WO2022140881A1 - 无人驾驶车辆车底盘控制方法、装置和计算机设备 - Google Patents

无人驾驶车辆车底盘控制方法、装置和计算机设备 Download PDF

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Publication number
WO2022140881A1
WO2022140881A1 PCT/CN2020/139829 CN2020139829W WO2022140881A1 WO 2022140881 A1 WO2022140881 A1 WO 2022140881A1 CN 2020139829 W CN2020139829 W CN 2020139829W WO 2022140881 A1 WO2022140881 A1 WO 2022140881A1
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WIPO (PCT)
Prior art keywords
protocol
chassis
control
data
automatic driving
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PCT/CN2020/139829
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English (en)
French (fr)
Inventor
钱思维
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深圳元戎启行科技有限公司
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Application filed by 深圳元戎启行科技有限公司 filed Critical 深圳元戎启行科技有限公司
Priority to PCT/CN2020/139829 priority Critical patent/WO2022140881A1/zh
Priority to CN202080103138.8A priority patent/CN116097192A/zh
Publication of WO2022140881A1 publication Critical patent/WO2022140881A1/zh

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    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • 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

Definitions

  • the present application relates to the field of unmanned driving technology, and in particular, to a method, device and computer equipment for controlling the chassis of an unmanned vehicle.
  • a driverless car is a type of smart car, also known as a wheeled mobile robot, which mainly relies on the intelligent driver in the car, which is mainly based on a computer system, to achieve the purpose of driverless driving.
  • vehicle chassis control based on CAN (Controller Area Network) communication is the foundation of unmanned technology, and there are many types of CAN interfaces.
  • the automatic driving computing center of unmanned vehicles needs to adapt to the actual situation.
  • the type of CAN interface makes the unmanned vehicle system high in complexity and coupling, so that the reliability of the unmanned vehicle system cannot be guaranteed.
  • a method for controlling a chassis of an unmanned vehicle comprising:
  • the state data is encapsulated through the second protocol, and the encapsulated state data is sent to the control terminal to instruct the control terminal to control the vehicle chassis based on the state data.
  • the method further includes:
  • the automatic driving control data is generated by the control terminal performing automatic driving calculation on the state data
  • the automatic driving control data is packaged through the first protocol, and the packaged automatic driving control data is sent to the vehicle chassis, so as to control the vehicle chassis based on the automatic driving control data.
  • the acquiring the state data of the chassis of the unmanned vehicle includes:
  • the state data of the chassis of the unmanned vehicle is acquired based on the state data query instruction.
  • the method further includes:
  • the vehicle chassis is controlled to perform emergency braking, and alarm information is generated.
  • the first protocol is a CAN protocol
  • the CAN interface corresponding to the CAN protocol is any one of a Socket-CAN interface, a PCIE-CAN interface, and a USB-CAN interface.
  • a method for controlling a chassis of an unmanned vehicle, which is applied to a control terminal comprising:
  • the second protocol is to convert the unmanned vehicle chassis according to the target protocol conversion rule
  • the supported first protocol is converted and obtained;
  • the target protocol conversion rule is a protocol conversion rule selected from preset candidate protocol conversion rules and matched with the first protocol;
  • the vehicle chassis is controlled based on the state data.
  • the controlling the vehicle chassis based on the state data includes:
  • the vehicle chassis is controlled based on the automatic driving control data.
  • controlling the vehicle chassis based on the automatic driving control data includes:
  • the data is sent to the vehicle chassis to control the vehicle chassis based on the automatic driving control data.
  • the method further includes:
  • the state data query instruction is sent to the embedded terminal to instruct the embedded terminal to acquire the state data of the unmanned vehicle chassis based on the state data query instruction.
  • control terminal controls the vehicle chassis based on the state data, including at least one of lateral control, longitudinal control, gear position control, turn signal control and vehicle state control.
  • the first protocol is a CAN protocol
  • the CAN interface corresponding to the CAN protocol is any one of a Socket-CAN interface, a PCIE-CAN interface, and a USB-CAN interface.
  • An unmanned vehicle chassis control device includes:
  • the acquisition module is used to acquire the status data of the chassis of the driverless vehicle
  • a determining module for determining a first protocol supported by the chassis of the unmanned vehicle
  • the conversion module is used to select a target protocol conversion rule that matches the first protocol from the preset candidate protocol conversion rules, and convert the first protocol to the one supported by the control terminal according to the target protocol conversion rule. Second Agreement;
  • a sending module configured to encapsulate the state data through the second protocol, and send the encapsulated state data to the control terminal, so as to instruct the control terminal to perform an operation on the vehicle chassis based on the state data control.
  • An unmanned vehicle chassis control device includes:
  • the receiving module is used to receive the state data after the embedded terminal encapsulates the state data of the chassis of the unmanned vehicle through the second protocol supported by the control terminal; the second protocol is to convert the unmanned vehicle according to the target protocol conversion rule. Obtained by converting the first protocol supported by the chassis of the manned vehicle; the target protocol conversion rule is a protocol conversion rule selected from preset candidate protocol conversion rules and matched with the first protocol; and
  • the control module is used for controlling the vehicle chassis based on the state data.
  • a computer device comprising a memory, a processor and a computer program stored in the memory and running on the processor, the processor implements the following steps when executing the computer program:
  • the state data is encapsulated through the second protocol, and the encapsulated state data is sent to the control terminal to instruct the control terminal to control the vehicle chassis based on the state data.
  • a computer device comprising a memory, a processor and a computer program stored on the memory and running on the processor, the processor implements the following steps when executing the computer program:
  • the second protocol is to convert the unmanned vehicle chassis according to the target protocol conversion rule
  • the supported first protocol is converted and obtained;
  • the target protocol conversion rule is a protocol conversion rule selected from preset candidate protocol conversion rules and matched with the first protocol;
  • the vehicle chassis is controlled based on the state data.
  • the state data is encapsulated through the second protocol, and the encapsulated state data is sent to the control terminal to instruct the control terminal to control the vehicle chassis based on the state data.
  • the second protocol is to convert the unmanned vehicle chassis according to the target protocol conversion rule
  • the supported first protocol is converted and obtained;
  • the target protocol conversion rule is a protocol conversion rule selected from preset candidate protocol conversion rules and matched with the first protocol;
  • the vehicle chassis is controlled based on the state data.
  • the above-mentioned control method, device and computer equipment for the chassis of the unmanned vehicle by acquiring the state data of the chassis of the unmanned vehicle; determining the first protocol supported by the chassis of the unmanned vehicle; Select the target protocol conversion rule that matches the first protocol, and convert the first protocol into the second protocol supported by the control terminal according to the target protocol conversion rule; and encapsulate the state data through the second protocol, and encapsulate the
  • the status data is sent to the control terminal to instruct the control terminal to control the chassis of the vehicle based on the status data.
  • FIG. 1 is an application scenario diagram of a method for controlling a chassis of an unmanned vehicle in one embodiment
  • FIG. 2 is a schematic flowchart of a method for controlling a chassis of an unmanned vehicle in one embodiment
  • FIG. 3 is a schematic flowchart of a method for controlling a chassis of an unmanned vehicle in another embodiment
  • FIG. 4 is a system architecture diagram of a method for controlling a chassis of an unmanned vehicle in one embodiment
  • FIG. 5 is a structural block diagram of an unmanned vehicle chassis control device in one embodiment
  • FIG. 6 is a structural block diagram of an unmanned vehicle chassis control device in one embodiment
  • FIG. 7 is a diagram of the internal structure of a computer device in one embodiment.
  • the method for controlling the chassis of an unmanned vehicle provided by the present application can be applied to the application environment shown in FIG. 1 .
  • the application environment includes a vehicle chassis 102 , an embedded terminal 104 and a control terminal 106 .
  • the vehicle chassis 102 and the embedded terminal 104 communicate through the network, and the embedded terminal 104 and the control terminal 106 communicate through the network.
