CN115967663A - Data transmission method, device, equipment and storage medium - Google Patents
Data transmission method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a data transmission method, a data transmission device, data transmission equipment and a storage medium. The method comprises the following steps: utilizing at least two preset routers to respectively receive feedback information sent by a preset server, wherein different preset routers use different network communication paths when communicating with the preset server; determining network quality information respectively corresponding to the at least two preset routers according to the feedback information; and determining a target preset router from the at least two preset routers according to the comparison result of the network quality information corresponding to different preset routers, and sending the current data packet to be sent to the preset server by using the target preset router. According to the technical scheme of the embodiment of the invention, a plurality of routers are arranged in the vehicle, and a plurality of network communication paths are used, so that a proper router is selected to perform information interaction with a remote server according to the comparison result of the network quality information.
Description
Technical Field
The invention relates to the technical field of data transmission of internet of vehicles, in particular to a method, a device, equipment and a storage medium for data transmission.
Background
With the continuous development of information technology, unmanned vehicle remote driving technology is also becoming more and more important. The unmanned automobile realizes unmanned driving through a computer by means of cooperative cooperation of artificial intelligence, visual calculation, radar, a monitoring device and a global positioning system, and can automatically and safely operate the motor vehicle without any active operation of human beings.
At present, the main principle of the unmanned vehicle remote driving technology is that various vehicle-mounted sensors such as vision, laser radar, an ultrasonic sensor, a microwave radar, a GPS, a speedometer and a magnetic compass are integrated to identify the environment and the state of an automobile, analysis and judgment are made according to the obtained road information, the information of traffic signals, the position of the automobile and the information of obstacles, expected control is sent to a main control computer, and the steering and the speed of the automobile are controlled.
However, due to the uncertainty of the network, the remote server often loses control over the unmanned vehicle due to the disconnection of the network, and a remote control person cannot know the traffic environment of the current road surface in real time, so that a serious potential safety hazard exists.
Disclosure of Invention
The invention provides a data transmission method, a data transmission device, data transmission equipment and a data transmission storage medium, which are used for solving the problem that a picture displayed by a vehicle machine is suddenly blocked due to disconnection of a network.
In a first aspect, the present invention provides a method for data transmission, including:
utilizing at least two preset routers to respectively receive feedback information sent by a preset server, wherein different preset routers use different network communication paths when communicating with the preset server;
determining network quality information respectively corresponding to the at least two preset routers according to the feedback information, wherein the network quality information comprises delay time and packet loss rate;
and determining a target preset router from the at least two preset routers according to the comparison result of the network quality information corresponding to different preset routers, and sending the current data packet to be sent to the preset server by using the target preset router.
In a second aspect, the present invention provides an apparatus for data transmission, including:
the feedback information receiving module is used for utilizing at least two preset routers to respectively receive feedback information sent by a preset server, wherein different preset routers have different network communication paths when communicating with the preset server;
a quality information determining module, configured to determine, according to the feedback information, network quality information corresponding to the at least two preset routers, where the network quality information includes delay time and packet loss rate;
and the data packet sending module is used for determining a target preset router from the at least two preset routers according to the comparison result of the network quality information corresponding to different preset routers, and sending the current data packet to be sent to the preset server by using the target preset router.
In a third aspect, the present invention provides an unmanned vehicle comprising:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the method of data transmission of the first aspect.
In a fourth aspect, the present invention provides a computer-readable storage medium storing computer instructions for causing a processor to implement the method for data transmission of the first aspect when executed.
According to the scheme of data transmission provided by the invention, at least two preset routers are utilized to respectively receive feedback information sent by a preset server, wherein different preset routers use different network communication paths when communicating with the preset server, network quality information respectively corresponding to the at least two preset routers is determined according to the feedback information, wherein the network quality information comprises delay time and packet loss rate, a target preset router is determined from the at least two preset routers according to a comparison result of the network quality information corresponding to the different preset routers, and the target preset router is utilized to send a current data packet to be sent to the preset server. By adopting the technical scheme, at least two preset routers are used for respectively receiving feedback information sent by the preset servers, the delay time and the packet loss rate of each preset router are determined according to the feedback information, a target preset router is determined from the preset routers according to the comparison result of the delay time and the packet loss rate corresponding to different preset routers, a data packet to be sent is sent to the router, the proper router is selected to interact information with the remote server according to the comparison result of the network quality information by arranging the plurality of routers in the vehicle and using various network communication paths, so that the problems that a picture displayed by a vehicle machine is suddenly blocked due to the network problem of a single router, and the remote server loses control over an unmanned vehicle can be avoided, and the running safety of the vehicle is guaranteed.
