WO2023001090A1 - 模拟驾驶器接口处理方法、远程控制平台、系统及存储介质 - Google Patents

模拟驾驶器接口处理方法、远程控制平台、系统及存储介质 Download PDF

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Publication number
WO2023001090A1
WO2023001090A1 PCT/CN2022/106188 CN2022106188W WO2023001090A1 WO 2023001090 A1 WO2023001090 A1 WO 2023001090A1 CN 2022106188 W CN2022106188 W CN 2022106188W WO 2023001090 A1 WO2023001090 A1 WO 2023001090A1
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data
interface
vehicle
standard data
standard
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PCT/CN2022/106188
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English (en)
French (fr)
Inventor
陈苗苗
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广州小鹏汽车科技有限公司
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Publication of WO2023001090A1 publication Critical patent/WO2023001090A1/zh

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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles

Definitions

  • the present application relates to the technical field of electric vehicles, and in particular relates to an interface processing method for a simulated driver, a remote control platform, a system, and a storage medium.
  • 5G remote driving is to connect the intelligent vehicle with the remote control platform and the simulated driver using the 5G network, and the driver interacts with the vehicle through the simulated driver in the simulated cockpit, and controls the intelligent vehicle to realize remote driving.
  • the remote control platform obtains the vehicle operating environment information and vehicle driving status information of the intelligent vehicle in real time, and the driver remotely operates and controls the intelligent vehicle in the simulated cockpit according to the obtained information. Send to the controller of the smart vehicle to realize remote driving.
  • the remote control platform in order to feed back the data of the controlled vehicle to the simulated driver or issue the control commands of the simulated driver to the controlled vehicle in a timely manner, the remote control platform needs to transmit data according to the model of the controlled vehicle, the interface of the power system, etc. A series of corresponding adaptability adjustments are made to increase the redundancy between the remote control platform and the controlled vehicle, which lacks versatility when applied to different models.
  • this application provides a simulated driver interface processing method, remote control platform, system and storage medium, which can improve the universality of the interface and reduce the distance between the remote control platform and the controlled vehicle. Redundancy can be applied to different models.
  • the first aspect of the present application provides a simulated driver interface processing method, including:
  • converting the vehicle condition data into standard data through the setting interface and then converting it into the first manipulation instruction includes: converting the vehicle condition data into the first standard data through the first interface, and converting the vehicle condition data into the first standard data through the first interface, The second interface converts the first standard data into a first manipulation instruction; and/or,
  • the converting the operation data into standard data through the setting interface and then converting into the second manipulation command includes: converting the operation data into the second standard data through the second interface, and converting the operation data into the second standard data through the second interface.
  • An interface converts the second standard data into a second manipulation instruction.
  • the first interface is a preset data adapter interface
  • the second interface is a preset universal interface
  • converting the vehicle condition data into first standard data through the first interface includes: converting the vehicle condition data into first standard data according to a standard data encapsulation format through the first interface; and /or,
  • the converting the operation data into the second standard data through the second interface includes: converting the operation data into the second standard data according to the standard data encapsulation format through the second interface.
  • the standard data encapsulation format includes a pre-negotiated message frame ID, a checksum of the message frame, and a data field of the message frame.
  • the acquisition of the vehicle condition data uploaded by the controlled vehicle includes:
  • the monitoring of the vehicle data uploaded by the controlled vehicle after judging that the vehicle data is the vehicle condition data according to the message frame ID, obtaining the vehicle condition data includes:
  • the vehicle condition data or the operation data include one of the following data or a combination thereof:
  • the acquiring the vehicle condition data uploaded by the controlled vehicle includes: acquiring the vehicle condition data uploaded by the controlled vehicle in a preset cycle; and/or,
  • the acquisition of the operation data sent by the simulated driver includes: acquiring the operation data sent by the simulated driver through a software development kit SDK in a preset cycle.
  • the obtaining the operation data sent by the simulated driver includes: obtaining the operation data sent by the simulated driver through a steering wheel plug-in;
  • the converting the operation data into the second standard data through the second interface includes:
  • the operation data is converted into a second standard data.
  • the second aspect of the present application provides a remote control platform, including:
  • the first processing module is used to obtain the vehicle condition data uploaded by the controlled vehicle, convert the vehicle condition data into standard data through a setting interface and then convert it into a first control command, and transmit the first control command to the simulated cockpit The simulated driver in;
  • the second processing module is used to obtain the operation data sent by the simulated driver, convert the operation data into standard data through the setting interface and then convert it into a second control instruction, and send the second operation instruction to the accused vehicle.
  • the first processing module converts the vehicle condition data into first standard data through a first interface, and converts the first standard data into first manipulation instructions through a second interface; and/ or,
  • the second processing module converts the operation data into second standard data through the second interface, and converts the second standard data into second manipulation instructions through the first interface.
  • the first processing module converts the vehicle condition data into first standard data through a preset data adapter interface, and converts the first standard data into first control instructions through a preset general interface ;and / or,
  • the second processing module converts the operation data into second standard data through the preset general interface, and converts the second standard data into second manipulation instructions through the preset data adapter interface.
  • the second processing module obtains the operation data sent by the simulated driver through a steering wheel plug-in, and when the steering wheel plug-in is adapted to the preset universal interface, the acquired After the operation data is transmitted to the preset general interface, the operation data is converted into second standard data through the preset general interface.
  • the third aspect of the present application provides a remote driving system, including a controlled vehicle, a simulated driver, and the above-mentioned remote control platform.
  • the fourth aspect of the present application provides a non-transitory machine-readable storage medium, on which executable code is stored, and when the executable code is executed by a processor of an electronic device, the processor is made to execute the above-mentioned method.
  • the solution provided by this application is to convert the vehicle condition data into standard data by setting the interface and then convert it into the first control command, transmit the first control command to the simulated driver in the simulated cockpit, and pass the
  • the setting interface converts the operation data into standard data and then converts it into a second control command, and sends the second control command to the controlled vehicle; in this way, it is no longer necessary to A series of corresponding adaptability adjustments are made on the interface of the system to transmit data.
  • the solution provided by the present application may be to convert the vehicle condition data into the first standard data through the first interface, and convert the first standard data into the first manipulation instruction through the second interface; and/or, through the The second interface converts the operation data into second standard data, and converts the second standard data into second manipulation instructions through the first interface; wherein the first interface may be a preset data adapter interface, The second interface can be a preset general interface; thus, standard data conversion and command conversion can be realized by setting the interface, and the universality of the interface can be improved.
  • the solution provided by this application can obtain the operation data sent by the simulated driver through the steering wheel plug-in; the steering wheel plug-in is adapted to the preset universal interface, and the obtained operation data is transmitted to the After the preset general interface is used, the operation data is converted into second standard data through the preset general interface.
  • make can be applicable to the steering wheel of all simulated drivers and arbitrary controlled vehicle models.
  • Fig. 1 is a schematic flow chart of a simulated driver interface processing method shown in an embodiment of the present application
  • Fig. 2 is a flow chart of transmitting the operating data of the simulated driver to the controlled vehicle shown in an embodiment of the present application;
  • Fig. 3 is a flow chart of transmitting the vehicle condition data of the controlled vehicle to the simulated driver shown in an embodiment of the present application;
  • Fig. 4 is a system structure diagram including a general interface GI and a data adapter interface DA shown in an embodiment of the present application;
  • Fig. 5 is a class diagram of standard data shown in an embodiment of the present application.
  • FIG. 6 is a class diagram of a general interface GI shown in an embodiment of the present application.
  • Fig. 7 is a class diagram of a data adapter interface DA shown in an embodiment of the present application.
  • Fig. 8 is a schematic diagram of a steering wheel of a simulated driver shown in an embodiment of the present application.
  • Fig. 9 is a system structure diagram including a general interface GI and a data adapter interface DA shown in another embodiment of the present application;
  • Fig. 10 is a schematic structural diagram of a remote control platform shown in an embodiment of the present application.
  • Fig. 11 is a schematic structural diagram of a remote driving system according to an embodiment of the present application.
  • first information may also be called second information, and similarly, second information may also be called first information.
  • second information may also be called first information.
  • a feature defined as “first” and “second” may explicitly or implicitly include one or more of these features.
  • “plurality” means two or more, unless otherwise specifically defined.
  • the remote control platform needs a series of corresponding adaptability adjustments according to the model of the controlled vehicle, the interface for power system transmission data, etc., which lacks versatility when applied to different models.
  • the embodiment of the present application provides a simulated driver interface processing method, which can improve the universality of the interface, reduce the redundancy between the remote control platform and the controlled vehicle, and can be applied to different models.
