3703results about "Time-division multiplex" patented technology

The invention relates to the field of electronic communication, and provides a multi-protocol dynamic switching method and system based on an FPGA. The method comprises the following steps: carrying out regional division on an FPGA chip through a layout planning tool to obtain a static logic region and a plurality of reconfigurable logic partitions; performing hanging processing on the current protocol module based on the protocol switching trigger signal, and writing running state data of the current protocol module into a state cache unit to obtain protocol context snapshot data; according to the target protocol type, bit stream loading is carried out on the corresponding reconfigurable logic partition through configuration of an access port, and a reconfiguration protocol module is obtained; and reading protocol context snapshot data, and performing state recovery on the reconstruction protocol module to obtain a target protocol data path. According to the invention, rapid protocol switching is realized, the utilization rate of hardware resources is improved, and the system deployment cost is reduced.

The invention relates to the technical field of data processing, and particularly provides an operation intention recognition method, system and device based on multi-mode fusion and a medium, and the method comprises the steps: synchronously collecting interaction data of at least two modes of a user, the modes comprising at least two of gestures, voice and eye gaze; carrying out alignment processing on the interaction data, wherein the alignment processing comprises time synchronization and space mapping to a unified coordinate system; recognizing structured semantic information from each piece of aligned modal data, wherein the structured semantic information comprises a gesture type, a voice text and a fixation point coordinate; and based on a preset semantic rule and context memory, performing semantic association and anaphora resolution on the structured semantic information to obtain an operation intention. The method effectively overcomes the inherent defects of unnatural single-mode interaction, easy ambiguity and poor fault tolerance.

The invention discloses a vehicle-mounted cross-protocol data time sequence cooperative processing method, which comprises the following steps: establishing a unified time reference, and providing an accurate space-time coordinate system for heterogeneous network nodes by electing a global master clock and constructing a clock relation model and a periodic correction mechanism; systematic cognition and management of communication resources are realized, and a verified protocol capability table is generated by automatically identifying protocol types and variants; constructing an automatic mapping system from demand to execution, performing formalized packaging on a target scene by introducing a unified intermediate model, generating a cross-protocol mapping rule based on the model and a protocol capability table, and then forming a global scheduling table in combination with a unified time reference; the cooperative communication of all nodes is finally realized by using the global scheduling table, and the end-to-end delay is constrained within the preset range, so that the problem that the end-to-end time sequence in the vehicle-mounted heterogeneous network is uncontrollable is solved, and the controllability and reliability of the time sequence of the vehicle-mounted network are improved.

The invention discloses a low-altitude unmanned aerial vehicle trajectory tracking and monitoring method based on a 5G-A communication sensing integrated base station, and relates to the technical field of low-altitude traffic management and communication sensing fusion, and the method comprises the steps: firstly collecting multi-source data such as a communication sensing fusion signal, environment interference and unmanned aerial vehicle attributes, and carrying out the alignment and packaging of a unified timestamp and a coordinate system into a synchronous data frame; then, deep fusion and anti-interference processing are carried out on the data frames, noise is filtered out, and pure fusion data is generated; and furthermore, real-time track calculation and motion trend prediction are carried out on pure data by utilizing multi-base-station cooperative calculation and prediction. Based on this, through a multi-target feature recognition and clustering separation mechanism, independent individual trajectories are accurately stripped from a complex mixed data stream, and compliance verification and anomaly judgment are performed on the trajectories in combination with an airspace rule base. In this way, the problems of signal interference and multi-target aliasing in a complex environment can be effectively solved, and therefore high-precision global tracking of the low-altitude unmanned aerial vehicle and real-time monitoring of abnormal behaviors are achieved.