It should be understood that the statements herein do not identify key or critical features of the invention, nor do they limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for data transmission according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of information interaction provided according to a second embodiment of the present invention;
fig. 3 is a flowchart of a method for data transmission according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a data transmission apparatus according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle machine according to a fourth embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. In the description of the present invention, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a data transmission method provided in an embodiment of the present invention, where the present embodiment is applicable to a case where an unmanned vehicle transmits data to a remote server, and the method may be executed by a data transmission device, where the data transmission device may be implemented in a form of hardware and/or software, and the data transmission device may be configured in a vehicle of the unmanned vehicle, where the unmanned vehicle may be formed by two or more physical entities.
As shown in fig. 1, a method for data transmission according to an embodiment of the present invention includes the following steps:
s101, respectively receiving feedback information sent by a preset server by using at least two preset routers, wherein different network communication paths used by the preset routers when the preset routers communicate with the preset server are different.
In this embodiment, a plurality of preset routers may be disposed in the vehicle, and network communication paths used when the plurality of preset routers and the remote preset server perform information interaction may be different, that is, the plurality of preset routers may use different network operators to perform communication, or different communication technologies of the same operator may be used, for example, when the number of preset routers is two, a fourth-generation mobile communication technology and a fifth-generation mobile communication technology may be respectively used to perform communication, and communication base stations corresponding to the two communication technologies are different, that is, network communication paths of the two communication technologies are different, so that a problem that all preset routers cannot perform information interaction with the preset server due to a failure of one network communication path is avoided. Fig. 2 is a schematic diagram of information interaction, and as shown in fig. 2, after receiving a data packet sent by a preset router, a preset server sends feedback information of the data packet to the preset router. The remote preset server can remotely control the unmanned vehicle according to the received data packet and the issued instruction information, the data packet sent by the preset router can contain a data packet sequence number, a router identifier, vehicle information and the like, and the feedback information can contain information such as the sequence number of the received data packet and the like.
S102, determining network quality information respectively corresponding to the at least two preset routers according to the feedback information, wherein the network quality information comprises delay time and packet loss rate.
In this embodiment, the delay time and the packet loss rate of each preset router may be calculated according to the time when each preset router sends the data packet and the time when each preset router receives the feedback information. For example, a difference between the time when the feedback information is received and the time when the data packet corresponding to the feedback information is sent is used as a delay time of the preset router, and the packet loss rate may be a ratio of the delay time greater than a preset time threshold, for example, the number of data packets of 500 milliseconds to the total number of data packets sent.
S103, according to the comparison result of the network quality information corresponding to different preset routers, determining a target preset router from the at least two preset routers, and sending a current data packet to be sent to the preset server by using the target preset router.
In this embodiment, a preset router (target preset router) meeting preset requirements can be screened out from a plurality of different preset routers, and if the preset requirements are that both delay time and packet loss rate are minimum, the target preset router is used to send a current data packet to be sent. If a network of a certain preset router has a problem, such as network disconnection, the remaining different preset routers can continue to keep information interaction with the preset server, and the safety of the vehicle and the safety of personnel around the vehicle are further ensured.