  • FIG. 1 is only a partial scene related to the solution of the present application, and does not constitute a limitation on the application environment of the solution of the present application.
  • the embedded terminal 104 obtains the state data of the unmanned vehicle chassis 102, and determines the first protocol supported by the unmanned vehicle chassis 102.
  • the embedded terminal 104 selects the first protocol from the preset candidate protocol conversion rules
  • the matching target protocol conversion rules are converted, and the first protocol is converted into the second protocol supported by the control terminal 106 according to the target protocol conversion rules.
  • the embedded terminal 104 encapsulates the status data through the second protocol, and sends the encapsulated status data to the control terminal 106 to instruct the control terminal 106 to control the vehicle chassis 102 based on the status data.
  • a method for controlling the chassis of an unmanned vehicle is provided, and the method is applied to the embedded terminal 104 in FIG. 1 as an example for description, including the following steps:
  • the state data of the chassis of the unmanned vehicle is data reflecting the current state of the chassis of the unmanned vehicle.
  • the embedded terminal can realize CAN communication connection with the chassis of the unmanned vehicle through the CAN interface.
  • the embedded terminal can be connected based on CAN communication to obtain the status data of the chassis of the unmanned vehicle.
  • each type of chassis may support different protocols.
  • the embedded terminal can determine the first protocol supported by the current unmanned vehicle chassis.
  • the first protocol is a CAN protocol
  • the CAN interface corresponding to the CAN protocol is any one of a Socket-CAN interface, a PCIE-CAN interface, and a USB-CAN interface.
  • S206 Select a target protocol conversion rule matching the first protocol from the preset candidate protocol conversion rules, and convert the first protocol into a second protocol supported by the control terminal according to the target protocol conversion rule.
  • the protocol conversion rule refers to a data format that needs to be followed during protocol conversion.
  • the protocol supported by the control terminal is the second protocol.
  • the embedded terminal can locally preset candidates corresponding to the protocols supported by the chassis of various types of unmanned vehicles. Protocol conversion rules. After determining the first protocol supported by the chassis of the unmanned vehicle, the embedded terminal can select the target protocol conversion rule matching the first protocol from the preset candidate protocol conversion rules, and convert the target protocol conversion rule according to the target protocol conversion rule. The first protocol is converted into a second protocol supported by the control terminal.
  • the embedded terminal can encapsulate the status data through the second protocol, and send the encapsulated status data to the control terminal.
  • the control terminal can receive the packaged state data sent by the embedded terminal, and control the chassis of the vehicle based on the state data.
  • the state data of the unmanned vehicle chassis is obtained; the first protocol supported by the unmanned vehicle chassis is determined; and the first protocol supported by the unmanned vehicle chassis is selected;
  • the target protocol conversion rule matching the protocol, and according to the target protocol conversion rule, the first protocol is converted into the second protocol supported by the control terminal; and the state data is encapsulated by the second protocol, and the encapsulated state data is sent to
  • the control terminal is used to instruct the control terminal to control the chassis of the vehicle based on the status data.
  • the method for controlling the chassis of an unmanned vehicle further includes: receiving automatic driving control data sent by the control terminal; the automatic driving control data is obtained by the control terminal performing automatic driving calculation on the state data; The automatic driving control data is packaged, and the packaged automatic driving control data is sent to the vehicle chassis to control the vehicle chassis based on the automatic driving control data.
  • the control terminal may perform automatic driving calculation on the status data to generate automatic driving control data.
  • the control terminal can send the generated automatic driving control data to the embedded terminal.
  • the embedded terminal can receive the automatic driving control data sent by the control terminal, and encapsulate the automatic driving control data through the first protocol.
  • the embedded terminal can send the packaged automatic driving control data to the vehicle chassis.
  • the vehicle chassis can receive the automatic driving control data sent by the embedded terminal, and control the vehicle chassis based on the automatic driving control data.
  • the automatic driving calculation is performed on the state data to generate the automatic driving control data to control the vehicle chassis, so as to realize the control of the unmanned vehicle.
  • the first protocol is used to encapsulate the automatic driving control data through the embedded terminal and then send it to the vehicle chassis, so that the vehicle chassis can smoothly receive and analyze the automatic driving control data, realize the control of the vehicle chassis, and further improve the unmanned vehicle system. stability.
  • step S202 that is, the step of acquiring the state data of the chassis of the unmanned vehicle, specifically includes: receiving a state data query instruction sent by the control terminal; and acquiring the chassis of the unmanned vehicle based on the state data query instruction status data.
  • control terminal may generate a status data query instruction, and send the status data query instruction to the embedded terminal.
  • the embedded terminal can receive the status data query instruction sent by the control terminal, and obtain the status data of the chassis of the unmanned vehicle based on the status data query instruction.
  • the stability of the unmanned vehicle system is further improved.
  • the method for controlling the chassis of an unmanned vehicle further includes: detecting the state of the chassis and the state of the control terminal in real time; when at least one of the state of the chassis or the state of the control terminal is an abnormal state, controlling the vehicle The chassis performs emergency braking and generates an alarm message.
  • the embedded terminal can detect the state of the vehicle chassis and the state of the control terminal in real time. When it is detected that at least one of the state of the vehicle chassis or the state of the control terminal is abnormal, the embedded terminal can control the vehicle chassis to perform emergency braking and generate alarm information.
  • the embedded terminal can directly control the vehicle chassis to perform emergency braking, and Generate alert messages to improve the safety of driverless vehicle systems.
  • a method for controlling the chassis of an unmanned vehicle is provided, and the method is applied to the control terminal 106 in FIG. 1 as an example for description, including the following steps:
  • the target protocol conversion rule is a protocol conversion rule selected from the preset candidate protocol conversion rules and matched with the first protocol.
  • the embedded terminal can realize CAN communication connection with the chassis of the unmanned vehicle through the CAN interface.
  • the embedded terminal can be connected based on CAN communication to obtain the status data of the chassis of the unmanned vehicle.
  • the embedded terminal can determine the first protocol supported by the current unmanned vehicle chassis.
  • the protocol supported by the control terminal is the second protocol. Based on the second protocol supported by the control terminal, the embedded terminal can locally preset candidate protocol conversion rules corresponding to the protocols supported by the chassis of various types of unmanned vehicles. .
  • the embedded terminal can select the target protocol conversion rule matching the first protocol from the preset candidate protocol conversion rules, and convert the target protocol conversion rule according to the target protocol conversion rule.
  • the first protocol is converted into a second protocol supported by the control terminal.
  • the embedded terminal can encapsulate the status data through the second protocol, and send the encapsulated status data to the control terminal.
  • the control terminal can receive the encapsulated status data sent by the embedded terminal.
  • the first protocol is the CAN protocol
  • the CAN interface corresponding to the CAN protocol is any one of a Socket-CAN interface, a PCIE-CAN interface, and a USB-CAN interface.
  • the vehicle chassis is controlled based on the state data.
  • control terminal controls the vehicle chassis based on the state data, including at least one of lateral control, longitudinal control, gear position control, turn signal control and vehicle state control.
  • the state data after the state data of the chassis of the unmanned vehicle is encapsulated by the embedded terminal through the second protocol supported by the control terminal is received; the second protocol is converted according to the target protocol.
  • the rule is obtained by converting the first protocol supported by the chassis of the unmanned vehicle; the target protocol conversion rule is a protocol conversion rule selected from preset candidate protocol conversion rules and matching the first protocol; and a state-based protocol conversion rule The data controls the chassis of the vehicle.
  • step S304 that is, the step of controlling the vehicle chassis based on the state data, specifically includes: performing automatic driving calculations on the state data to generate automatic driving control data; and controlling the vehicle chassis based on the automatic driving control data .
  • the control terminal may perform automatic driving calculation on the status data to generate automatic driving control data. Furthermore, the control terminal can control the chassis of the vehicle based on the automatic driving control data.
  • automatic driving control data is generated to control the chassis of the vehicle, so as to realize the control of the unmanned vehicle and further improve the stability of the unmanned vehicle system.