  • Fig. 1 is a schematic flowchart of a method for processing an interface of a simulated driver according to an embodiment of the present application.
  • the method includes:
  • the vehicle condition data can be converted into the first standard data through the first interface, and the first standard data can be converted into the first manipulation instruction through the second interface.
  • the first interface may be a preset data adapter interface, and the second interface may be a preset universal interface.
  • the vehicle condition data can be converted into the first standard data according to the standard data encapsulation format through the first interface.
  • the standard data encapsulation format may include a pre-negotiated message frame ID, a checksum of a message frame, and a data field of a message frame.
  • the vehicle condition data may include one of the following data or a combination thereof: steering wheel angle, gas pedal state, brake pedal state, turn signal state, light switch state, and gear state.
  • the operation data can be converted into the second standard data through the second interface, and the second standard data can be converted into the second manipulation instruction through the first interface.
  • the operation data may be converted into the second standard data according to the standard data encapsulation format through the second interface.
  • the standard data encapsulation format may include a pre-negotiated message frame ID, a checksum of a message frame, and a data field of a message frame.
  • the operation data may include one of the following data or a combination thereof: steering wheel steering angle, gas pedal status, brake pedal status, turn signal status, vehicle light switch status, and gear position status.
  • the solution provided by the embodiment of this application is to convert the vehicle condition data into standard data through the setting interface and then convert it into the first control command, transmit the first control command to the simulated driver in the simulated cockpit, and Convert the operating data into standard data and then convert it into the second control command, and issue the second control command to the controlled vehicle; in this way, it is no longer necessary to make a series of corresponding actions according to the model of the controlled vehicle, the interface for power system transmission data, etc.
  • the adaptability adjustment of the remote control platform only needs to perform standard data conversion and instruction conversion through the setting interface, which simplifies the process of different vehicles adapting to the simulated driver and weakens the relationship between the controlled vehicle and the simulated driver. Relevance, so as to improve the versatility of the interface, reduce the redundancy between the remote control platform and the controlled vehicle, and can be applied to different models.
  • the technical solution of the present application will be described in more detail below in conjunction with FIG. 2 and FIG. 3 .
  • it mainly polls and reads the operation data on the steering wheel through the SDK (Software Development Kit, Software Development Kit) which simulates the steering wheel of the driver, including the steering angle, the status of the lights, the accelerator pedal, and the gear position information. etc.
  • SDK Software Development Kit, Software Development Kit
  • the operation data of the steering wheel is converted into a standard data format, which can be encapsulated according to the vehicle condition data format that the controlled vehicle can receive, including the information frame ID, the checksum of the information frame, etc.
  • the remote control platform monitors the occurrence of the message frame ID event through the message monitoring event, converts the vehicle condition data uploaded by the controlled vehicle into standard data with a standard data structure through the data adapter interface DA, and further converts the standard data through the general interface GI
  • the manipulation command converted into the steering wheel of the simulated driver is transmitted to the simulated driver to control and adjust the steering wheel of the simulated driver in the cockpit.
  • This application reduces the correlation and coupling between the steering wheel of the simulated driver and the controlled vehicle by adding the general interface GI and the data adapter interface DA in the remote control platform, optimizes the code logic of the remote control, and greatly improves the 5G
  • the convenience of remote driving makes 5G remote driving technology applicable to any car model.
  • Fig. 2 is a flow chart of transmitting the operation data of the simulated driver to the controlled vehicle according to an embodiment of the present application.
  • the simulated driver in the cockpit establishes a wireless connection with the controlled vehicle, for example, a wireless connection can be established based on a 5G network.
  • 5G remote driving is an automatic driving technology that realizes remote vehicle control through a 5G network. For example, by operating a simulated driver to transmit various control information to the controlled vehicle through the 5G network to achieve remote control.
  • 5G remote driving enables one person to remotely control multiple controlled vehicles, or remotely perform manual intervention when the controlled vehicle is abnormal.
  • the remote simulated driver needs to convert the control information read from the SDK of the simulated driver according to the vehicle condition command of the controlled vehicle.
  • Different vehicle models may have different vehicle condition command formats.
  • the remote control platform needs Carry out different data conversions for vehicle condition command formats of different models. There is a strong redundancy between the remote control platform and the controlled vehicle, making the method lack of universality for all vehicle types.
  • FIG. 4 is a system structure diagram including a general interface GI and a data adapter interface DA shown in an embodiment of the present application.
  • Figure 4 includes the controlled vehicle, the steering wheel of the simulated driver, and the remote control platform.
  • the dotted frame of the remote control platform contains the general interface GI and the data adapter interface DA, both of which are implemented in the remote driving platform.
  • the SDK polling of the steering wheel of the simulated driver is used to obtain the data on the steering wheel, such as one of the following data or a combination thereof: steering wheel steering angle, accelerator pedal state, brake pedal state, turn signal state, light switch state, gear state, etc., and then through the preset general interface provided by the embodiment of the application, that is, the general interface GI, the steering wheel data is converted into a standard data format.
  • the remote control platform further encapsulates the data into a vehicle control command in a standard frame format, including the message frame ID, the checksum of the message frame, etc.
  • the remote control platform sends a vehicle control instruction to the controlled vehicle, and the controlled vehicle decides whether to receive and execute it according to the ID of the message frame and the checksum of the message frame.
  • the process includes:
  • the remote control platform When the remote control platform starts to take over the controlled vehicle, start and initialize the steering wheel of the simulated driver in the cockpit.
  • the remote control platform can obtain the real-time data of the steering wheel through the SDK provided by the steering wheel in a preset cycle, for example, every 10ms.
  • the steering wheel data of the simulated driver that is, the operating data of the simulated driver.
  • Steering wheel data may include one of the following data or a combination thereof: steering wheel steering angle, accelerator pedal status, brake pedal status, turn signal status, light switch status, gear status, etc.
  • FIG. 8 is a schematic diagram of a steering wheel of a simulated driver shown in an embodiment of the present application.
  • the steering wheel of the simulated driver in the cockpit can use a set steering wheel, such as but not limited to a steering wheel of a racing car.
  • the steering wheel and the vehicle control information can be mapped to correspond to the specific control functions of the controlled vehicle.
  • mapping relationship for example, refer to the following description:
  • Steping wheel 31 is used to correspond to the steering wheel on the controlled vehicle.
  • corresponding data mapping is performed on the steering angle on the steering wheel of the simulated driver and the steering angle of the controlled vehicle, so that the steering wheel of the simulated driver The steering angle truly corresponds to the vehicle under control;
  • ⁇ 32 used to correspond to the D
  • [Pickers] 34&35 are used to correspond to the left and right turn signals of the controlled vehicle respectively.
  • 34 corresponds to the left turn signal of the charged vehicle
  • 35 corresponds to the right turn signal of the charged vehicle
  • [L3] 36 used to correspond to the double flashing of the controlled vehicle.
  • the steering wheel of the simulated driver can turn on the double flashing to remind the surrounding vehicles.
  • the steering wheel steering angle, accelerator pedal state, brake pedal state, turn signal state, car light switch state, gear state and other data output by the steering wheel are mapped to a standard structure defined by the general interface GI .
  • FIG. 5 is a class diagram of standard data shown in an embodiment of the present application.
  • the standard data is defined as a Standard Data structure, which contains variables related to vehicle control commands, such as fESP_VehSpd (vehicle speed), fEPS_SteeringAngle (steering angle), fIBT_BrakeTravel (brake pedal status), cVCU_GearLev (gear status), cVCU_AccPedalSig ( Accelerator pedal state) and cVCU_DriveMode (driving mode), cLTurnLampSwSt (left turn signal state), cRTurnLampSwSt (right turn signal state), cHighBeamSwSt (hazard warning light switch state) and cHazardLampSwSt (high beam switch state), etc.
  • fESP_VehSpd vehicle speed
  • fEPS_SteeringAngle steerering angle
  • fIBT_BrakeTravel Brake pedal status
  • FIG. 6 is a class diagram of a general interface GI shown in an embodiment of the present application.
  • the embodiment of this application defines the Public data variables of the general interface GI, including tHeader (message frame header), uiChecksum (message frame checksum) and sd (standard data structure).
  • the general interface GI provides several function interfaces that can be called by the remote control platform to obtain the state data of the steering wheel. For example, use the function logicInit() to initialize the steering wheel, including the rebound force of the steering wheel, steering angle range, etc.; obtain real-time steering wheel data through the Logiupdate() function; obtain the current driving mode of the steering wheel through getDriveMode(), and the remote driving platform can be used according to different driving conditions.