The data transmission method provided by the embodiment of the invention utilizes at least two preset routers to respectively receive feedback information sent by a preset server, wherein different preset routers have different network communication paths when communicating with the preset server, and determine network quality information respectively corresponding to the at least two preset routers according to the feedback information, wherein the network quality information comprises delay time and packet loss rate, and according to a comparison result of the network quality information corresponding to the different preset routers, a target preset router is determined from the at least two preset routers, and the target preset router is utilized to send a current data packet to be sent to the preset server. According to the technical scheme of the embodiment of the invention, at least two preset routers are used for respectively receiving feedback information sent by a preset server, the delay time and the packet loss rate of each preset router are determined according to the feedback information, a target preset router is determined from the preset routers according to the comparison result of the delay time and the packet loss rate corresponding to different preset routers, a data packet to be sent is sent to the router, a plurality of routers are arranged in a vehicle, a plurality of network communication paths are used, and a proper router is selected according to the comparison result of network quality information to continuously keep information interaction with a remote server, so that the problems that a picture displayed by a vehicle machine is suddenly blocked due to the network problem of a single router, and the remote server loses control over an unmanned vehicle are solved, and the vehicle running safety is guaranteed.
Example two
Fig. 3 is a flowchart of a data transmission method according to a second embodiment of the present invention, where the technical solution of the second embodiment of the present invention is further optimized based on the above optional technical solutions, and a specific data transmission manner is provided.
Optionally, the determining, according to a comparison result of the network quality information corresponding to different preset routers, a target preset router from the at least two preset routers includes: judging whether the first packet loss rate and the second packet loss rate are both smaller than a first preset threshold value; if the packet loss rate is less than the first delay time, comparing the first delay time with the second delay time, and determining a target preset router according to a comparison result, wherein the packet loss rate at least comprises a first packet loss rate of a first preset router and a second packet loss rate of a second preset router, and the delay time at least comprises the first delay time of the first preset router and the second delay time of the second preset router; if the first packet loss rate is smaller than the first preset threshold value, but the second packet loss rate is greater than or equal to the first preset threshold value, determining the first preset router as a target preset router; and if the first packet loss rate and the second packet loss rate are both greater than the first preset threshold value, determining the first preset router and the second preset router as target preset routers. The advantage of such an arrangement is that when the packet loss rate of at least one router is too large, the router with a smaller packet loss rate or all routers can be used to transmit data, and the integrity of data transmission between the router and the server is further ensured.
As shown in fig. 3, a method for data transmission provided in the second embodiment of the present invention specifically includes the following steps:
s201, respectively receiving feedback information sent by a preset server by using at least two preset routers.
S202, determining the network quality information corresponding to the at least two preset routers respectively according to the feedback information.
Optionally, determining delay times respectively corresponding to the at least two preset routers according to the feedback information includes:
1) Calculating a difference value between a first sending time and a first receiving time to obtain a time difference, wherein the feedback information includes the first receiving time and the first sending time, the first sending time represents the time for the preset server to send the feedback information, and the first receiving time represents the time for the preset server to receive the data packet sent by the preset router.
For example, if the first transmission time of the feedback information 1 is 8 o 'clock 0 min 0 sec 100 msec, and the first reception time of the data packet 1 corresponding to the feedback information 1 is 8 o' clock 0 min 0 sec 50 msec, the time difference is 50 msec.
2) And calculating the sum of the second sending time of the preset router for sending the data packet and the time difference to obtain target sum time.
Illustratively, if the second transmission time of packet 1 is 8 o 'clock 0 min 0 sec 40 msec with a time difference of 50 msec, the target sum time is 8 o' clock 0 min 0 sec 90 msec.
3) And calculating the difference between the second receiving time of the preset router for receiving the feedback information and the target sum value time to obtain the round-trip delay time.
Illustratively, if the second receiving time of the feedback information 1 is 8 points 0 minutes 0 seconds 140 milliseconds, and the target sum time is 8 points 0 minutes 0 seconds 90 milliseconds, the round trip delay time is 50 milliseconds.
4) And accumulating the first preset time within a first preset time to obtain the delay time of the preset router.
For example, if the first preset time duration is 500 ms, the preset router 1 sends 3 three packets within 500 ms, and the round trip delay time durations of the three packets are 50 ms, 50 ms and 40 ms, respectively, then the delay time of the preset router 1 may be determined to be 140 ms.
The advantage of such an arrangement is that the delay time of each router can be accurately determined by using the time difference between the transmission time of the feedback information and the reception time of the data packet, the transmission time of the data packet, and the reception time of the feedback information.