  • the step of controlling the vehicle chassis based on the automatic driving control data specifically includes: sending the automatic driving control data to the embedded terminal to instruct the embedded terminal to encapsulate the automatic driving control data through the first protocol, And the packaged automatic driving control data is sent to the vehicle chassis through the embedded terminal, so as to control the vehicle chassis based on the automatic driving control data.
  • control terminal can send the automatic driving control data to the embedded terminal.
  • the embedded terminal can receive the automatic driving control data sent by the control terminal, and encapsulate the automatic driving control data through the first protocol.
  • the embedded terminal can send the packaged automatic driving control data to the vehicle chassis.
  • the vehicle chassis can receive the automatic driving control data sent by the embedded terminal, and control the vehicle chassis based on the automatic driving control data.
  • the automatic driving control data is packaged by the embedded terminal using the first protocol and then sent to the vehicle chassis, so that the vehicle chassis can smoothly receive and parse the automatic driving control data, realize the control of the vehicle chassis, and further improve the performance of the vehicle chassis. Stability of unmanned vehicle systems.
  • the method for controlling the chassis of an unmanned vehicle further includes: generating a status data query instruction; and sending the status data query instruction to the embedded terminal, so as to instruct the embedded terminal to obtain the unmanned vehicle based on the status data query instruction Status data of the vehicle chassis.
  • control terminal may generate a status data query instruction, and send the status data query instruction to the embedded terminal.
  • the embedded terminal can receive the status data query instruction sent by the control terminal, and obtain the status data of the chassis of the unmanned vehicle based on the status data query instruction.
  • the stability of the unmanned vehicle system is further improved.
  • the types of the vehicle chassis may include type A, type B, type C, and the like.
  • the protocol supported by the chassis of type A is the first protocol.
  • An embedded real-time operating system can run in the embedded terminal, and the embedded real-time operating system can include a CAN driver, a unified data interface and a diagnosis module.
  • the unified data interface is an implementation of hardware abstraction.
  • the control terminal can be used as an automatic driving computing center, and the automatic driving computing center can include a control module and a remote takeover module.
  • the embedded real-time operating system When the embedded real-time operating system receives the call from the remote takeover module, the embedded real-time operating system can establish the CAN communication connection between the embedded real-time operating system and the vehicle chassis through the CAN drive, and the embedded real-time operating system can obtain the vehicle state data of the chassis, and pass the obtained state data through the unified data interface, that is, convert the first protocol to the second protocol supported by the control terminal to encapsulate the state data.
  • the embedded real-time operating system can send the packaged state data to the autonomous driving computing center.
  • the automatic driving computing center can calculate the status data, generate automatic driving control data, and control the vehicle chassis based on the automatic driving control data through the control module.
  • the diagnostic module in the embedded real-time operating system can detect the state of the vehicle chassis and the state of the autonomous driving computing center in real time. When it is detected that at least one of the state of the vehicle chassis or the state of the automatic driving computing center is abnormal, the embedded terminal can control the vehicle chassis to perform emergency braking, and generate alarm information to improve the safety of automatic driving.
  • FIGS. 2 and 3 are shown in sequence, these steps are not necessarily performed in sequence. Unless explicitly stated herein, there is no strict order in the execution of these steps, and these steps may be performed in other orders. Moreover, at least a part of the steps in the above-mentioned FIG. 2 and FIG. 3 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but may be executed at different times. These sub-steps Alternatively, the order of execution of the stages is not necessarily sequential, but may be performed alternately or alternately with other steps or sub-steps of other steps or at least a portion of a stage.
  • an unmanned vehicle chassis control device 500 including: an acquisition module 501, a determination module 502, a conversion module 503, and a transmission module 504, wherein:
  • the obtaining module 501 is used for obtaining the state data of the chassis of the unmanned vehicle.
  • the determining module 502 is configured to determine the first protocol supported by the chassis of the unmanned vehicle.
  • the conversion module 503 is configured to select a target protocol conversion rule matching the first protocol from preset candidate protocol conversion rules, and convert the first protocol to a second protocol supported by the control terminal according to the target protocol conversion rule.
  • the sending module 504 is configured to encapsulate the state data through the second protocol, and send the encapsulated state data to the control terminal, so as to instruct the control terminal to control the chassis of the vehicle based on the state data.
  • the sending module 504 is further configured to receive automatic driving control data sent by the control terminal; the automatic driving control data is generated by the control terminal performing automatic driving calculation on the state data; and the automatic driving control data is processed through the first protocol. package, and send the packaged automatic driving control data to the vehicle chassis to control the vehicle chassis based on the automatic driving control data.
  • the acquiring module 501 is further configured to receive a status data query instruction sent by the control terminal; and acquire status data of the chassis of the unmanned vehicle based on the status data query instruction.
  • the unmanned vehicle chassis control apparatus 500 further includes a diagnosis module, and the diagnosis module is used to detect the state of the vehicle chassis and the state of the control terminal in real time; when at least one of the state of the vehicle chassis or the state of the control terminal When it is in an abnormal state, control the chassis of the vehicle to perform emergency braking and generate an alarm message.
  • the diagnosis module is used to detect the state of the vehicle chassis and the state of the control terminal in real time; when at least one of the state of the vehicle chassis or the state of the control terminal When it is in an abnormal state, control the chassis of the vehicle to perform emergency braking and generate an alarm message.
  • the first protocol is a CAN protocol
  • the CAN interface corresponding to the CAN protocol is any one of a Socket-CAN interface, a PCIE-CAN interface, and a USB-CAN interface.
  • the above-mentioned unmanned vehicle chassis control device obtains the state data of the unmanned vehicle chassis; determines the first protocol supported by the unmanned vehicle chassis; selects the first protocol from the preset candidate protocol conversion rules The matching target protocol conversion rule, and according to the target protocol conversion rule, the first protocol is converted into the second protocol supported by the control terminal; and the state data is encapsulated by the second protocol, and the encapsulated state data is sent to the control terminal.
  • the terminal is used to instruct the control terminal to control the chassis of the vehicle based on the status data.
  • an unmanned vehicle chassis control device 600 comprising: a receiving module 601 and a control module 602, wherein:
  • the receiving module 601 is used to receive the state data after the embedded terminal encapsulates the state data of the chassis of the unmanned vehicle through the second protocol supported by the control terminal; the second protocol is to convert the unmanned vehicle according to the target protocol conversion rule.
  • the first protocol supported by the chassis is obtained by converting; the target protocol conversion rule is a protocol conversion rule selected from preset candidate protocol conversion rules and matching the first protocol.
  • the control module 602 is used to control the chassis of the vehicle based on the state data.
  • control module 602 is further configured to perform automatic driving calculation on the state data, generate automatic driving control data, and control the vehicle chassis based on the automatic driving control data.
  • control module 602 is further configured to send the automatic driving control data to the embedded terminal, so as to instruct the embedded terminal to encapsulate the automatic driving control data through the first protocol, and use the embedded terminal to encapsulate the automatic driving control data.
  • the driving control data is sent to the vehicle chassis to control the vehicle chassis based on the automatic driving control data.
  • control module 602 is further configured to generate a status data query instruction; and send the status data query instruction to the embedded terminal, so as to instruct the embedded terminal to obtain the status data of the chassis of the unmanned vehicle based on the status data query instruction .
  • control terminal controls the vehicle chassis based on the state data, including at least one of lateral control, longitudinal control, gear position control, turn signal control and vehicle state control.
  • the first protocol is the CAN protocol
  • the CAN interface corresponding to the CAN protocol is any one of a Socket-CAN interface, a PCIE-CAN interface, and a USB-CAN interface.
  • the above-mentioned unmanned vehicle chassis control device receives the state data after the embedded terminal encapsulates the state data of the unmanned vehicle chassis through the second protocol supported by the control terminal; the second protocol is a conversion rule according to the target protocol. Obtained by converting the first protocol supported by the chassis of the driverless vehicle; the target protocol conversion rule is a protocol conversion rule selected from preset candidate protocol conversion rules and matched with the first protocol; and based on state data Control the chassis of the vehicle.