  • the remote driving platform receives the standard data output by the general interface GI, and through the data adapter interface DA, converts the standard data into control commands corresponding to the controlled vehicle, such as vehicle control commands.
  • the standard data includes the message frame ID negotiated by both parties, the checksum of the message frame, and the data field of the message frame.
  • the remote control platform After the remote control platform encapsulates the vehicle control command into a data frame, it sends the vehicle control command to the controlled vehicle, so that the controlled vehicle receives the vehicle control command from the remote control platform and performs related operations.
  • the acquired operation data of the simulated driver is converted into standard data in a general standard data format through the general interface GI, and the standard data is regenerated through the data adapter interface DA. It is converted into the vehicle control command corresponding to the controlled vehicle.
  • the correlation and coupling between the steering wheel of the simulated driver and the controlled vehicle are reduced, and the code logic of the remote control is optimized, so that the solution provided by the embodiment of the present application can be applied to all vehicle types.
  • Fig. 3 is a flow chart of transmitting the vehicle condition data of the controlled vehicle to the simulated driver according to an embodiment of the present application.
  • the simulated driver in the cockpit and the controlled vehicle can establish a wireless connection based on the 5G network.
  • the controlled vehicle can upload its own vehicle condition data to the remote control platform in real time in a preset cycle, for example, every 10 ms.
  • the remote control platform judges that the vehicle data uploaded by the controlled vehicle is vehicle condition data according to the message frame ID, and after verifying the checksum of the message frame, obtains the vehicle condition data and triggers the signal processing function.
  • the signal processing function of the vehicle condition data converts the received vehicle condition data of the controlled vehicle into standard data through the data adapter interface DA. Then, through the general interface GI, the standard data is converted into manipulation commands such as steering wheel commands, and the steering wheel is manipulated to adjust the state of the steering wheel.
  • the controlled vehicles registered on the remote control platform can use the general interface GI and the data adapter interface DA, so that the remote control platform does not need to carry out specific interface design for each vehicle type, reducing the remote control
  • the coupling between the platform and the controlled vehicle is more conducive to the promotion and use of 5G remote driving.
  • the process includes:
  • the remote control platform acquires the vehicle condition data that the controlled vehicle can upload in a preset cycle, for example, every 10 ms.
  • the controlled vehicle can regularly upload its own vehicle condition data in real time.
  • the controlled vehicle needs to upload vehicle data to the remote control platform in real time, including information about the vehicle operating environment and vehicle driving status, so that the remote driver can send accurate information based on the current environment of the controlled vehicle.
  • vehicle control commands when the driver turns on the assisted driving technology for the controlled vehicle, the remote cockpit is in observation mode.
  • the controlled vehicle can upload the current vehicle condition data to the remote control platform.
  • Vehicle condition data may include the current steering wheel angle, accelerator pedal status, brake pedal status, turn signal status, light switch status, gear status, etc.
  • the remote control platform After the remote control platform obtains the vehicle condition data uploaded by the controlled vehicle, it can then feed back the vehicle condition data to the simulated driver, so that the control information of the simulated driver, such as steering wheel angle, accelerator pedal status, brake pedal status, etc.
  • the condition of the controlled vehicle remains the same.
  • the controlled vehicle can generally send its own vehicle condition data to the remote control platform in a preset cycle, such as every 10ms, so that The remote control platform can then convert the received vehicle condition data into standard data of a standard data structure through the data adapter interface DA, and then through the general interface GI, convert the standard data into control instructions for the steering wheel of the simulated driver.
  • the remote control platform registers the message monitoring event, and continuously monitors various vehicle data uploaded by the controlled vehicle through the message monitoring event.
  • the remote control platform For the vehicle data uploaded by the arriving controlled vehicle, the remote control platform first judges that the vehicle data is the vehicle condition data according to the message frame ID, and then verifies the checksum of the message frame. After the verification is passed, continue to execute S304, otherwise return to S302 Keep listening.
  • the vehicle condition data can generally be identified by setting the message frame ID, and the checksum of the message frame of the vehicle condition data can also be identified by setting the value.
  • the remote control platform unpacks the received data frame through the data adapter interface DA, reads the vehicle condition data therein, and converts the vehicle condition data into standard data of a standard data structure.
  • the remote control platform monitors the occurrence of the message frame ID event through the message monitoring event, and identifies whether the data packet of the received vehicle data is the vehicle condition data according to the message frame ID.
  • the remote control platform triggers the corresponding vehicle condition data processing function, calls the data adapter interface DA through the vehicle condition data processing function, and converts the vehicle condition data into standard data of a standard data structure through the data adapter interface DA.
  • FIG. 7 is a class diagram of a data adapter interface DA shown in an embodiment of the present application.
  • the data adapter interface DA provides the mapStandard() function, which converts the received vehicle condition data into the standard data format Standard Data.
  • the remote control platform converts the standard data into manipulation instructions of the steering wheel of the simulated driver through the general interface GI.
  • the steering wheel By sending the converted manipulation command to the steering wheel, the steering wheel can be controlled to adjust the state of the steering wheel, so that the state of the steering wheel and the controlled vehicle can be synchronized in real time.
  • FIG. 9 it is a structural diagram of a system including a general interface GI and a data adapter interface DA according to another embodiment of the present application.
  • the solution of the embodiment of the present application can be applied to the steering wheel of all simulated drivers and any vehicle model to be controlled.
  • any type of steering wheel of the simulated driver can be used, and the steering wheel of the simulated driver can be activated through the steering wheel plug-in and the data can be obtained through the SDK, and then adapted to the general interface GI according to the model of the steering wheel of the simulated driver , convert the operation data of the steering wheel of the simulated driver into standard data of a general standard data structure in the general interface GI.
  • the remote control platform encapsulates the standard data into a data frame, which includes the information frame ID, the checksum of the information frame and the data segment of the information frame.
  • the standard data is transmitted through the data adapter interface DA.
  • the data adapter interface DA converts the standard data into the vehicle control command in the vehicle control data format supported by the controlled vehicle according to the model of the currently connected controlled vehicle.
  • the controlled vehicle receives the vehicle control command and Execute related command operations.
  • a general simulated driver interface is designed, which are respectively the general interface GI and the data adapter interface DA for data conversion between the simulated driver in the cockpit and the controlled vehicle.
  • the general interface GI is responsible for converting the acquired operating data of the simulated driver into standard data in a common standard data format
  • the data adapter interface DA is responsible for converting the standard data into the corresponding data of the controlled vehicle.
  • the data adapter interface DA is responsible for converting the obtained vehicle condition data of the controlled vehicle into standard data in a common standard data format
  • the general interface GI is responsible for reconverting the standard data It is the control instruction of the steering wheel of the simulated driver. In this way, it is not necessary to rewrite the logic code of data conversion when adding a newly registered controlled vehicle in the remote control platform, which reduces the redundancy between the remote control platform and the controlled vehicle, so that the The program can be applied to all models.
  • the solution provided by the embodiment of the present application also reduces the degree of coupling between the simulated driver and the controlled vehicle.
  • each vehicle can use its own defined vehicle condition data structure to upload data to the remote control platform, and the data adapter interface DA can convert the vehicle condition data of the controlled vehicle into standard data, so that the simulated driver can be applied to different types
  • the vehicle can simplify the process of different vehicles adapting to the driving simulation driver, and weaken the correlation between the controlled vehicle and the simulation driver.
  • the general interface GI and the data adapter interface DA are used as third-party data conversion, which makes the logic processing of the simulated driver in the cockpit and the internal data of the controlled vehicle more concise, improves the code efficiency, and is conducive to the iterative update of the system.
  • the embodiment of the present application also provides a corresponding remote control platform, remote driving system and related equipment.
  • Fig. 10 is a schematic structural diagram of a remote control platform shown in an embodiment of the present application.
  • the remote control platform can be used to execute the methods described in the foregoing embodiments.
  • a remote control platform 100 includes: a first processing module 110 and a second processing module 111 .
  • the first processing module 110 is used to obtain the vehicle condition data uploaded by the controlled vehicle, convert the vehicle condition data into standard data through the setting interface, and then convert it into the first control command, and transmit the first control command to the simulated driver in the simulated cockpit. driver.
  • the second processing module 111 is used to obtain the operation data sent by the simulated driver, convert the operation data into standard data through the setting interface and then convert it into the second control command, and issue the second control command to the controlled vehicle.
  • the first processing module 110 converts the vehicle condition data into first standard data through the first interface, and converts the first standard data into first manipulation instructions through the second interface.
  • the vehicle condition data can be converted into the first standard data according to the standard data encapsulation format through the first interface.