Optionally, determining packet loss ratios respectively corresponding to the at least two preset routers according to the feedback information includes: determining a time difference value between the second receiving time and the second sending time, and determining a data packet corresponding to the time difference value larger than a second preset threshold value as a packet loss; and determining the ratio of the number of the lost packets to the total number of the data packets sent by the preset router within a second preset time length to obtain the packet loss rate of the preset router. The advantage of this configuration is that the packet loss rate of each router within the preset time period can be accurately determined.
For example, if the second receiving time of the feedback information 1 is 8 o 'clock 0 min 1 sec 0 msec and the second sending time of the data packet 1 is 8 o' clock 0 min 0 sec 40 msec, the time difference value may be determined to be 960 msec. If the second preset threshold is 400 ms, it may be determined that the data packet 1 is a packet loss. If the second preset duration is 600 milliseconds, the number of packet loss of the router 1 is preset to be 4 within 600 milliseconds, and the total number of the sent data packets is 10, and then the packet loss rate of the router 1 is preset to be 40%.
S203, determining whether the first packet loss rate and the second packet loss rate are both smaller than a first preset threshold, if yes, performing step 204, and if not, performing step 205.
The packet loss rate at least includes a first packet loss rate of a first preset router and a second packet loss rate of a second preset router.
For example, if the first preset threshold is 2%, the first packet loss rate is 0.5%, and the second packet loss rate is 0.7%, it may be determined that both the first packet loss rate and the second packet loss rate are smaller than the first preset threshold.
S204, comparing the first delay time with the second delay time, determining a target preset router according to a comparison result, and executing step 210.
The packet loss rate at least includes a first packet loss rate of a first preset router and a second packet loss rate of a second preset router, and the delay time at least includes a first delay time of the first preset router and a second delay time of the second preset router.
Specifically, the target pre-set router may be determined according to the first delay time and the second delay time, for example, the pre-set router corresponding to the smaller delay time may be determined as the target pre-set router.
Optionally, the comparing the first delay time with the second delay time, and determining the target preset router according to the comparison result includes: judging whether the first delay time is less than the second delay time, if so, determining the first preset router as a target preset router; or, determining the first preset router as a first target preset router, and determining the second preset router as a second target preset router.
For example, if the first delay time is 40 ms and the second delay time is 50 ms, it may be determined that the first delay time is less than the second delay time, and then the first preset router is determined as the target preset router, or the first preset router is determined as the first target preset router and the second preset router is determined as the second target preset router.
S205, determining whether the first packet loss rate and the second packet loss rate are both greater than the first preset threshold, if so, performing step 206, and if not, performing step 207.
S206, determining the first preset router and the second preset router as target preset routers, and executing step 210.
For example, if the first preset threshold is 2%, the first packet loss rate is 3.5%, and the second packet loss rate is 2.7%, the first preset router corresponding to the first packet loss rate and the second preset router corresponding to the second packet loss rate may be determined as the target preset router.
S207, determining whether the first packet loss rate is smaller than the first preset threshold, if so, performing step 208, and if not, performing step 209.
S208, determining the first preset router as a target preset router, and executing step 210.
For example, if the first preset threshold is 2%, the first packet loss rate is 0.5%, and the second packet loss rate is 2.7%, the first preset router corresponding to the first packet loss rate may be directly determined as the target preset router.
S209, determining the second preset router as a target preset router.
S210, the target preset router is utilized to send the current data packet to be sent to the preset server.
Optionally, the sending, by using the target preset router, the current data packet to be sent to the preset server includes: and sending a first data packet to the preset server by using the first target preset router, and sending a second data packet to the preset server by using the second target preset router, wherein the importance of the first data packet is higher than that of the second data packet. The router with the small packet loss rate and the small delay time is screened out, and the router is used for transmitting data with high importance, so that the safety of the vehicle is further guaranteed.
