; judging whether an obstacle exists in front of the driving direction of the unmanned vehicle or not according to the point cloud data; and when the obstacle exists, the chassis of the vehicle is controlled to carry out emergency braking. .
In one embodiment, the computer program when executed by the processor further performs the steps of: determining a sector area defined by a preset angle range as an obstacle detection area; determining a density value of a coordinate point corresponding to the point cloud data in the obstacle detection area; and when the density value is larger than the preset density threshold value, judging that an obstacle exists in front of the driving direction of the unmanned vehicle.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct Rambus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (20)

  1. A chassis control method of an unmanned vehicle is characterized by being applied to an unmanned vehicle system; the unmanned vehicle system comprises a main embedded terminal, a backup embedded terminal and a vehicle chassis, wherein a main chassis control node and a backup vehicle chassis control node run in the main embedded terminal and the backup embedded terminal; after the unmanned vehicle system is started, the chassis is controlled by the main embedded terminal and a main vehicle chassis control node running in the main embedded terminal, and the method comprises the following steps:
    monitoring the health state of the main embedded terminal and a main vehicle chassis control node running in the main embedded terminal;
    when the main embedded terminal breaks down, the chassis is controlled by the backup embedded terminal; and
    and when the main vehicle chassis control node running in the main embedded terminal breaks down, the vehicle chassis is controlled by the backup vehicle chassis control node running in the main embedded terminal.
  2. The method of claim 1 wherein functional nodes other than the main chassis control node and the backup chassis control node are run in the main embedded terminal and the backup embedded terminal; when the main embedded terminal breaks down, the chassis is controlled by the backup embedded terminal, and the method comprises the following steps:
    when a fault data source in the main embedded terminal is monitored and is not a main vehicle chassis control node running in the main embedded terminal, controlling the vehicle chassis through a corresponding target function node running in the backup embedded terminal;
    when a fault data source in the main embedded terminal is monitored, and the fault data source is a main vehicle chassis control node running in the main embedded terminal, executing the step of controlling the vehicle chassis through a backup vehicle chassis control node running in the main embedded terminal;
    and when the fault data source in the main embedded terminal is not monitored, the chassis is controlled globally through the backup embedded terminal.
  3. The method of claim 2, wherein when a source of fault data in the main embedded terminal is monitored and the source of fault data is not a main chassis control node operating in the main embedded terminal, controlling the chassis by a corresponding target function node operating in the backup embedded terminal comprises:
    and when a fault data source in the main embedded terminal is monitored, and the fault data source is a backup vehicle chassis control node running in the main embedded terminal, controlling the vehicle chassis through a main vehicle chassis control node running in the backup embedded terminal.
  4. The method of claim 3, further comprising:
    and when the main vehicle chassis control node running in the backup embedded terminal breaks down, controlling the vehicle chassis through the backup vehicle chassis control node running in the backup embedded terminal.
  5. The method of claim 1, wherein said controlling the chassis by a backup chassis control node operating in the master embedded terminal comprises:
    receiving an automatic driving control instruction sent by an automatic driving calculation center through a backup vehicle chassis control node running in the main embedded terminal; and
    and controlling the chassis through the automatic driving control instruction.
  6. The method of claim 5, wherein the autopilot control command is an emergency stop command, and wherein controlling the chassis via the autopilot control command comprises:
    and controlling the chassis to perform emergency braking through the emergency stopping instruction.
  7. The method according to claim 1, wherein the health status monitoring step of the main embedded terminal comprises:
    receiving heartbeat data packets sent by the main embedded terminal at fixed time through the backup embedded terminal; and
    and when the backup embedded terminal does not receive the heartbeat data packet after exceeding a preset time interval, judging that the main embedded terminal has a fault.
  8. The method of claim 1, wherein the health monitoring step of the primary chassis control node comprises:
    and monitoring the corresponding main vehicle chassis control node in real time through a monitoring program so as to obtain the health state of the main vehicle chassis control node.