  • the standard data encapsulation format includes the pre-negotiated message frame ID, the checksum of the message frame, and the data field of the message frame.
  • the vehicle condition data may include one of the following data or a combination thereof: steering wheel angle, gas pedal state, brake pedal state, turn signal state, light switch state, and gear state.
  • the second processing module 111 converts the operation data into the second standard data through the second interface, and converts the second standard data into the second manipulation instruction through the first interface.
  • the operation data may be converted into the second standard data according to the standard data encapsulation format through the second interface.
  • the standard data encapsulation format includes the pre-negotiated message frame ID, the checksum of the message frame, and the data field of the message frame.
  • the operation data includes one of the following data or a combination thereof: steering wheel steering angle, accelerator pedal state, brake pedal state, turn signal state, vehicle light switch state, gear position state.
  • the first interface is a preset data adapter interface
  • the second interface is a preset universal interface.
  • the first processing module 110 converts the vehicle condition data into first standard data through a preset data adapter interface, and converts the first standard data into first manipulation instructions through a preset general interface.
  • the second processing module 111 converts the operation data into the second standard data through the preset general interface, and converts the second standard data into the second manipulation instruction through the preset data adapter interface.
  • the second processing module 111 can also obtain the operation data sent by the simulated driver through the steering wheel plug-in, and after the steering wheel plug-in is adapted to the preset universal
  • the interface converts the operational data into second standard data.
  • the remote control platform converts the vehicle condition data into standard data by setting the interface and then converts it into the first control command, transmits the first control command to the simulated driver in the simulated cockpit, and
  • the fixed interface converts the operation data into standard data and then converts it into the second control command, and sends the second control command to the controlled vehicle; in this way, it is no longer necessary to make a control according to the model of the controlled vehicle, the interface of the power system to transmit data, etc.
  • the series of corresponding adaptability adjustments only need to perform standard data conversion and command conversion on the remote control platform through the setting interface, which simplifies the process of different vehicles adapting to the simulated driver, and weakens the relationship between the controlled vehicle and the simulated driver. The correlation between them can improve the universality of the interface, reduce the redundancy between the remote control platform and the controlled vehicle, and can be applied to different models.
  • Fig. 11 is a schematic structural diagram of a remote driving system according to an embodiment of the present application.
  • this embodiment provides a remote driving system 120 , which includes: a controlled vehicle 121 , a simulated driver 122 and the above-mentioned remote control platform 100 .
  • the structure and functions of the remote control platform 100 can refer to the description in FIG. 10 .
  • each block in a flowchart or block diagram may represent a module, program segment, or portion of code that contains one or more executable instruction.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented by a dedicated hardware-based system that performs the specified functions or operations , or may be implemented by a combination of dedicated hardware and computer instructions.