Specifically, as described in the above example, if the first delay time is shorter, the first preset router corresponding to the first delay time may be used to send a more important first data packet in the current data packet to be sent to the preset server, and the second preset router corresponding to the second delay time may be used to send a second data packet in the current data packet to be sent to the preset server. Or, the first router with the smaller delay time may be used to perform information interaction with the preset server, so as to further ensure the safety of the vehicle and people around the vehicle, for example, when the speed of the vehicle is greater than a preset value, such as 60 km/h, or the vehicle is in a more complex environment, such as more pedestrians around, the first router with the smaller delay time may be used to communicate with the preset server. The first data packet may include a control command for the vehicle, state information of the vehicle itself, a key image frame of the vehicle surroundings, and the like, and the first data packet may include a non-key image frame of the vehicle surroundings, and the like.
The data transmission method provided by the embodiment of the invention utilizes at least two preset routers to respectively receive feedback information sent by a preset server, determines the delay time and the packet loss rate of each preset router according to the feedback information, screens out the preset routers with smaller delay time and packet loss rate from a plurality of preset routers, determines a target preset router by the preset router, sends a data packet to be sent to the router, screens out a better network channel through the delay time and the packet loss rate of historical data packets sent by the plurality of routers, improves the reliability of communication between the routers and the server, and can utilize the routers with smaller packet loss rate or all routers to transmit data when the packet loss rate of at least one router is too large, further ensures the integrity of data transmission between the routers and the server, solves the problems that the picture displayed by a vehicle is suddenly blocked due to the network problem of a single router, and a remote server loses control over an unmanned vehicle, and provides a guarantee for the safety of vehicles.
On the basis of the above embodiment, the method may further include: repeatedly sending the data packet corresponding to the time difference value larger than the second preset threshold value to the preset server by using the at least two preset routers, wherein the repeated sending times are at least one time, the time difference value is a time difference value between second receiving time and second sending time, the second receiving time is the time when the preset routers receive the feedback information, and the second sending time is the second sending time when the preset routers send the data packet; and if the data packet corresponding to the time difference value larger than the second preset threshold value is a preset type data packet, controlling the unmanned vehicle to stop by using a controller in the unmanned vehicle, wherein the preset type data packet comprises remote control information of the unmanned vehicle. The advantage of setting up like this is through utilizing a plurality of routers to the repeated data package that sends the packet loss of server, has guaranteed the reliability of communication between router and the server, if the server does not receive comparatively important data package (predetermine the type data package) for a long time, then can guarantee the safety of personnel around the vehicle through the mode that unmanned vehicle of direct control parkked.
For example, if the second preset threshold is 400 milliseconds and the time difference is 450 milliseconds, the data packet corresponding to the time difference is a packet loss, the packet loss may be sent to the preset server by using a plurality of preset routers in the vehicle, and if the data packet is a vehicle control instruction data packet (a preset type data packet), the vehicle may be controlled to stop by using a controller in the vehicle.
On the basis of the above embodiment, the method may further include: if the fact that the duration of the target router not sending data in the preset routers exceeds a third preset duration is detected, sending a detection message to the preset server by using the target router, and determining the delay time and the packet loss rate of the target router according to feedback information corresponding to the detection message, wherein the duration of the unsent data indicates the duration of the target router not sending data packets to the preset server continuously. The advantage of this arrangement is that it avoids the dead-loop that a router only uses the router and idles other remaining routers for a long time because the packet loss rate and delay time of a router are small.
Specifically, if the third preset time duration is 10 milliseconds, and the preset router 2 does not send a data packet to the preset server when the preset router 2 exceeds the time of 10 milliseconds in the plurality of preset routers configured in the vehicle, the preset router 2 is the target router. The preset router 2 may be used to send a detection packet to a preset server, so as to obtain the packet loss rate and the delay time of the preset router 2. The detection packet may include an identifier of a preset router, a sequence number of the detection packet, a sending time of the detection packet, and the like.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a data transmission apparatus according to a third embodiment of the present invention. As shown in fig. 4, the apparatus includes: a feedback information receiving module 301, a quality information determining module 302, and a data packet sending module 303, wherein:
the system comprises a feedback information receiving module, a feedback information processing module and a feedback information processing module, wherein the feedback information receiving module is used for utilizing at least two preset routers to respectively receive feedback information sent by a preset server, and different network communication paths used by different preset routers when the preset routers communicate with the preset server are different;
the quality information determining module is used for determining network quality information corresponding to the at least two preset routers according to the feedback information, wherein the network quality information comprises delay time and packet loss rate;
and the data packet sending module is used for determining a target preset router from the at least two preset routers according to the comparison result of the network quality information corresponding to different preset routers, and sending the current data packet to be sent to the preset server by using the target preset router.