  • each module in the above-mentioned chassis control device of an unmanned vehicle can be implemented in whole or in part by software, hardware and combinations thereof.
  • the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
  • a computer device is provided, and the computer device may be the embedded terminal 104 or the control terminal 106 in the above-mentioned FIG. 1 , and its internal structure diagram may be as shown in FIG. 7 .
  • the computer equipment includes a processor, memory, a network interface, a display screen, and an input device connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium, an internal memory.
  • the nonvolatile storage medium stores an operating system and a computer program.
  • the internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium.
  • the network interface of the computer device is used to communicate with an external terminal through a network connection.
  • the display screen of the computer equipment may be a liquid crystal display screen or an electronic ink display screen
  • the input device of the computer equipment may be a touch layer covered on the display screen, or a button, a trackball or a touchpad set on the shell of the computer equipment , or an external keyboard, trackpad, or mouse.
  • FIG. 7 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.
  • a computer device including a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the above method for controlling a chassis of an unmanned vehicle.
  • the steps of the method for controlling the chassis of an unmanned vehicle here may be the steps in the methods for controlling the chassis of an unmanned vehicle in the above-mentioned various embodiments.
  • a computer-readable storage medium which stores a computer program, and when the computer program is executed by a processor, causes the processor to execute the steps of the above-mentioned method for controlling a chassis of an unmanned vehicle.
  • the steps of the method for controlling the chassis of the unmanned vehicle here may be the steps in the methods for controlling the chassis of the unmanned vehicle in the above embodiments.
  • Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory may include random access memory (RAM) or external cache memory.
  • RAM is available in various forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Road (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.
  • SRAM static RAM
  • DRAM dynamic RAM
  • SDRAM synchronous DRAM
  • DDRSDRAM double data rate SDRAM
  • ESDRAM enhanced SDRAM
  • SLDRAM synchronous chain Road (Synchlink) DRAM
  • SLDRAM synchronous chain Road (Synchlink) DRAM
  • Rambus direct RAM
  • DRAM direct memory bus dynamic RAM
  • RDRAM memory bus dynamic RAM

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Abstract

一种无人驾驶车辆车底盘控制方法，包括：获取无人驾驶车辆车底盘的状态数据；确定无人驾驶车辆车底盘所支持的第一协议；从预设的候选协议转换规则中选择与第一协议相匹配的目标协议转换规则，并按照目标协议转换规则将第一协议转换为控制终端所支持的第二协议；及通过第二协议对状态数据进行封装，并将封装后的状态数据发送至控制终端，以指示控制终端基于状态数据对车底盘进行控制。

Description

无人驾驶车辆车底盘控制方法、装置和计算机设备 技术领域
本申请涉及无人驾驶技术领域，特别是涉及一种无人驾驶车辆车底盘控制方法、装置和计算机设备。
背景技术
随着计算机技术的发展，出现了无人驾驶技术。无人驾驶汽车是智能汽车的一种，也称为轮式移动机器人，主要依靠车内的以计算机系统为主的智能驾驶仪来实现无人驾驶的目的。目前，基于CAN(Controller Area Network，控制器局域网络)通信的车底盘控制是无人驾驶技术的根本，而CAN接口的种类繁多，无人驾驶车辆的自动驾驶计算中心需要根据实际情况适配对应类型的CAN接口，使得无人驾驶车辆系统复杂度高，耦合度高，从而导致无人驾驶车辆系统的可靠性得不到保障。
发明内容
基于此，有必要针对上述技术问题，提供一种能够提升无人驾驶车辆系统可靠性的无人驾驶车辆车底盘控制方法、装置和计算机设备。
一种无人驾驶车辆车底盘控制方法，所述方法包括：
获取无人驾驶车辆车底盘的状态数据；
确定所述无人驾驶车辆车底盘所支持的第一协议；
从预设的候选协议转换规则中选择与所述第一协议相匹配的目标协议转换规则，并按照所述目标协议转换规则将所述第一协议转换为控制终端所支持的第二协议；及
通过所述第二协议对所述状态数据进行封装，并将封装后的状态数据发送至所述控制终端，以指示所述控制终端基于所述状态数据对所述车底盘进行控制。