  • the method according to the present application can also be implemented as a computer program or computer program product, which includes computer program code instructions for executing some or all of the steps in the above-mentioned method of the present application.
  • the present application may also be implemented as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium), on which executable code (or computer program, or computer instruction code) is stored. ), when the executable code (or computer program, or computer instruction code) is executed by the processor of the electronic device (or electronic device, server, etc.), causing the processor to perform part or all of the steps of the above-mentioned method according to the present application .

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Abstract

一种模拟驾驶器(122)接口处理方法，包括：获取被控车辆(121)上传的车况数据，通过设定接口将车况数据转换为标准数据后再转换为第一操控指令，将第一操控指令传输给模拟驾驶舱中的模拟驾驶器(122) (S101)；获取模拟驾驶器(122)发送的操作数据，通过设定接口将操作数据转换为标准数据后再转换为第二操控指令，将第二操控指令下发给被控车辆(121) (S102)。有益效果：能够提高接口通用性，降低远程控制平台(100)和被控车辆(121)之间的冗余性，可以应用于不同车型。

Description

模拟驾驶器接口处理方法、远程控制平台、系统及存储介质
本申请要求于2021年07月22日提交国家知识产权局、申请号为2021108322484、申请名称为“模拟驾驶器接口处理方法、远程控制平台及系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及电动汽车技术领域，具体涉及一种模拟驾驶器接口处理方法、远程控制平台、系统及存储介质。
背景技术
目前，随着汽车智能化的不断发展，自动驾驶技术也逐渐被广泛应用，并且出现了新一代基于云的人机共驾技术。
其中，5G远程驾驶是将智能车辆与远程控制平台、模拟驾驶器利用5G网络连接，由驾驶员在模拟驾驶舱通过模拟驾驶器进行人车交互，控制智能车辆实现远程驾驶。远程控制平台实时获取智能车辆的车辆运行环境信息和车辆行驶状态信息等，驾驶员在模拟驾驶舱根据获取的信息远程对智能车辆进行操作控制，远程控制平台实时获取驾驶员的操控指令，并下发至智能车辆的控制器实现远程驾驶。
相关技术中，为了将被控车辆的数据反馈给模拟驾驶器或者将模拟驾驶器的控制命令及时下发给被控车辆，远程控制平台需要根据被控车辆的型号、动力系统传输数据的接口等进行一系列相应的适配性调整，从而增加了远程控制平台和被控车辆之间的冗余性，在应用于不同车型时缺乏通用性。
发明内容
为解决或部分解决相关技术中存在的问题，本申请提供一种模拟驾驶器接口处理方法、远程控制平台、系统及存储介质，能够提高接口通用性，降低远程控制平台和被控车辆之间的冗余性，可以应用于不同车型。
本申请第一方面提供一种模拟驾驶器接口处理方法，包括：
获取被控车辆上传的车况数据，通过设定接口将所述车况数据转换为标准数据后再转换为第一操控指令，将所述第一操控指令传输给模拟驾驶舱中的模拟驾驶器；
获取模拟驾驶器发送的操作数据，通过所述设定接口将所述操作数据转换为标准数据后再转换为第二操控指令，将所述第二操控指令下发给所述被控车辆。
在一种实施方式中，所述通过设定接口将所述车况数据转换为标准数据后再转换为第一操控指令，包括：通过第一接口将所述车况数据转换为第一标准数据，通过第二接口将所述第一标准数据转换为第一操控指令；和/或，
所述通过所述设定接口将所述操作数据转换为标准数据后再转换为第二操控指令，包括：通过所述第二接口将所述操作数据转换为第二标准数据，通过所述第一接口将所述第二标准数据转换为第二操控指令。
在一种实施方式中，所述第一接口为预设数据适配器接口，所述第二接口为预设通用接口。
在一种实施方式中，所述通过第一接口将所述车况数据转换为第一标准数据，包括：通过第一接口，将所述车况数据按照标准数据封装格式转换为第一标准数据；和/或，
所述通过第二接口将所述操作数据转换为第二标准数据，包括：通过第二接口，将所述操作数据按照标准数据封装格式转换为第二标准数据。
在一种实施方式中，所述标准数据封装格式包括预先协商的消息帧ID、消息帧的校验和、消息帧的数据字段。
在一种实施方式中，所述获取被控车辆上传的车况数据，包括：
监听被控车辆上传的车辆数据，在根据消息帧ID判断出所述车辆数据为车况数据后，获取所述车况数据。
在一种实施方式中，所述监听被控车辆上传的车辆数据，在根据消息帧ID判断出所述车辆数据为车况数据后，获取所述车况数据，包括：
监听被控车辆上传的车辆数据，在根据消息帧ID判断出所述车辆数据为车况数据，且对消息帧的校验和进行验证通过后，获取所述车况数据。
在一种实施方式中，所述车况数据或所述操作数据包括以下其中一种 数据或其组合：
方向盘转向角度、油门踏板状态、刹车踏板状态、转向灯状态、车灯开关状态、档位状态。
在一种实施方式中，所述获取被控车辆上传的车况数据，包括：按预设周期方式获取被控车辆上传的车况数据；和/或，
所述获取模拟驾驶器发送的操作数据，包括：通过软件开发工具包SDK并按预设周期方式获取模拟驾驶器发送的操作数据。
在一种实施方式中，所述获取模拟驾驶器发送的操作数据，包括：通过方向盘插件获取所述模拟驾驶器发送的操作数据；
所述通过所述第二接口将所述操作数据转换为第二标准数据，包括：
在所述方向盘插件与所述预设通用接口进行适配，且将获取的所述操作数据传输给所述预设通用接口后，通过所述预设通用接口将所述操作数据转换为第二标准数据。
本申请第二方面提供一种远程控制平台，包括：
第一处理模块，用于获取被控车辆上传的车况数据，通过设定接口将所述车况数据转换为标准数据后再转换为第一操控指令，将所述第一操控指令传输给模拟驾驶舱中的模拟驾驶器；
第二处理模块，用于获取模拟驾驶器发送的操作数据，通过所述设定接口将所述操作数据转换为标准数据后再转换为第二操控指令，将所述第二操控指令下发给所述被控车辆。
在一种实施方式中，所述第一处理模块，通过第一接口将所述车况数据转换为第一标准数据，通过第二接口将所述第一标准数据转换为第一操控指令；和/或，
所述第二处理模块，通过所述第二接口将所述操作数据转换为第二标准数据，通过所述第一接口将所述第二标准数据转换为第二操控指令。
在一种实施方式中，所述第一处理模块，通过预设数据适配器接口将所述车况数据转换为第一标准数据，通过预设通用接口将所述第一标准数据转换为第一操控指令；和/或，
所述第二处理模块，通过所述预设通用接口将所述操作数据转换为第二标准数据，通过所述预设数据适配器接口将所述第二标准数据转换为第 二操控指令。
在一种实施方式中，所述第二处理模块，通过方向盘插件获取所述模拟驾驶器发送的操作数据，在所述方向盘插件与所述预设通用接口进行适配，且将获取的所述操作数据传输给所述预设通用接口后，通过所述预设通用接口将所述操作数据转换为第二标准数据。
本申请第三方面提供一种远程驾驶系统，包括被控车辆、模拟驾驶器和上述的远程控制平台。
本申请第四方面提供一种非暂时性机器可读存储介质，其上存储有可执行代码，当所述可执行代码被电子设备的处理器执行时，使所述处理器执行上述的方法。
本申请提供的技术方案可以包括以下有益效果：
本申请提供的方案，是通过设定接口将所述车况数据转换为标准数据后再转换为第一操控指令，将所述第一操控指令传输给模拟驾驶舱中的模拟驾驶器，并通过所述设定接口将所述操作数据转换为标准数据后再转换为第二操控指令，将所述第二操控指令下发给所述被控车辆；这样不再需要根据被控制车辆的型号、动力系统传输数据的接口等做一系列相应的适配性调整，只需在远程控制平台通过设定接口进行标准数据的转换和指令的转换，简化了不同的车辆适应模拟驾驶器的过程，弱化了被控车辆和模拟驾驶器之间的关联性，从而能够提高接口通用性，降低远程控制平台和被控车辆之间的冗余性，可以应用于不同车型。
进一步的，本申请提供的方案可以是通过第一接口将所述车况数据转换为第一标准数据，通过第二接口将所述第一标准数据转换为第一操控指令；和/或，通过所述第二接口将所述操作数据转换为第二标准数据，通过所述第一接口将所述第二标准数据转换为第二操控指令；其中所述第一接口可以为预设数据适配器接口，所述第二接口可以为预设通用接口；从而实现通过设定接口进行标准数据的转换和指令的转换，提高接口通用性。
进一步的，本申请提供的方案可以通过方向盘插件获取所述模拟驾驶器发送的操作数据；在所述方向盘插件与所述预设通用接口进行适配，且将获取的所述操作数据传输给所述预设通用接口后，通过所述预设通用接口将所述操作数据转换为第二标准数据。这样，使得可以适用于所有的模 拟驾驶器的方向盘和任意的被控车辆车型。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