The data transmission device provided by the embodiment of the invention utilizes at least two preset routers to respectively receive feedback information sent by a preset server, determines the delay time and the packet loss rate of each preset router according to the feedback information, determines a target preset router from the preset routers according to the comparison result of the delay time and the packet loss rate corresponding to different preset routers, sends a data packet to be sent to the router, selects a proper router to continue to keep information interaction with a remote server according to the comparison result of network quality information by arranging the plurality of routers in a vehicle and using various network communication paths, so that a remote controller can know the traffic environment of the current road surface in real time, solves the problems that the picture displayed by a vehicle is suddenly blocked due to the network problem of a single router, and the remote server loses control over an unmanned vehicle, and provides guarantee for the safety of the vehicle.
Optionally, the data packet sending module includes:
the first judging unit is used for judging whether the first packet loss rate and the second packet loss rate are both smaller than a first preset threshold value;
a first determining unit, configured to compare a first delay time with a second delay time if a determination result returned by the first determining unit is yes, and determine a target preset router according to a comparison result, where the packet loss rate at least includes a first packet loss rate of a first preset router and a second packet loss rate of a second preset router, and the delay time at least includes the first delay time of the first preset router and the second delay time of the second preset router;
a second determining unit, configured to determine the first preset router as a target preset router if the determination result returned by the first determining unit is negative, the first packet loss rate is smaller than the first preset threshold, and the second packet loss rate is greater than or equal to the first preset threshold;
and a third determining unit, configured to determine the first preset router and the second preset router as target preset routers if the determination result returned by the first determining unit is negative and the first packet loss rate and the second packet loss rate are both greater than the first preset threshold.
Optionally, the comparing the first delay time with the second delay time, and determining the target preset router according to the comparison result includes: judging whether the first delay time is less than the second delay time, if so, determining the first preset router as a target preset router; or, determining the first preset router as a first target preset router, and determining the second preset router as a second target preset router.
Optionally, the data packet sending module further includes:
and the data packet sending unit is used for sending a first data packet to the preset server by using the first target preset router and sending a second data packet to the preset server by using the second target preset router, wherein the importance of the first data packet is higher than that of the second data packet.
Optionally, the quality information determining module includes:
a time difference determining unit, configured to calculate a difference between a first sending time and a first receiving time to obtain a time difference, where the feedback information includes the first receiving time and the first sending time, the first sending time represents a time when the preset server sends the feedback information, and the first receiving time represents a time when the preset server receives a data packet sent by the preset router;
the target sum value time determining unit is used for calculating the sum value of the second sending time of the data packet sent by the preset router and the time difference to obtain target sum value time;
a delay time length determining unit, configured to calculate a difference between a second receiving time when the preset router receives the feedback information and the target sum time, to obtain a round-trip delay time length;
and the delay time determining unit is used for accumulating the round-trip delay time length in a first preset time length so as to obtain the delay time of the preset router.
Optionally, the quality information determining module further includes:
a packet loss number determining unit, configured to determine a time difference between the second receiving time and the second sending time, and determine a data packet corresponding to the time difference, which is greater than a second preset threshold, as a packet loss;
and the packet loss rate determining unit is configured to determine a ratio of the number of the lost packets to the total number of the data packets sent by the preset router within a second preset time period, so as to obtain the packet loss rate of the preset router.
Optionally, the apparatus further comprises:
a data repeat sending module, configured to repeatedly send, by using the at least two preset routers, a data packet corresponding to a time difference value greater than a second preset threshold to the preset server, where the number of times of repeat sending is at least one, where the time difference value is a time difference value between a second receiving time and a second sending time, the second receiving time is a time when the preset router receives the feedback information, and the second sending time is a second sending time when the preset router sends the data packet;
and the braking module is used for controlling the unmanned vehicle to stop by using a controller in the unmanned vehicle if the data packet corresponding to the time difference value larger than the second preset threshold value is a preset type data packet, wherein the preset type data packet contains remote control information of the unmanned vehicle.