在其中一个实施例中，所述方法还包括：
接收所述控制终端发送的自动驾驶控制数据；所述自动驾驶控制数据是所述控制终端对所述状态数据进行自动驾驶计算生成得到；及
通过所述第一协议对所述自动驾驶控制数据进行封装，并将封装后的自动驾驶控制数据发送至所述车底盘，以基于所述自动驾驶控制数据对所述车底盘进行控制。
在其中一个实施例中，所述获取无人驾驶车辆车底盘的状态数据，包括：
接收所述控制终端发送的状态数据查询指令；及
基于所述状态数据查询指令获取所述无人驾驶车辆车底盘的状态数据。
在其中一个实施例中，所述方法还包括：
实时检测所述车底盘的状态和所述控制终端的状态；
当所述车底盘的状态或所述控制终端的状态中至少一种为异常状态时，控制所述车底盘进行紧急刹车，并生成警报信息。
在其中一个实施例中，所述第一协议为CAN协议，所述CAN协议对应的CAN接口为Socket-CAN接口、PCIE-CAN接口和USB-CAN接口中的任一种。
一种无人驾驶车辆车底盘控制方法，应用于控制终端，所述方法包括：
接收嵌入式终端通过控制终端所支持的第二协议对无人驾驶车辆车底盘的状态数据进行封装后的状态数据；所述第二协议是按照目标协议转换规则将所述无人驾驶车辆车底盘所支持的第一协议进行转换得到；所述目标协议转换规则是从预设的候选协议转换规则中选择得到的且与所述第一协议相匹配的协议转换规则；及
基于所述状态数据对所述车底盘进行控制。
在其中一个实施例中，所述基于所述状态数据对所述车底盘进行控制，包括：
对所述状态数据进行自动驾驶计算，生成自动驾驶控制数据；及
基于所述自动驾驶控制数据对所述车底盘进行控制。
在其中一个实施例中，所述基于所述自动驾驶控制数据对所述车底盘进行控制，包括：
将所述自动驾驶控制数据发送至嵌入式终端，以指示所述嵌入式终端通过所述第一协议对所述自动驾驶控制数据进行封装，并通过所述嵌入式终端将封装后的自动驾驶控制数据发送至所述车底盘，以基于所述自动驾驶控制数据对所述车底盘进行控制。
在其中一个实施例中，所述方法还包括：
生成状态数据查询指令；及
将所述状态数据查询指令发送至嵌入式终端，以指示所述嵌入式终端基于所述状态数据查询指令获取所述无人驾驶车辆车底盘的状态数据。
在其中一个实施例中，所述控制终端基于所述状态数据对所述车底盘进行控制，包括横向控制、纵向控制、档位控制、转向灯控制和车辆状态控制中的至少一种。
在其中一个实施例中，所述第一协议为CAN协议，所述CAN协议对应的CAN接口为Socket-CAN接口、PCIE-CAN接口和USB-CAN接口中的任一种。
一种无人驾驶车辆车底盘控制装置，所述装置包括：
获取模块，用于获取无人驾驶车辆车底盘的状态数据；
确定模块，用于确定所述无人驾驶车辆车底盘所支持的第一协议；
转换模块，用于从预设的候选协议转换规则中选择与所述第一协议相匹配的目标协议转换规则，并按照所述目标协议转换规则将所述第一协议转换为控制终端所支持的第二协议；及
发送模块，用于通过所述第二协议对所述状态数据进行封装，并将封装后的状态数据发送至所述控制终端，以指示所述控制终端基于所述状态数据对所述车底盘进行控制。
一种无人驾驶车辆车底盘控制装置，所述装置包括：
接收模块，用于接收嵌入式终端通过控制终端所支持的第二协议对无人驾驶车辆车底盘的状态数据进行封装后的状态数据；所述第二协议是按照目标协议转换规则将所述无人驾驶车辆车底盘所支持的第一协议进行转换得到；所述目标协议转换规则是从预设的候选协议转换规则中选择得到的且与所述第一协议相匹配的协议转换规则；及
控制模块，用于基于所述状态数据对所述车底盘进行控制。
一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现以下步骤：
获取无人驾驶车辆车底盘的状态数据；
确定所述无人驾驶车辆车底盘所支持的第一协议；
从预设的候选协议转换规则中选择与所述第一协议相匹配的目标协议转换规则，并按照所述目标协议转换规则将所述第一协议转换为控制终端所支持的第二协议；及
通过所述第二协议对所述状态数据进行封装，并将封装后的状态数据发送至所述控制终端，以指示所述控制终端基于所述状态数据对所述车底盘进行控制。
一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算 机程序，所述处理器执行所述计算机程序时实现以下步骤：
接收嵌入式终端通过控制终端所支持的第二协议对无人驾驶车辆车底盘的状态数据进行封装后的状态数据；所述第二协议是按照目标协议转换规则将所述无人驾驶车辆车底盘所支持的第一协议进行转换得到；所述目标协议转换规则是从预设的候选协议转换规则中选择得到的且与所述第一协议相匹配的协议转换规则；及
基于所述状态数据对所述车底盘进行控制。
一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现以下步骤：
获取无人驾驶车辆车底盘的状态数据；
确定所述无人驾驶车辆车底盘所支持的第一协议；
从预设的候选协议转换规则中选择与所述第一协议相匹配的目标协议转换规则，并按照所述目标协议转换规则将所述第一协议转换为控制终端所支持的第二协议；及
通过所述第二协议对所述状态数据进行封装，并将封装后的状态数据发送至所述控制终端，以指示所述控制终端基于所述状态数据对所述车底盘进行控制。
一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现以下步骤：
接收嵌入式终端通过控制终端所支持的第二协议对无人驾驶车辆车底盘的状态数据进行封装后的状态数据；所述第二协议是按照目标协议转换规则将所述无人驾驶车辆车底盘所支持的第一协议进行转换得到；所述目标协议转换规则是从预设的候选协议转换规则中选择得到的且与所述第一协议相匹配的协议转换规则；及
基于所述状态数据对所述车底盘进行控制。
上述无人驾驶车辆车底盘控制方法、装置和计算机设备，通过获取无人驾驶车辆车底盘的状态数据；确定无人驾驶车辆车底盘所支持的第一协议；从预设的候选协议转换规则中选择与第一协议相匹配的目标协议转换规则，并按照目标协议转换规则将第一协议转换为控制终端所支持的第二协议；及通过第二协议对状态数据进行封装，并将封装后的状态数据发送至控制终端，以指示控制终端基于状态数据对车底盘进行控制。这样，通过在嵌入式终端中预设与各类型的无人驾驶车辆车底盘所支持的协议分别对应的候选协议转换规则，在确定无人驾驶车辆车底盘所支持的协议之后，从预设的候选协议转换规则中选择 与第一协议相匹配的目标协议转换规则，以将第一协议转换为控制终端所支持的第二协议，使得各类型的无人驾驶车辆车底盘均可与控制终端适配，进而控制终端可以顺利与车底盘进行正常通信以及控制车底盘，降低无人驾驶车辆系统的复杂度和耦合度，提升驾驶车辆系统的可靠性。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为一个实施例中无人驾驶车辆车底盘控制方法的应用场景图；
图2为一个实施例中无人驾驶车辆车底盘控制方法的流程示意图；
图3为另一个实施例中无人驾驶车辆车底盘控制方法的流程示意图；
图4为一个实施例中无人驾驶车辆车底盘控制方法的系统架构图；
图5为一个实施例中无人驾驶车辆车底盘控制装置的结构框图；
图6为一个实施例中无人驾驶车辆车底盘控制装置的结构框图；
图7为一个实施例中计算机设备的内部结构图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
本申请提供的无人驾驶车辆车底盘控制方法，可以应用于如图1所示的应用环境中。该应环境包括车底盘102、嵌入式终端104和控制终端106。车底盘102和嵌入式终端104通过网络进行通信，嵌入式终端104和控制终端106通过网络进行通信。本领域技术用人员可以理解，图1中示出的应用环境，仅仅是与本申请方案相关的部分场景，并不构成对本申请方案应用环境的限定。
嵌入式终端104获取无人驾驶车辆车底盘102的状态数据，并确定无人驾驶车辆车底盘102所支持的第一协议.嵌入式终端104从预设的候选协议转换规则中选择与第一协议 相匹配的目标协议转换规则，并按照目标协议转换规则将第一协议转换为控制终端106所支持的第二协议。嵌入式终端104通过第二协议对状态数据进行封装，并将封装后的状态数据发送至控制终端106，以指示控制终端106基于状态数据对车底盘102进行控制。