通过结合附图对本申请示例性实施方式进行更详细的描述，本申请的上述以及其它目的、特征和优势将变得更加明显，其中，在本申请示例性实施方式中，相同的参考标号通常代表相同部件。
图1是本申请一实施例示出的模拟驾驶器接口处理方法的流程示意图；
图2是本申请一实施例示出的将模拟驾驶器的操作数据传输给被控车辆的流程图；
图3是本申请一实施例示出的将被控车辆的车况数据传输给模拟驾驶器的流程图；
图4是本申请一实施例示出的包含通用接口GI和数据适配器接口DA的系统结构图；
图5是本申请一实施例示出的标准数据的类图；
图6是本申请一实施例示出的通用接口GI的类图；
图7是本申请一实施例示出的数据适配器接口DA的类图；
图8是本申请一实施例示出的模拟驾驶器的方向盘示意图；
图9是本申请另一实施例示出的包含通用接口GI和数据适配器接口DA的系统结构图；
图10是本申请一实施例示出的一种远程控制平台的结构示意图；
图11是本申请一实施例示出的一种远程驾驶系统的结构示意图。
具体实施方式
下面将参照附图更详细地描述本申请的实施方式。虽然附图中显示了本申请的实施方式，然而应该理解，可以以各种形式实现本申请而不应被这里阐述的实施方式所限制。相反，提供这些实施方式是为了使本申请更加透彻和完整，并且能够将本申请的范围完整地传达给本领域的技术人员。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限 制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。应当理解，尽管在本申请可能采用术语“第一”、“第二”、“第三”等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本申请范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
相关技术中，远程控制平台需要根据被控车辆的型号、动力系统传输数据的接口等进行一系列相应的适配性调整，在应用于不同车型时缺乏通用性。针对上述问题，本申请实施例提供提供一种模拟驾驶器接口处理方法，能够提高接口通用性，降低远程控制平台和被控车辆之间的冗余性，可以应用于不同车型。
以下结合附图详细描述本申请实施例的技术方案。
图1是本申请一实施例示出的模拟驾驶器接口处理方法的流程示意图。
参见图1，该方法包括：
S101，获取被控车辆上传的车况数据，通过设定接口将车况数据转换为标准数据后再转换为第一操控指令，将第一操控指令传输给模拟驾驶舱中的模拟驾驶器。
其中，可以通过第一接口将车况数据转换为第一标准数据，通过第二接口将第一标准数据转换为第一操控指令。第一接口可以为预设数据适配器接口，第二接口可以为预设通用接口。
其中，可以通过第一接口，将车况数据按照标准数据封装格式转换为第一标准数据。标准数据封装格式可以包括预先协商的消息帧ID、消息帧的校验和、消息帧的数据字段。
其中，车况数据可以包括以下其中一种数据或其组合：方向盘转向角度、油门踏板状态、刹车踏板状态、转向灯状态、车灯开关状态、档位状态。
S102，获取模拟驾驶器发送的操作数据，通过设定接口将操作数据转换为标准数据后再转换为第二操控指令，将第二操控指令下发给被控车辆。
其中，可以通过第二接口将操作数据转换为第二标准数据，通过第一接口将第二标准数据转换为第二操控指令。
其中，可以通过第二接口，将操作数据按照标准数据封装格式转换为第二标准数据。标准数据封装格式可以包括预先协商的消息帧ID、消息帧的校验和、消息帧的数据字段。
其中，操作数据可以包括以下其中一种数据或其组合：方向盘转向角度、油门踏板状态、刹车踏板状态、转向灯状态、车灯开关状态、档位状态。
本申请实施例提供的方案，是通过设定接口将车况数据转换为标准数据后再转换为第一操控指令，将第一操控指令传输给模拟驾驶舱中的模拟驾驶器，并通过设定接口将操作数据转换为标准数据后再转换为第二操控指令，将第二操控指令下发给被控车辆；这样不再需要根据被控制车辆的型号、动力系统传输数据的接口等做一系列相应的适配性调整，只需在远程控制平台通过设定接口进行标准数据的转换和指令的转换，简化了不同的车辆适应模拟驾驶器的过程，弱化了被控车辆和模拟驾驶器之间的关联性，从而能够提高接口通用性，降低远程控制平台和被控车辆之间的冗余性，可以应用于不同车型。
以下进一步结合图2和图3更详细介绍本申请的技术方案。本申请实施例中，主要是通过模拟驾驶器的方向盘的SDK(Software Development Kit，软件开发工具包)轮询读取方向盘上的操作数据，包括转向角度、车灯状态、油门踏板、档位信息等，通过本申请提供的通用接口GI，将方向盘的操作数据转换为标准数据格式，其中可以根据被控车辆可接收的车况数据格式进行封装，其中包括信息帧ID、信息帧的校验和等；然后，将标准数据再转换为被控车辆对应的车控指令，被控车辆根据消息帧ID和消息帧的校验和来决定是否执行该车控指令。同时，远程控制平台通过消息监听事件监听消息帧ID事件的发生，通过数据适配器接口DA，将被控车辆上传的车况数据转换为标准数据结构的标准数据，再进一步通过通用接口GI，将标准数据转换为模拟驾驶器的方向盘的操控指令，传输给模拟驾 驶器，以控制调整驾驶舱的模拟驾驶器的方向盘。本申请通过在远程控制平台中增加通用接口GI和数据适配器接口DA，降低了模拟驾驶器的方向盘和被控车辆之间的关联性和耦合性，优化了远程控制的代码逻辑，大大提高了5G远程驾驶的便利性，使得5G远程驾驶技术可以适用于任意车型。
图2是本申请一实施例示出的将模拟驾驶器的操作数据传输给被控车辆的流程图。驾驶舱中的模拟驾驶器与被控车辆建立无线连接，例如可以基于5G网络建立无线连接。
5G远程驾驶是通过5G网络实现远程车辆控制的自动驾驶技术。例如，通过操作模拟驾驶器将各类控制信息通过5G网络传输至被控车辆实现远程控制。在5G时代，5G网络的极低时延、超高可靠性及大带宽的特性，使得远程驾驶成为驾驶技术中的一种成熟技术解决方案。5G远程驾驶，使得一人可以远程控制多辆被控车辆，或在被控车辆车出现异常时远程进行人工干预。相关技术中，远程的模拟驾驶器需要根据被控车辆的车况指令来对从模拟驾驶器的SDK读取出的操控信息进行数据转换，不同的车型可能存在不同的车况指令格式，远程控制平台需要对不同车型的车况指令格式进行不同的数据转换。远程控制平台和被控车辆之间存在强冗余性，使得该方法缺乏对所有车型的通用性。
利用本申请提供的方法，则弱化了被控制车辆和远程控制平台之间的关联性，从而能够提高接口通用性，降低远程控制平台和被控车辆之间的冗余性，可以应用于不同车型。本申请的方案可以应用于远程驾系统中，该远程驾驶系统可以参见图4所示，图4是本申请一实施例示出的包含通用接口GI和数据适配器接口DA的系统结构图。图4中包括被控车辆、模拟驾驶器的方向盘、远程控制平台。远程控制平台的虚线框里包含了通用接口GI和数据适配器接口DA，这两个接口都在远程驾驶平台中实现。
本申请实施例方案中，在驾驶舱的模拟驾驶器中，通过模拟驾驶器的方向盘自带的SDK轮询获取方向盘上的数据，例如以下其中一种数据或其组合：方向盘转向角度、油门踏板状态、刹车踏板状态、转向灯状态、车灯开关状态、档位状态等，再通过本申请实施例提供的预设通用接口也即通用接口GI，将方向盘数据转换为标准数据格式。远程控制平台根据被 控车辆的车况指令格式，将数据进一步封装成标准帧格式的车控指令，其中包括消息帧ID、消息帧的校验和等。远程控制平台向被控制车辆下发车控指令，被控车辆根据消息帧的ID和消息帧的校验和来决定是否接收并执行。
参见图2，该流程包括：
S201、获取模拟驾驶器的方向盘数据。
当远程控制平台开始接管被控车辆时，启动驾驶舱中模拟驾驶器的方向盘并初始化，远程控制平台通过方向盘提供的SDK，可以按预设周期方式例如每10ms轮询获取方向盘的实时数据。模拟驾驶器的方向盘数据，也即模拟驾驶器的操作数据。方向盘数据(操作数据)可以包括以下其中一种数据或其组合：方向盘转向角度、油门踏板状态、刹车踏板状态、转向灯状态、车灯开关状态、档位状态等。
同时参见图8，是本申请一实施例示出的模拟驾驶器的方向盘示意图。驾驶舱中模拟驾驶器的方向盘，可以使用设定方向盘，例如使用赛车的方向盘但不局限于此。考虑到赛车的方向盘和被控车辆上的方向盘结构不同，可以对该方向盘和车辆控制信息之间进行映射，对应到被控车辆上的具体控件功能。其中的映射关系例如参考以下所描述：
【方向盘】31，用于对应被控车辆上的方向盘，在本申请实施例中对模拟驾驶器的方向盘上的转向角度与被控车辆的转向角度进行相应的数据映射，使得模拟驾驶器的方向盘的转向角真实对应到被控车辆上；
【▲□○×】32，用于分别对应被控车辆的D|N|P|R档位，例如【▲】对应被控车辆的D档，【□】对应被控车辆的N档，【○】对应被控车辆的P档，【×】对应被控车辆的R档；
【回车】33，用于按下时，车辆鸣笛；
【拨片】34&35，用于分别对应被控车辆的左、右转向灯。例如34对应被控车辆的左转向灯，35对应被控车辆的右转向灯；
【L3】36，用于对应被控车辆的双闪，当被控车辆发生紧急情况时，模拟驾驶器的方向盘可以打开双闪，提醒周围的车辆。
【油门踏板】和【刹车踏板】在图8中未标出，油门踏板、刹车踏板数据可以转换成百分比的形式，以真实还原在实车中油门和刹车踏板的受 力。
S202、通过通用接口GI，将方向盘数据转换为标准数据结构的标准数据。
本申请实施例中，对于获取到的方向盘数据以及被控车辆上传的车况信息，需要分别经过通用接口GI和数据适配器接口DA，将数据转换为Standard Data(标准数据)定义的标准数据格式。
该S202中，通过通用接口GI，将方向盘输出的方向盘转向角度、油门踏板状态、刹车踏板状态、转向灯状态、车灯开关状态、档位状态等数据，映射为通用接口GI定义的标准结构体。