  9. The method according to any one of claims 1 to 8, further comprising:
    receiving original radar data sent by a radar sensor;
    extracting azimuth information in the original radar data;
    according to the azimuth angle information, taking original radar data with an azimuth angle within a preset angle range as point cloud data;
    judging whether an obstacle exists in front of the driving direction of the unmanned vehicle or not according to the point cloud data; and
    and when an obstacle exists, controlling the chassis to perform emergency braking.
  10. The method of claim 9, wherein determining whether an obstacle exists ahead of a direction of travel of the unmanned vehicle from the point cloud data comprises:
    determining a sector area defined by the preset angle range as an obstacle detection area;
    determining a density value of a coordinate point corresponding to the point cloud data in the obstacle detection area; and
    and when the density value is larger than a preset density threshold value, judging that an obstacle exists in front of the driving direction of the unmanned vehicle.
  11. A chassis control device of an unmanned vehicle is characterized by being applied to an unmanned vehicle system; the unmanned vehicle system comprises a main embedded terminal, a backup embedded terminal and a vehicle chassis, wherein a main chassis control node and a backup vehicle chassis control node run in the main embedded terminal and the backup embedded terminal; after the unmanned vehicle system is started, the chassis is controlled by the main embedded terminal and a main vehicle chassis control node running in the main embedded terminal, and the device comprises:
    the monitoring module is used for monitoring the main embedded terminal and the health state of a main vehicle chassis control node running in the main embedded terminal;
    the control module is used for controlling the chassis through the backup embedded terminal when the main embedded terminal fails; and when the main vehicle chassis control node running in the main embedded terminal breaks down, controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal.
  12. The apparatus of claim 11, wherein functional nodes other than the main chassis control node and the backup chassis control node are run in the main embedded terminal and the backup embedded terminal; the control module is also used for controlling the chassis through a corresponding target function node operated in the backup embedded terminal when a fault data source in the main embedded terminal is monitored and the fault data source is not a main chassis control node operated in the main embedded terminal; when a fault data source in the main embedded terminal is monitored, and the fault data source is a main vehicle chassis control node running in the main embedded terminal, executing the step of controlling the vehicle chassis through a backup vehicle chassis control node running in the main embedded terminal; and when the fault data source in the main embedded terminal is not monitored, the chassis is controlled globally through the backup embedded terminal.
  13. The apparatus of claim 12, wherein the control module is further configured to control the chassis via a main chassis control node operating in the backup embedded terminal when a source of fault data in the main embedded terminal is monitored, and the source of fault data is a backup chassis control node operating in the main embedded terminal.
  14. The apparatus of claim 13, wherein the control module is further configured to control the chassis via a backup chassis control node operating in the backup embedded terminal when a failure occurs in the main chassis control node operating in the backup embedded terminal.
  15. The device of claim 11, wherein the control module is further configured to receive an autopilot control command sent by an autopilot computing center via a backup vehicle chassis control node operating in the main embedded terminal; and controlling the chassis through the automatic driving control instruction.
  16. The device of claim 15, wherein the automatic driving control command is an emergency stop command, and the control module is further configured to control the chassis to perform emergency braking according to the emergency stop command.
  17. The device according to claim 11, wherein the monitoring module is further configured to receive, by the backup embedded terminal, a heartbeat data packet sent by the main embedded terminal at regular time; and when the backup embedded terminal does not receive the heartbeat data packet after exceeding a preset time interval, judging that the main embedded terminal breaks down.
  18. The apparatus of claim 11, wherein the monitoring module is further configured to monitor the corresponding primary chassis control node in real time via a monitoring program to obtain the health status of the primary chassis control node.
  19. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 10 are implemented by the processor when executing the computer program.
  20. 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 of any one of claims 1 to 10.
CN202180050220.3A 2021-04-12 2021-04-12 Unmanned vehicle chassis control method and device and computer equipment Pending CN115917466A (en)

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CN109391495A (en) * 2017-08-10 2019-02-26 阿里巴巴集团控股有限公司 Send and receive method, apparatus, computer-readable medium and the electronic equipment of heartbeat message
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