在一个实施例中，如图2所示，提供了一种无人驾驶车辆车底盘控制方法，以该方法应用于图1中的嵌入式终端104为例进行说明，包括以下步骤：
S202，获取无人驾驶车辆车底盘的状态数据。
其中，无人驾驶车辆车底盘的状态数据是反映无人驾驶车辆车底盘当前状态的数据。
具体地，嵌入式终端可通过CAN接口，与无人驾驶车辆车底盘实现CAN通信连接。嵌入式终端可基于CAN通信连接，获取无人驾驶车辆车底盘的状态数据。
S204，确定无人驾驶车辆车底盘所支持的第一协议。
具体地，无人驾驶车辆车底盘的类型可以有多种，每一种类型的车底盘，其所支持的协议可以不同。嵌入式终端可确定当前无人驾驶车辆车底盘所支持的第一协议。
在一个实施例中，第一协议为CAN协议，CAN协议对应的CAN接口为Socket-CAN接口、PCIE-CAN接口和USB-CAN接口中的任一种。
S206，从预设的候选协议转换规则中选择与第一协议相匹配的目标协议转换规则，并按照目标协议转换规则将第一协议转换为控制终端所支持的第二协议。
其中，协议转换规则是指协议转换时所需遵循的数据格式。
具体地，控制终端所支持的协议为第二协议，嵌入式终端可基于控制终端所支持的第二协议，在本地预设与各类型的无人驾驶车辆车底盘所支持的协议分别对应的候选协议转换规则。在确定了无人驾驶车辆车底盘所支持的第一协议之后，嵌入式终端可从预设的候选协议转换规则中选择与第一协议相匹配的目标协议转换规则，并按照目标协议转换规则将第一协议转换为控制终端所支持的第二协议。
S208，通过第二协议对状态数据进行封装，并将封装后的状态数据发送至控制终端，以指示控制终端基于状态数据对车底盘进行控制。
具体地，嵌入式终端可通过第二协议对状态数据进行封装，并将封装后的状态数据发送至控制终端。控制终端可接收嵌入式终端所发送的封装后的状态数据，并基于状态数据对车底盘进行控制。
上述无人驾驶车辆车底盘控制方法中，通过获取无人驾驶车辆车底盘的状态数据；确 定无人驾驶车辆车底盘所支持的第一协议；从预设的候选协议转换规则中选择与第一协议相匹配的目标协议转换规则，并按照目标协议转换规则将第一协议转换为控制终端所支持的第二协议；及通过第二协议对状态数据进行封装，并将封装后的状态数据发送至控制终端，以指示控制终端基于状态数据对车底盘进行控制。这样，通过在嵌入式终端中预设与各类型的无人驾驶车辆车底盘所支持的协议分别对应的候选协议转换规则，在确定无人驾驶车辆车底盘所支持的协议之后，从预设的候选协议转换规则中选择与第一协议相匹配的目标协议转换规则，以将第一协议转换为控制终端所支持的第二协议，使得各类型的无人驾驶车辆车底盘均可与控制终端适配，进而控制终端可以顺利与车底盘进行正常通信以及控制车底盘，降低无人驾驶车辆系统的复杂度和耦合度，提升无人驾驶车辆系统的可靠性。
在一个实施例中，无人驾驶车辆车底盘控制方法还包括：接收控制终端发送的自动驾驶控制数据；自动驾驶控制数据是控制终端对状态数据进行自动驾驶计算生成得到；及通过第一协议对自动驾驶控制数据进行封装，并将封装后的自动驾驶控制数据发送至车底盘，以基于自动驾驶控制数据对车底盘进行控制。
具体地，控制终端可在接收到状态数据之后，可对状态数据进行自动驾驶计算，生成自动驾驶控制数据。控制终端可将生成的自动驾驶控制数据发送至嵌入式终端。嵌入式终端可接收控制终端所发送的自动驾驶控制数据，并通过第一协议对自动驾驶控制数据进行封装。进而，嵌入式终端可将封装后的自动驾驶控制数据发送至车底盘。车底盘可接收嵌入式终端所发送的自动驾驶控制数据，并基于自动驾驶控制数据对车底盘进行控制。
上述实施例中，通过对状态数据进行自动驾驶计算，生成自动驾驶控制数据以控制车底盘，从而实现对无人驾驶车辆的控制。通过嵌入式终端采用第一协议对自动驾驶控制数据进行封装之后再发送至车底盘，使得车底盘能顺利接收和解析自动驾驶控制数据，实现对车底盘的控制，进一步提升了无人驾驶车辆系统的稳定性。
在一个实施例中，步骤S202，也就是获取无人驾驶车辆车底盘的状态数据的步骤，具体包括：接收控制终端发送的状态数据查询指令；及基于状态数据查询指令获取无人驾驶车辆车底盘的状态数据。
具体地，控制终端可生成状态数据查询指令，并将状态数据查询指令发送至嵌入式终端。嵌入式终端可接收控制终端所发送的状态数据查询指令，并基于状态数据查询指令获取无人驾驶车辆车底盘的状态数据。
上述实施例中，通过将生成的状态数据查询指令发送至嵌入式终端，以便查询车底盘的状态数据，进一步提升了无人驾驶车辆系统的稳定性。
在一个实施例中，无人驾驶车辆车底盘控制方法还包括：实时检测车底盘的状态和控制终端的状态；当车底盘的状态或控制终端的状态中至少一种为异常状态时，控制车底盘进行紧急刹车，并生成警报信息。
具体地，嵌入式终端可实时检测车底盘的状态和控制终端的状态。当检测到车底盘的状态或控制终端的状态中至少一种为异常状态时，嵌入式终端可控制车底盘进行紧急刹车，并生成警报信息。
上述实施例中，通过实时检测车底盘的状态和控制终端的状态，当车底盘的状态或控制终端的状态中至少一种为异常状态时，嵌入式终端可直接控制车底盘进行紧急刹车，并生成警报信息，提升了无人驾驶车辆系统的安全性。
在一个实施例中，如图3所示，提供了一种无人驾驶车辆车底盘控制方法，以该方法应用于图1中的控制终端106为例进行说明，包括以下步骤：
S302，接收嵌入式终端通过控制终端所支持的第二协议对无人驾驶车辆车底盘的状态数据进行封装后的状态数据；第二协议是按照目标协议转换规则将无人驾驶车辆车底盘所支持的第一协议进行转换得到；目标协议转换规则是从预设的候选协议转换规则中选择得到的且与第一协议相匹配的协议转换规则。
具体地，嵌入式终端可通过CAN接口，与无人驾驶车辆车底盘实现CAN通信连接。嵌入式终端可基于CAN通信连接，获取无人驾驶车辆车底盘的状态数据。无人驾驶车辆车底盘的类型可以有多种，每一种类型的车底盘，其所支持的协议可以不同。嵌入式终端可确定当前无人驾驶车辆车底盘所支持的第一协议。控制终端所支持的协议为第二协议，嵌入式终端可基于控制终端所支持的第二协议，在本地预设与各类型的无人驾驶车辆车底盘所支持的协议分别对应的候选协议转换规则。在确定了无人驾驶车辆车底盘所支持的第一协议之后，嵌入式终端可从预设的候选协议转换规则中选择与第一协议相匹配的目标协议转换规则，并按照目标协议转换规则将第一协议转换为控制终端所支持的第二协议。嵌入式终端可通过第二协议对状态数据进行封装，并将封装后的状态数据发送至控制终端。控制终端可接收嵌入式终端所发送的封装后的状态数据。
在一个实施例中，第一协议为CAN协议，CAN协议对应的CAN接口为Socket-CAN 接口、PCIE-CAN接口和USB-CAN接口中的任一种。
S304，基于状态数据对车底盘进行控制。
在一个实施例中，控制终端基于状态数据对车底盘进行控制，包括横向控制、纵向控制、档位控制、转向灯控制和车辆状态控制中的至少一种。
上述无人驾驶车辆车底盘控制方法中，通过接收嵌入式终端通过控制终端所支持的第二协议对无人驾驶车辆车底盘的状态数据进行封装后的状态数据；第二协议是按照目标协议转换规则将无人驾驶车辆车底盘所支持的第一协议进行转换得到；目标协议转换规则是从预设的候选协议转换规则中选择得到的且与第一协议相匹配的协议转换规则；及基于状态数据对车底盘进行控制。这样，通过在嵌入式终端中预设与各类型的无人驾驶车辆车底盘所支持的协议分别对应的候选协议转换规则，在确定无人驾驶车辆车底盘所支持的协议之后，从预设的候选协议转换规则中选择与第一协议相匹配的目标协议转换规则，以将第一协议转换为控制终端所支持的第二协议，使得各类型的无人驾驶车辆车底盘均可与控制终端适配，进而控制终端可以顺利与车底盘进行正常通信以及控制车底盘，降低无人驾驶车辆系统的复杂度和耦合度，提升无人驾驶车辆系统的可靠性。
在一个实施例中，步骤S304，也就是基于状态数据对车底盘进行控制的步骤，具体包括：对状态数据进行自动驾驶计算，生成自动驾驶控制数据；及基于自动驾驶控制数据对车底盘进行控制。
具体地，控制终端可在接收到状态数据之后，可对状态数据进行自动驾驶计算，生成自动驾驶控制数据。进而，控制终端可基于自动驾驶控制数据对车底盘进行控制。
上述实施例中，通过对状态数据进行自动驾驶计算，生成自动驾驶控制数据以控制车底盘，从而实现对无人驾驶车辆的控制，进一步提升无人驾驶车辆系统的稳定性。