同时参见图5，是本申请一实施例示出的标准数据的类图。其中，将标准数据定义为一个Standard Data结构体，包含了车控指令相关的变量，例如fESP_VehSpd(车速)，fEPS_SteeringAngle(转向角度)，fIBT_BrakeTravel(刹车踏板状态)，cVCU_GearLev(档位状态)，cVCU_AccPedalSig(油门踏板状态)和cVCU_DriveMode(驾驶模式)，cLTurnLampSwSt(左转向灯状态)，cRTurnLampSwSt(右转向灯状态)，cHighBeamSwSt(危险警告灯开关状态)以及cHazardLampSwSt(远光灯开关状态)等。
同时参见图6，是本申请一实施例示出的通用接口GI的类图。通过通用接口GI的接口转换，为远程控制平台操纵新加入的被控车辆节省了大量时间的环境配置和接口适配。
本申请实施例定义了通用接口GI的Public数据变量，其中包括tHeader(消息帧头)，uiChecksum(消息帧的校验和)以及sd(标准数据的结构体)。通用接口GI提供了几个函数接口可供远程控制平台调用获取方向盘的状态数据。例如使用函数logicInit()初始化方向盘，包括方向盘的回弹力、转向角度范围等；通过Logiupdate()函数获取实时的方向盘数据；通过getDriveMode()获取方向盘当前的驾驶模式，远程驾驶平台可根据不同的驾驶模式，调用不同的逻辑控制；通过getGearLev()函数获取当前方向盘的档位信息；通过setAngle()函数可以控制方向盘的转向角度，让方向盘实时与被控车辆的状态保持同步；通过setEffects()函数设置方向盘的回弹力，可以调整回弹效果的大小，使其接近真实 车辆的方向盘回弹力。
S203、通过数据适配器接口DA，将通用接口GI输出的标准数据转换为被控车辆对应的车控指令。
远程驾驶平台接收通用接口GI输出的标准数据，并通过数据适配器接口DA，将标准数据转换为被控车辆对应的操控指令例如车控指令。其中标准数据中包括双方协商好的消息帧ID、消息帧的校验和以及消息帧的数据字段等。
S204、将转换后得到的车控指令下发给被控车辆，以使被控车辆接收远程控制平台的车控指令并执行相关操作。
远程控制平台将车控指令封装好数据帧后，向被控车辆下发车控指令，以使被控车辆接收远程控制平台的车控指令并执行相关操作。
本申请实施例提供的方案，对于模拟驾驶器的操作数据，通过通用接口GI将获取到的模拟驾驶器的操作数据转换为通用的标准数据格式的标准数据，通过数据适配器接口DA将标准数据再转换为被控车辆对应的车控指令。这样，就降低了模拟驾驶器的方向盘和被控车辆之间的关联性和耦合性，优化了远程控制的代码逻辑，从而使得本申请实施例提供的方案能适用于所有车型。
图3是本申请一实施例示出的将被控车辆的车况数据传输给模拟驾驶器的流程图。驾驶舱中的模拟驾驶器与被控车辆可以基于5G网络建立无线连接。
为了保持远程的驾驶舱与被控车辆之间车况数据的同步，被控车辆可以按预设周期方式例如每10ms向远程控制平台实时上传自身的车况数据。远程控制平台根据消息帧ID判断出被控车辆上传的车辆数据为车况数据，且对消息帧的校验和进行验证通过后，获取车况数据，并触发信号处理函数。其中，车况数据的信号处理函数通过数据适配器接口DA，将接收到的被控车辆的车况数据转换为标准数据。接着，再通过通用接口GI，将标准数据转换为操控指令例如方向盘指令，并对方向盘进行操纵，调整方向盘状态。使用本申请实施例提供的方案，在远程控制平台注册的被控车辆都可以使用通用接口GI和数据适配器接口DA，使得远程控制平台不需要对每种车型进行特定的接口设计，降低了远程控制平台和被控车辆之间的 耦合性，更有利于5G远程驾驶的推广和使用。
参见图3，该流程包括：
S301、获取被控车辆上传的车况数据。
该S301中，远程控制平台获取被控车辆可以按预设周期方式例如每10ms上传的车况数据。被控车辆可以定时实时上传自身的车况数据。
在人机共驾应用场景中，被控车辆需要实时向远程控制平台上传车辆数据，包括车辆运行环境的信息和车辆行驶状态信息等，以便远程驾驶员可以根据被控车辆的当前环境下发准确的车控指令。但当驾驶员为被控车辆开启辅助驾驶技术时，远程驾驶舱处于观察模式，当遇到紧急情况，例如辅助驾驶算法无法解决时，例如复杂的路况，此时远程驾驶员可以接管被控车辆，被控车辆可向远程控制平台上传当前的车况数据。车况数据可以包括当前的方向盘转向角度、油门踏板状态、刹车踏板状态、转向灯状态、车灯开关状态、档位状态等。远远程控制平台获取被控车辆上传的车况数据后，可以再将车况数据反馈给模拟驾驶器，使得模拟驾驶器的控制信息，例如向盘转向角度、油门踏板状态、刹车踏板状态等，与被控车辆的车况保持一致。
另外，在接管控制模式下，当模拟驾驶器的方向盘下发的转向指令为向左打一圈时，如果被控车辆被当前的路况所限制，比如车轮左侧有障碍物，无法向左打一圈，只能向左转半圈，此时被控车辆和模拟驾驶器的方向盘状态不同步；当网络状态不佳，例如信号不好、网络中断或者指令下发存在延迟时，也会导致被控车辆和模拟驾驶器的方向盘状态不一致的情况。为了保证被控车辆的车况信息和远程的驾驶舱中模拟驾驶器的方向盘的状态实时保持同步，被控车辆一般可以按预设周期方式例如每10ms向远程控制平台发送自身的车况数据，以使得远程控制平台可以再将接收到的车况数据，通过数据适配器接口DA转换为标准数据结构的标准数据，再通过通用接口GI，将标准数据转换为模拟驾驶器的方向盘的操控指令。
S302、通过消息监听事件，监听被控车辆上传的车辆数据。
远程控制平台注册消息监听事件，通过消息监听事件不断监听被控车辆端上传的各种车辆数据。
S303、判断被控车辆上传的车辆数据是否为车况数据，如果是车况数 据，进入S304，如果不是车况数据，返回S302。
远程控制平台对到达的被控车辆上传的车辆数据，先根据消息帧ID判断出车辆数据为车况数据后，再对消息帧的校验和进行验证，验证通过后则继续执行S304，否则返回S302继续监听。
其中，车况数据一般可以通过设定消息帧ID进行标识，车况数据的消息帧的校验和也可以通过设定值进行标识。
S304、通过数据适配器接口DA，将车况数据转换为标准数据结构的标准数据。
如果接收到的车辆数据是车况数据，则远程控制平台通过数据适配器接口DA，对接收到的数据帧进行拆包，读取其中的车况数据，并将车况数据转换为标准数据结构的标准数据。
也就是说，通过上述S302到S304，远程控制平台通过消息监听事件监听消息帧ID事件的发生，根据消息帧ID来识别接收的车辆数据的数据包是否为车况数据，当确定为车况数据时，远程控制平台就触发对应的车况数据处理函数，通过车况数据处理函数调用数据适配器接口DA，通过数据适配器接口DA，将车况数据转换为标准数据结构的标准数据。
同时参见图7，是本申请一实施例示出的数据适配器接口DA的类图。数据适配器接口DA提供了mapStandard()函数，该函数将接收的车况数据转换为标准数据格式Standard Data。
S305、通过通用接口GI，将标准数据转换为模拟驾驶器的方向盘的操控指令。
远程控制平台通过通用接口GI，将标准数据转换为模拟驾驶器的方向盘的操控指令。
S306、将转换的方向盘的操控指令传输给方向盘，使得模拟驾驶器的方向盘的状态和被控制车辆的状态保持同步。
通过将转换得到的操控指令下发给方向盘，可以使得方向盘控制调整方向盘状态，以使方向盘与被控车辆的状态实时保持同步。
还需说明的是，上述方案主要是应用图4示出的包含通用接口GI和数据适配器接口DA的系统结构但不局限于此。本申请实施例在该系统结构上还可以进一步改进。
参见图9，是本申请另一实施例示出的包含通用接口GI和数据适配器接口DA的系统结构图。本申请实施例的方案，可以适用于所有的模拟驾驶器的方向盘和任意的被控车辆车型。在该实施例中，可以使用任意类型的模拟驾驶器的方向盘，可以通过方向盘插件，启动模拟驾驶器的方向盘并通过SDK获取数据，之后根据模拟驾驶器的方向盘的型号与通用接口GI进行适配，在通用接口GI中将模拟驾驶器的方向盘的操作数据转换为通用标准数据结构的标准数据。远程控制平台将标准数据封装成数据帧，其中包括信息帧ID、信息帧的校验和以及信息帧的数据段部分。标准数据传输经过数据适配器接口DA，数据适配器接口DA根据当前连接的被控车辆的型号，将标准数据转换为被控车辆支持的车控数据格式的车控指令，被控车辆接收车控指令并执行相关的指令操作。
综上，本申请实施例提供的方案，设计了通用的模拟驾驶器接口，分别为驾驶舱的模拟驾驶器与被控车辆之间数据转换的通用接口GI和数据适配器接口DA。对于模拟驾驶器的操作数据，由通用接口GI负责将获取到的模拟驾驶器的操作数据转换为通用的标准数据格式的标准数据，由数据适配器接口DA负责将标准数据再转换为被控车辆对应的车控指令；对于被控车辆的车况数据，由数据适配器接口DA负责将获取到的被控车辆的车况数据转换为通用的标准数据格式的标准数据，由通用接口GI负责将标准数据再转换为模拟驾驶器的方向盘的操控指令。这样，就使得在远程控制平台中添加新注册的被控车辆时不必重写数据转换的逻辑代码，降低了远程控制平台与被控车辆之间的冗余性，从而使得本申请实施例提供的方案能适用于所有车型。
另外，本申请实施例提供的方案，也降低了模拟驾驶器与被控车辆之间的耦合度。对于不同的车型，每种车辆可以用自己定义的车况数据结构向远程控制平台上传数据，而数据适配器接口DA可以将被控车辆的车况数据转换为标准数据，使得模拟驾驶器可以适用于不同种类的车辆，从而可以简化不同的车辆适应驾驶模拟驾驶器的过程，弱化被控车辆与模拟驾驶器之间的关联性。通用接口GI和数据适配器接口DA作为第三方数据转换，使得驾驶舱的模拟驾驶器与被控车辆内部的数据逻辑处理更加简洁，提高了代码效率，有利于系统的迭代更新。
上述详细介绍了本申请实施例示出的模拟驾驶器接口处理方法，相应的，本申请实施例还提供相应的远程控制平台、远程驾驶系统及相关设备。