Optionally, the apparatus further comprises:
and the detection message sending module is used for sending a detection message to the preset server by using the target router if the detection result shows that the duration of the target router not sending data exceeds a third preset duration, so as to determine the delay time and the packet loss rate of the target router according to the feedback information corresponding to the detection message, wherein the duration of the unsent data indicates the duration of the target router continuously not sending data packets to the preset server.
The data transmission device provided by the embodiment of the invention can execute the data transmission method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
An unmanned vehicle is intended to mean an unmanned vehicle including a vehicle machine and the like. Fig. 5 shows a schematic structural diagram of a vehicle machine 40 that may be used to implement an embodiment of the invention. The vehicle machine can be a digital computer in various forms. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the car machine 40 includes at least one processor 41, and a memory communicatively connected to the at least one processor 41, such as a Read Only Memory (ROM) 42, a Random Access Memory (RAM) 43, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 41 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 42 or the computer program loaded from the storage unit 48 into the Random Access Memory (RAM) 43. In the RAM 43, various programs and data necessary for the operation of the in-vehicle machine 40 may also be stored. The processor 41, the ROM 42, and the RAM 43 are connected to each other via a bus 44. An input/output (I/O) interface 45 is also connected to bus 44.
Various components in the in-vehicle machine 40 are connected to the I/O interface 45, including: an input unit 46 such as a keyboard, a mouse, etc.; an output unit 47 such as various types of displays, speakers, and the like; a storage unit 48 such as a magnetic disk, optical disk, or the like; and a communication unit 49 such as a network card, modem, wireless communication transceiver, etc. The communication unit 49 allows the car machine 40 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
In some embodiments, the method of data transmission may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 48. In some embodiments, some or all of the computer program may be loaded and/or installed on the in-vehicle machine 40 via the ROM 42 and/or the communication unit 49. When the computer program is loaded into the RAM 43 and executed by the processor 41, one or more steps of the method of data transmission described above may be performed. Alternatively, in other embodiments, processor 41 may be configured by any other suitable means (e.g., by way of firmware) to perform the method of data transfer.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
The computer device provided by the above can be used to execute the method for data transmission provided by any of the above embodiments, and has corresponding functions and advantages.
EXAMPLE five
In the context of the present invention, a computer-readable storage medium may be a tangible medium, the computer-executable instructions when executed by a computer processor perform a method of data transmission, the method comprising:
utilizing at least two preset routers to respectively receive feedback information sent by a preset server, wherein different preset routers use different network communication paths when communicating with the preset server;
determining network quality information respectively corresponding to the at least two preset routers according to the feedback information, wherein the network quality information comprises delay time and packet loss rate;
and determining a target preset router from the at least two preset routers according to the comparison result of the network quality information corresponding to different preset routers, and sending the current data packet to be sent to the preset server by using the target preset router.
In the context of the present invention, a computer readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on 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 compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer device provided above can be used to execute the method for data transmission provided in any of the above embodiments, and has corresponding functions and advantages.
It should be noted that, in the embodiment of the data transmission apparatus, the included units and modules are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method of data transmission for use in an unmanned vehicle, the method comprising:
utilizing at least two preset routers to respectively receive feedback information sent by a preset server, wherein different preset routers use different network communication paths when communicating with the preset server;
determining network quality information respectively corresponding to the at least two preset routers according to the feedback information, wherein the network quality information comprises delay time and packet loss rate;
and determining a target preset router from the at least two preset routers according to the comparison result of the network quality information corresponding to different preset routers, and sending a current data packet to be sent to the preset server by using the target preset router.