在一个实施例中，基于自动驾驶控制数据对车底盘进行控制的步骤，具体包括：将自动驾驶控制数据发送至嵌入式终端，以指示嵌入式终端通过第一协议对自动驾驶控制数据进行封装，并通过嵌入式终端将封装后的自动驾驶控制数据发送至车底盘，以基于自动驾驶控制数据对车底盘进行控制。
具体地，控制终端可将自动驾驶控制数据发送至嵌入式终端。嵌入式终端可接收控制终端所发送的自动驾驶控制数据，并通过第一协议对自动驾驶控制数据进行封装。进而，嵌入式终端可将封装后的自动驾驶控制数据发送至车底盘。车底盘可接收嵌入式终端所发 送的自动驾驶控制数据，并基于自动驾驶控制数据对车底盘进行控制。
上述实施例中，通过嵌入式终端采用第一协议对自动驾驶控制数据进行封装之后再发送至车底盘，使得车底盘能顺利接收和解析自动驾驶控制数据，实现对车底盘的控制，进一步提升了无人驾驶车辆系统的稳定性。
在一个实施例中，无人驾驶车辆车底盘控制方法还包括：生成状态数据查询指令；及将状态数据查询指令发送至嵌入式终端，以指示嵌入式终端基于状态数据查询指令获取无人驾驶车辆车底盘的状态数据。
具体地，控制终端可生成状态数据查询指令，并将状态数据查询指令发送至嵌入式终端。嵌入式终端可接收控制终端所发送的状态数据查询指令，并基于状态数据查询指令获取无人驾驶车辆车底盘的状态数据。
上述实施例中，通过将生成的状态数据查询指令发送至嵌入式终端，以便查询车底盘的状态数据，进一步提升了无人驾驶车辆系统的稳定性。
在一个实施例中，如图4所示，车底盘的类型可包括A类型、B类型和C类型等。其中，A类型的车底盘所支持的协议为第一协议。嵌入式终端中可运行有嵌入式实时操作系统，嵌入式实时操作系统可包括CAN驱动、统一数据接口和诊断模块。可以理解，统一数据接口是硬件抽象的实现方式。控制终端具体可以作为自动驾驶计算中心，自动驾驶计算中心可包括控制模块和远程接管模块。当嵌入式实时操作系统接收到远程接管模块的调用时，嵌入式实时操作系统可通过CAN驱动建立嵌入式实时操作系统与车底盘的CAN通信连接，基于CAN通信连接嵌入式实时操作系统可获取车底盘的状态数据，并将获取到的状态数据通过统一数据接口，即将第一协议转换为控制终端所支持的第二协议封装状态数据。嵌入式实时操作系统可将封装后的状态数据发送至自动驾驶计算中心。自动驾驶计算中心可计算状态数据，生成自动驾驶控制数据，并通过控制模块基于自动驾驶控制数据对车底盘进行控制。嵌入式实时操作系统中的诊断模块可实时检测车底盘的状态和自动驾驶计算中心的状态。当检测到车底盘的状态或自动驾驶计算中心的状态中至少一种为异常状态时，嵌入式终端可控制车底盘进行紧急刹车，并生成警报信息，提升自动驾驶的安全性。
应该理解的是，虽然图2和图3的各个步骤按照顺序依次显示，但是这些步骤并不是必然按照顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序 限制，这些步骤可以以其它的顺序执行。而且，上述图2和图3中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
在一个实施例中，如图5所示，提供了一种无人驾驶车辆车底盘控制装置500，包括：获取模块501、确定模块502、转换模块503和发送模块504，其中：
获取模块501，用于获取无人驾驶车辆车底盘的状态数据。
确定模块502，用于确定无人驾驶车辆车底盘所支持的第一协议。
转换模块503，用于从预设的候选协议转换规则中选择与第一协议相匹配的目标协议转换规则，并按照目标协议转换规则将第一协议转换为控制终端所支持的第二协议。
发送模块504，用于通过第二协议对状态数据进行封装，并将封装后的状态数据发送至控制终端，以指示控制终端基于状态数据对车底盘进行控制。
在一个实施例中，发送模块504还用于接收控制终端发送的自动驾驶控制数据；自动驾驶控制数据是控制终端对状态数据进行自动驾驶计算生成得到；及通过第一协议对自动驾驶控制数据进行封装，并将封装后的自动驾驶控制数据发送至车底盘，以基于自动驾驶控制数据对车底盘进行控制。
在一个实施例中，获取模块501还用于接收控制终端发送的状态数据查询指令；及基于状态数据查询指令获取无人驾驶车辆车底盘的状态数据。
在一个实施例中，无人驾驶车辆车底盘控制装置500还包括诊断模块，诊断模块用于实时检测车底盘的状态和控制终端的状态；当车底盘的状态或控制终端的状态中至少一种为异常状态时，控制车底盘进行紧急刹车，并生成警报信息。
在一个实施例中，第一协议为CAN协议，CAN协议对应的CAN接口为Socket-CAN接口、PCIE-CAN接口和USB-CAN接口中的任一种。
上述无人驾驶车辆车底盘控制装置，通过获取无人驾驶车辆车底盘的状态数据；确定无人驾驶车辆车底盘所支持的第一协议；从预设的候选协议转换规则中选择与第一协议相匹配的目标协议转换规则，并按照目标协议转换规则将第一协议转换为控制终端所支持的第二协议；及通过第二协议对状态数据进行封装，并将封装后的状态数据发送至控制终端，以指示控制终端基于状态数据对车底盘进行控制。这样，通过在嵌入式终端中预设与各类 型的无人驾驶车辆车底盘所支持的协议分别对应的候选协议转换规则，在确定无人驾驶车辆车底盘所支持的协议之后，从预设的候选协议转换规则中选择与第一协议相匹配的目标协议转换规则，以将第一协议转换为控制终端所支持的第二协议，使得各类型的无人驾驶车辆车底盘均可与控制终端适配，进而控制终端可以顺利与车底盘进行正常通信以及控制车底盘，降低无人驾驶车辆系统的复杂度和耦合度，提升无人驾驶车辆系统的可靠性。
在一个实施例中，如图6所示，提供了一种无人驾驶车辆车底盘控制装置600包括：接收模块601和控制模块602，其中：
接收模块601，用于接收嵌入式终端通过控制终端所支持的第二协议对无人驾驶车辆车底盘的状态数据进行封装后的状态数据；第二协议是按照目标协议转换规则将无人驾驶车辆车底盘所支持的第一协议进行转换得到；目标协议转换规则是从预设的候选协议转换规则中选择得到的且与第一协议相匹配的协议转换规则。
控制模块602，用于基于状态数据对车底盘进行控制。
在一个实施例中，控制模块602还用于对状态数据进行自动驾驶计算，生成自动驾驶控制数据；及基于自动驾驶控制数据对车底盘进行控制。
在一个实施例中，控制模块602还用于将自动驾驶控制数据发送至嵌入式终端，以指示嵌入式终端通过第一协议对自动驾驶控制数据进行封装，并通过嵌入式终端将封装后的自动驾驶控制数据发送至车底盘，以基于自动驾驶控制数据对车底盘进行控制。
在一个实施例中，控制模块602还用于生成状态数据查询指令；及将状态数据查询指令发送至嵌入式终端，以指示嵌入式终端基于状态数据查询指令获取无人驾驶车辆车底盘的状态数据。
在一个实施例中，控制终端基于状态数据对车底盘进行控制，包括横向控制、纵向控制、档位控制、转向灯控制和车辆状态控制中的至少一种。
在一个实施例中，第一协议为CAN协议，CAN协议对应的CAN接口为Socket-CAN接口、PCIE-CAN接口和USB-CAN接口中的任一种。
上述无人驾驶车辆车底盘控制装置，通过接收嵌入式终端通过控制终端所支持的第二协议对无人驾驶车辆车底盘的状态数据进行封装后的状态数据；第二协议是按照目标协议转换规则将无人驾驶车辆车底盘所支持的第一协议进行转换得到；目标协议转换规则是从预设的候选协议转换规则中选择得到的且与第一协议相匹配的协议转换规则；及基于状态 数据对车底盘进行控制。这样，通过在嵌入式终端中预设与各类型的无人驾驶车辆车底盘所支持的协议分别对应的候选协议转换规则，在确定无人驾驶车辆车底盘所支持的协议之后，从预设的候选协议转换规则中选择与第一协议相匹配的目标协议转换规则，以将第一协议转换为控制终端所支持的第二协议，使得各类型的无人驾驶车辆车底盘均可与控制终端适配，进而控制终端可以顺利与车底盘进行正常通信以及控制车底盘，降低无人驾驶车辆系统的复杂度和耦合度，提升无人驾驶车辆系统的可靠性。
关于无人驾驶车辆车底盘控制装置的具体限定可以参见上文中对于无人驾驶车辆车底盘控制方法的限定，在此不再赘述。上述无人驾驶车辆车底盘控制装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