图10是本申请一实施例示出的一种远程控制平台的结构示意图。该远程控制平台可以用于执行前述实施例描述的方法。
参见图10，一种远程控制平台100，包括：第一处理模块110、第二处理模块111。
第一处理模块110，用于获取被控车辆上传的车况数据，通过设定接口将车况数据转换为标准数据后再转换为第一操控指令，将第一操控指令传输给模拟驾驶舱中的模拟驾驶器。
第二处理模块111，用于获取模拟驾驶器发送的操作数据，通过设定接口将操作数据转换为标准数据后再转换为第二操控指令，将第二操控指令下发给被控车辆。
第一处理模块110，通过第一接口将车况数据转换为第一标准数据，通过第二接口将第一标准数据转换为第一操控指令。其中，可以通过第一接口，将车况数据按照标准数据封装格式转换为第一标准数据。标准数据封装格式包括预先协商的消息帧ID、消息帧的校验和、消息帧的数据字段。其中，车况数据可以包括以下其中一种数据或其组合：方向盘转向角度、油门踏板状态、刹车踏板状态、转向灯状态、车灯开关状态、档位状态。
第二处理模块111，通过第二接口将操作数据转换为第二标准数据，通过第一接口将第二标准数据转换为第二操控指令。其中，可以通过第二接口，将操作数据按照标准数据封装格式转换为第二标准数据。标准数据封装格式包括预先协商的消息帧ID、消息帧的校验和、消息帧的数据字段。其中，操作数据包括以下其中一种数据或其组合：方向盘转向角度、油门踏板状态、刹车踏板状态、转向灯状态、车灯开关状态、档位状态。
第一接口为预设数据适配器接口，第二接口为预设通用接口。第一处理模块110，通过预设数据适配器接口将车况数据转换为第一标准数据，通过预设通用接口将第一标准数据转换为第一操控指令。第二处理模块111，通过预设通用接口将操作数据转换为第二标准数据，通过预设数据适配器接口将第二标准数据转换为第二操控指令。
第二处理模块111，还可以通过方向盘插件获取模拟驾驶器发送的操 作数据，在方向盘插件与预设通用接口进行适配，且将获取的操作数据传输给预设通用接口后，通过预设通用接口将操作数据转换为第二标准数据。
本申请实施例提供的远程控制平台，是通过设定接口将车况数据转换为标准数据后再转换为第一操控指令，将第一操控指令传输给模拟驾驶舱中的模拟驾驶器，并通过设定接口将操作数据转换为标准数据后再转换为第二操控指令，将第二操控指令下发给被控车辆；这样不再需要根据被控制车辆的型号、动力系统传输数据的接口等做一系列相应的适配性调整，只需在远程控制平台通过设定接口进行标准数据的转换和指令的转换，简化了不同的车辆适应模拟驾驶器的过程，弱化了被控制车辆和模拟驾驶器之间的关联性，从而能够提高接口通用性，降低远程控制平台和被控车辆之间的冗余性，可以应用于不同车型。
图11是本申请一实施例示出的一种远程驾驶系统的结构示意图。
参见图11，本实施例提供一种远程驾驶系统120，该远程驾驶系统120包括：包括被控车辆121、模拟驾驶器122和上述的远程控制平台100。远程控制平台100的结构和功能可以参见图10中的描述。
关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不再做详细阐述说明。
本领域技术人员还将明白的是，结合这里的申请所描述的各种示例性逻辑块、模块、电路和算法步骤可以被实现为电子硬件、计算机软件或两者的组合。
附图中的流程图和框图显示了根据本申请的多个实施例的系统和方法的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标记的功能也可以以不同于附图中所标记的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
此外，根据本申请的方法还可以实现为一种计算机程序或计算机程序产品，该计算机程序或计算机程序产品包括用于执行本申请的上述方法中部分或全部步骤的计算机程序代码指令。
或者，本申请还可以实施为一种非暂时性机器可读存储介质(或计算机可读存储介质、或机器可读存储介质)，其上存储有可执行代码(或计算机程序、或计算机指令代码)，当可执行代码(或计算机程序、或计算机指令代码)被电子设备(或电子设备、服务器等)的处理器执行时，使处理器执行根据本申请的上述方法的各个步骤的部分或全部。
以上已经描述了本申请的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的改进，或者使本技术领域的其他普通技术人员能理解本文披露的各实施例。

Claims (16)

  1. 一种模拟驾驶器接口处理方法，其特征在于，包括：
    获取被控车辆上传的车况数据，通过设定接口将所述车况数据转换为标准数据后再转换为第一操控指令，将所述第一操控指令传输给模拟驾驶舱中的模拟驾驶器；
    获取模拟驾驶器发送的操作数据，通过所述设定接口将所述操作数据转换为标准数据后再转换为第二操控指令，将所述第二操控指令下发给所述被控车辆。
  2. 根据权利要求1所述的方法，其特征在于：
    所述通过设定接口将所述车况数据转换为标准数据后再转换为第一操控指令，包括：通过第一接口将所述车况数据转换为第一标准数据，通过第二接口将所述第一标准数据转换为第一操控指令；和/或，
    所述通过所述设定接口将所述操作数据转换为标准数据后再转换为第二操控指令，包括：通过所述第二接口将所述操作数据转换为第二标准数据，通过所述第一接口将所述第二标准数据转换为第二操控指令。
  3. 根据权利要求2所述的方法，其特征在于：
    所述第一接口为预设数据适配器接口，所述第二接口为预设通用接口。
  4. 根据权利要求2所述的方法，其特征在于：
    所述通过第一接口将所述车况数据转换为第一标准数据，包括：通过第一接口，将所述车况数据按照标准数据封装格式转换为第一标准数据；和/或，
    所述通过第二接口将所述操作数据转换为第二标准数据，包括：通过第二接口，将所述操作数据按照标准数据封装格式转换为第二标准数据。
  5. 根据权利要求4所述的方法，其特征在于：
    所述标准数据封装格式包括预先协商的消息帧ID、消息帧的校验和、消息帧的数据字段。
  6. 根据权利要求5所述的方法，其特征在于，所述获取被控车辆上传的车况数据，包括：
    监听被控车辆上传的车辆数据，在根据消息帧ID判断出所述车辆数据为车况数据后，获取所述车况数据。
  7. 根据权利要求6所述的方法，其特征在于，所述监听被控车辆上传的车辆数据，在根据消息帧ID判断出所述车辆数据为车况数据后，获取所述车况数据，包括：
    监听被控车辆上传的车辆数据，在根据消息帧ID判断出所述车辆数据为车况数据，且对消息帧的校验和进行验证通过后，获取所述车况数据。
  8. 根据权利要求1至7任一项所述的方法，其特征在于，所述车况数据或所述操作数据包括以下其中一种数据或其组合：
    方向盘转向角度、油门踏板状态、刹车踏板状态、转向灯状态、车灯开关状态、档位状态。
  9. 根据权利要求1至7任一项所述的方法，其特征在于：
    所述获取被控车辆上传的车况数据，包括：按预设周期方式获取被控车辆上传的车况数据；和/或，
    所述获取模拟驾驶器发送的操作数据，包括：通过软件开发工具包SDK并按预设周期方式获取模拟驾驶器发送的操作数据。
  10. 根据权利要求3至7任一项所述的方法，其特征在于：
    所述获取模拟驾驶器发送的操作数据，包括：通过方向盘插件获取所述模拟驾驶器发送的操作数据；
    所述通过所述第二接口将所述操作数据转换为第二标准数据，包括：
    在所述方向盘插件与所述预设通用接口进行适配，且将获取的所述操作数据传输给所述预设通用接口后，通过所述预设通用接口将所述操作数据转换为第二标准数据。
  11. 一种远程控制平台，其特征在于，包括：
    第一处理模块，用于获取被控车辆上传的车况数据，通过设定接口将所述车况数据转换为标准数据后再转换为第一操控指令，将所述第一操控指令传输给模拟驾驶舱中的模拟驾驶器；
    第二处理模块，用于获取模拟驾驶器发送的操作数据，通过所述设定接口将所述操作数据转换为标准数据后再转换为第二操控指令，将所述第二操控指令下发给所述被控车辆。
  12. 根据权利要求11所述的远程控制平台，其特征在于：
    所述第一处理模块，通过第一接口将所述车况数据转换为第一标准数 据，通过第二接口将所述第一标准数据转换为第一操控指令；和/或，
    所述第二处理模块，通过所述第二接口将所述操作数据转换为第二标准数据，通过所述第一接口将所述第二标准数据转换为第二操控指令。
  13. 根据权利要求12所述的远程控制平台，其特征在于：
    所述第一处理模块，通过预设数据适配器接口将所述车况数据转换为第一标准数据，通过预设通用接口将所述第一标准数据转换为第一操控指令；和/或，
    所述第二处理模块，通过所述预设通用接口将所述操作数据转换为第二标准数据，通过所述预设数据适配器接口将所述第二标准数据转换为第二操控指令。
  14. 根据权利要求13所述的远程控制平台，其特征在于：
    所述第二处理模块，通过方向盘插件获取所述模拟驾驶器发送的操作数据，在所述方向盘插件与所述预设通用接口进行适配，且将获取的所述操作数据传输给所述预设通用接口后，通过所述预设通用接口将所述操作数据转换为第二标准数据。
  15. 一种远程驾驶系统，其特征在于：
    包括被控车辆、模拟驾驶器和如权利要求11至14中任一项所述的远程控制平台。
  16. 一种非暂时性机器可读存储介质，其上存储有可执行代码，当所述可执行代码被电子设备的处理器执行时，使所述处理器执行如权利要求1-10中任一项所述的方法。
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