2. The method according to claim 1, wherein the determining a target pre-set router from the at least two pre-set routers according to the comparison result of the network quality information corresponding to different pre-set routers comprises:
judging whether the first packet loss rate and the second packet loss rate are both smaller than a first preset threshold value;
if the packet loss rate is less than the first delay time, comparing the first delay time with the second delay time, and determining a target preset router according to a comparison result, wherein the packet loss rate at least comprises a first packet loss rate of a first preset router and a second packet loss rate of a second preset router, and the delay time at least comprises the first delay time of the first preset router and the second delay time of the second preset router;
if the first packet loss rate is smaller than the first preset threshold value, but the second packet loss rate is larger than or equal to the first preset threshold value, determining the first preset router as a target preset router;
if the first packet loss rate and the second packet loss rate are both greater than the first preset threshold, determining the first preset router and the second preset router as target preset routers.
3. The method of claim 2, wherein comparing the first delay time with the second delay time and determining the target pre-set router according to the comparison result comprises:
judging whether the first delay time is less than the second delay time, if so, determining the first preset router as a target preset router; or, determining the first preset router as a first target preset router, and determining the second preset router as a second target preset router;
wherein, the sending the current data packet to be sent to the preset server by using the target preset router includes:
and sending a first data packet to the preset server by using the first target preset router, and sending a second data packet to the preset server by using the second target preset router, wherein the importance of the first data packet is higher than that of the second data packet.
4. The method according to any one of claims 1 to 3, wherein determining the delay time corresponding to each of the at least two preset routers according to the feedback information comprises:
calculating a difference value between a first sending time and a first receiving time to obtain a time difference, wherein the feedback information comprises the first receiving time and the first sending time, the first sending time represents the time for the preset server to send the feedback information, and the first receiving time represents the time for the preset server to receive the data packet sent by the preset router;
calculating the sum of the second sending time of the preset router for sending the data packet and the time difference to obtain target sum time;
calculating a difference value between a second receiving time of the preset router for receiving the feedback information and the target sum value time to obtain a round-trip delay time;
and accumulating the round-trip delay time length in a first preset time length to obtain the delay time of the preset router.
5. The method according to claim 4, wherein determining packet loss ratios respectively corresponding to the at least two preset routers according to the feedback information comprises:
determining a time difference value between the second receiving time and the second sending time, and determining a data packet corresponding to the time difference value larger than a second preset threshold value as a packet loss;
and determining the ratio of the number of the lost packets to the total number of the data packets sent by the preset router within a second preset time period to obtain the packet loss rate of the preset router.
6. The method according to any one of claims 1-5, further comprising:
repeatedly sending the data packet corresponding to the time difference value larger than the second preset threshold value to the preset server by using the at least two preset routers, wherein the number of times of repeated sending is at least one, the time difference value is a time difference value between second receiving time and second sending time, the second receiving time is the time when the preset routers receive the feedback information, and the second sending time is the second sending time when the preset routers send the data packet;
and if the data packet corresponding to the time difference value larger than the second preset threshold value is a preset type data packet, controlling the unmanned vehicle to stop by using a controller in the unmanned vehicle, wherein the preset type data packet comprises remote control information of the unmanned vehicle.
7. The method according to any one of claims 1-6, further comprising:
if the fact that the duration of the target router not sending data in the preset routers exceeds a third preset duration is detected, sending a detection message to the preset server by using the target router, and determining the delay time and the packet loss rate of the target router according to feedback information corresponding to the detection message, wherein the duration of the unsent data indicates the duration of the target router not sending data packets to the preset server continuously.
8. An apparatus for data transmission, configured in an unmanned vehicle, the apparatus comprising:
the feedback information receiving module is used for utilizing at least two preset routers to respectively receive feedback information sent by a preset server, wherein different preset routers have different network communication paths when communicating with the preset server;
the quality information determining module is used for determining network quality information corresponding to the at least two preset routers according to the feedback information, wherein the network quality information comprises delay time and packet loss rate;
and the data packet sending module is used for determining a target preset router from the at least two preset routers according to the comparison result of the network quality information corresponding to different preset routers, and sending the current data packet to be sent to the preset server by using the target preset router.
9. An unmanned vehicle, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the method of data transfer of any one of claims 1-7.
10. A computer-readable storage medium storing computer instructions for causing a processor to perform the method of data transmission of any one of claims 1-7 when executed.
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