在一个实施例中，提供了一种计算机设备，该计算机设备可以是上述图1中的嵌入式终端104或控制终端106，其内部结构图可以如图7所示。该计算机设备包括通过系统总线连接的处理器、存储器、网络接口、显示屏和输入装置。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统和计算机程序。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该计算机设备的网络接口用于与外部的终端通过网络连接通信。该计算机程序被处理器执行时以实现一种无人驾驶车辆车底盘控制方法。该计算机设备的显示屏可以是液晶显示屏或者电子墨水显示屏，该计算机设备的输入装置可以是显示屏上覆盖的触摸层，也可以是计算机设备外壳上设置的按键、轨迹球或触控板，还可以是外接的键盘、触控板或鼠标等。
本领域技术人员可以理解，图7中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
在一个实施例中，提供了一种计算机设备，包括存储器和处理器，存储器存储有计算机程序，计算机程序被处理器执行时，使得处理器执行上述无人驾驶车辆车底盘控制方法的步骤。此处无人驾驶车辆车底盘控制方法的步骤可以是上述各个实施例的无人驾驶车辆 车底盘控制方法中的步骤。
在一个实施例中，提供了一种计算机可读存储介质，存储有计算机程序，计算机程序被处理器执行时，使得处理器执行上述无人驾驶车辆车底盘控制方法的步骤。此处无人驾驶车辆车底盘控制方法的步骤可以是上述各个实施例的无人驾驶车辆车底盘控制方法中的步骤。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种无人驾驶车辆车底盘控制方法，其特征在于，应用于嵌入式终端，所述方法包括：
    获取无人驾驶车辆车底盘的状态数据；
    确定所述无人驾驶车辆车底盘所支持的第一协议；
    从预设的候选协议转换规则中选择与所述第一协议相匹配的目标协议转换规则，并按照所述目标协议转换规则将所述第一协议转换为控制终端所支持的第二协议；及
    通过所述第二协议对所述状态数据进行封装，并将封装后的状态数据发送至所述控制终端，以指示所述控制终端基于所述状态数据对所述车底盘进行控制。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    接收所述控制终端发送的自动驾驶控制数据；所述自动驾驶控制数据是所述控制终端对所述状态数据进行自动驾驶计算生成得到；及
    通过所述第一协议对所述自动驾驶控制数据进行封装，并将封装后的自动驾驶控制数据发送至所述车底盘，以基于所述自动驾驶控制数据对所述车底盘进行控制。
  3. 根据权利要求1所述的方法，其特征在于，所述获取无人驾驶车辆车底盘的状态数据，包括：
    接收所述控制终端发送的状态数据查询指令；及
    基于所述状态数据查询指令获取所述无人驾驶车辆车底盘的状态数据。
  4. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    实时检测所述车底盘的状态和所述控制终端的状态；
    当所述车底盘的状态或所述控制终端的状态中至少一种为异常状态时，控制所述车底盘进行紧急刹车，并生成警报信息。
  5. 根据权利要求1至4中任一项所述的方法，其特征在于，所述第一协议为CAN协议，所述CAN协议对应的CAN接口为Socket-CAN接口、PCIE-CAN接口和USB-CAN接口中的任一种。
  6. 一种无人驾驶车辆车底盘控制方法，其特征在于，应用于控制终端，所述方法包括：
    接收嵌入式终端通过控制终端所支持的第二协议对无人驾驶车辆车底盘的状态数据 进行封装后的状态数据；所述第二协议是按照目标协议转换规则将所述无人驾驶车辆车底盘所支持的第一协议进行转换得到；所述目标协议转换规则是从预设的候选协议转换规则中选择得到的且与所述第一协议相匹配的协议转换规则；及
    基于所述状态数据对所述车底盘进行控制。
  7. 根据权利要求6所述的方法，其特征在于，所述基于所述状态数据对所述车底盘进行控制，包括：
    对所述状态数据进行自动驾驶计算，生成自动驾驶控制数据；及
    基于所述自动驾驶控制数据对所述车底盘进行控制。
  8. 根据权利要求7所述的方法，其特征在于，所述基于所述自动驾驶控制数据对所述车底盘进行控制，包括：
    将所述自动驾驶控制数据发送至嵌入式终端，以指示所述嵌入式终端通过所述第一协议对所述自动驾驶控制数据进行封装，并通过所述嵌入式终端将封装后的自动驾驶控制数据发送至所述车底盘，以基于所述自动驾驶控制数据对所述车底盘进行控制。
  9. 根据权利要求6所述的方法，其特征在于，所述方法还包括：
    生成状态数据查询指令；及
    将所述状态数据查询指令发送至嵌入式终端，以指示所述嵌入式终端基于所述状态数据查询指令获取所述无人驾驶车辆车底盘的状态数据。
  10. 根据权利要求6所述的方法，其特征在于，所述控制终端基于所述状态数据对所述车底盘进行控制，包括横向控制、纵向控制、档位控制、转向灯控制和车辆状态控制中的至少一种。
  11. 根据权利要求6至10中任一项所述的方法，其特征在于，所述第一协议为CAN协议，所述CAN协议对应的CAN接口为Socket-CAN接口、PCIE-CAN接口和USB-CAN接口中的任一种。
  12. 一种无人驾驶车辆车底盘控制装置，其特征在于，所述装置包括：
    获取模块，用于获取无人驾驶车辆车底盘的状态数据；
    确定模块，用于确定所述无人驾驶车辆车底盘所支持的第一协议；
    转换模块，用于从预设的候选协议转换规则中选择与所述第一协议相匹配的目标协议转换规则，并按照所述目标协议转换规则将所述第一协议转换为控制终端所支持的第二协 议；及
    发送模块，用于通过所述第二协议对所述状态数据进行封装，并将封装后的状态数据发送至所述控制终端，以指示所述控制终端基于所述状态数据对所述车底盘进行控制。
  13. 根据权利要求12所述的装置，其特征在于，所述发送模块还用于接收所述控制终端发送的自动驾驶控制数据；所述自动驾驶控制数据是所述控制终端对所述状态数据进行自动驾驶计算生成得到；及通过所述第一协议对所述自动驾驶控制数据进行封装，并将封装后的自动驾驶控制数据发送至所述车底盘，以基于所述自动驾驶控制数据对所述车底盘进行控制。
  14. 根据权利要求12所述的装置，其特征在于，所述获取模块还用于接收所述控制终端发送的状态数据查询指令；及基于所述状态数据查询指令获取所述无人驾驶车辆车底盘的状态数据。
  15. 根据权利要求12所述的装置，其特征在于，所述装置还包括诊断模块，用于实时检测所述车底盘的状态和所述控制终端的状态；当所述车底盘的状态或所述控制终端的状态中至少一种为异常状态时，控制所述车底盘进行紧急刹车，并生成警报信息。
  16. 根据权利要求12至15所述的装置，其特征在于，所述第一协议为CAN协议，所述CAN协议对应的CAN接口为Socket-CAN接口、PCIE-CAN接口和USB-CAN接口中的任一种。
  17. 一种无人驾驶车辆车底盘控制装置，其特征在于，所述装置包括：
    接收模块，用于接收嵌入式终端通过控制终端所支持的第二协议对无人驾驶车辆车底盘的状态数据进行封装后的状态数据；所述第二协议是按照目标协议转换规则将所述无人驾驶车辆车底盘所支持的第一协议进行转换得到；所述目标协议转换规则是从预设的候选协议转换规则中选择得到的且与所述第一协议相匹配的协议转换规则；及
    控制模块，用于基于所述状态数据对所述车底盘进行控制。
  18. 根据权利要求17所述的装置，其特征在于，所述控制模块还用于对所述状态数据进行自动驾驶计算，生成自动驾驶控制数据；及基于所述自动驾驶控制数据对所述车底盘进行控制。
  19. 一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的 计算机程序，其特征在于，所述处理器执行所述计算机程序时实现权利要求1至11中任一项所述的方法的步骤。
  20. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1至11中任一项所述的方法的步骤。
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CN111131231A (zh) * 2019-12-23 2020-05-08 北京蜂云科创信息技术有限公司 一种将车载终端数据接入车联网监控平台的方法和设备

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