The invention discloses a fault root cause positioning method and system for a server cluster, and relates to the technical field of network fault diagnosis. According to the method, nanosecond-level synchronous acquisition of micro-service call chains, container indexes, physical nodes and network data is realized through a precise time protocol, and a consistent data set is constructed through entity association and standardized processing; a service-resource topological graph is dynamically constructed, and an inter-service calling edge weight model is innovatively designed: a real-time load factor and a historical fault index attenuation sum processed by a Sigmoid function are fused, and the weight is periodically updated to accurately quantify the inter-node influence intensity; converting the topological graph into a Bayesian network; when a fault occurs, a three-level assembly line compression alarm is adopted, frequent item sets are mined through bitmap indexes and parallel FP-Growth, and strong causal association item sets are screened in combination with topological edge weights and KL divergence; strong causal alarm is taken as evidence, probabilistic root cause sorting is output through reverse random walk sampling, and high-precision positioning of complex distributed system faults is achieved.

The invention discloses an RFSOC-based FAST core array distributed collaborative observation and data fusion method and system, and the method comprises the steps: S1, system initialization: a master node RFSOC generates a global clock, achieves the phase synchronization of multiple board cards through an SYSREF differential signal, and completes the calibration of a three-stage clock tree; s2, signal acquisition and preprocessing: directly sampling a 3-8GHz radio frequency signal through an ADC (Analog to Digital Converter), and performing digital down-conversion to obtain a baseband signal; s3, intelligent resource scheduling: identifying a signal type based on an ESN (Echo State Neural Network), and dynamically allocating FPGA logic resources through an improved ant colony algorithm; s4, heterogeneous calculation acceleration: executing a 128-channel digital beam forming pipeline on the FPGA; s5, cross-domain data fusion; s6, collaborative observation planning; and S7, outputting data. The method is suitable for multi-beam synthesis, cross-region joint observation and mass data real-time processing scenes, and provides key technical support for solving the frontier scientific problems such as rapid radio storm origin and black hole activity monitoring.

The invention relates to the technical field of edge computing, in particular to a safety production monitoring method based on edge collaboration, which comprises the following steps: collecting multi-node clock pulses, calculating adjacent time differences to form a pulse difference parameter set, carrying out statistical distribution, setting a dynamic tolerance boundary, and constructing an effective deviation parameter set; the method comprises the following steps of: generating a weighted smooth deviation result by combining clock stability and link delay weighted normalization, sorting monitoring data according to a timestamp to identify duplication abrupt change exception, constructing a cross-node exception time sequence by associating nodes and time information, and judging a safety state transition result of equipment. A time difference parameter is constructed through multi-node reference pulse arrival time, a dynamic deviation constraint is formed by combining distribution characteristics, clock stability and link measurement weighted smoothing are introduced, cross-node time reference consistency is kept, operation data unified time sequence rearrangement is carried out, a sudden change event reliably reappears in a time window, and an abnormal identifier is associated with a node identity. And forming a cross-node event evolution link.

The invention relates to the technical field of urban public safety, in particular to an underground gas pipe network safety pre-warning system, which comprises an acquisition module, a monitoring module, a monitoring module and a control module, and is characterized in that the acquisition module is used for arranging sensing nodes at key positions of a gas pipeline body and a surrounding environment to form a distributed monitoring network; the method comprises the following steps: synchronously acquiring mechanical deformation, methane concentration and mechanical vibration data of a pipeline through a distributed monitoring network to obtain a multi-modal sensing data set; the fusion module is used for performing humidity and temperature interference correction on the methane concentration data in the multi-modal sensing data set to obtain corrected methane concentration data; and performing fusion processing on the mechanical deformation data, the mechanical vibration data and the corrected methane concentration data to obtain an initial pipeline safety state evaluation index. Through multi-source data fusion, environmental interference correction and spatial domain calibration, transmission and dynamic analysis are combined, and precise early warning and efficient linkage disposal of the safety state of the gas pipe network are achieved.

The invention discloses an HPLCamp (High Performance Liquid Chromatography) based on deep learning. The invention discloses an HRF dual-mode communication adaptive coding modulation and anti-noise method. The method comprises the following steps: acquiring an optical radio frequency signal amplitude-phase change rate and synchronously sampling and normalizing; calculating a node amplitude-phase residual error to generate a nonlinear mapping coefficient; monitoring coherent change to solve a drift trend, adjusting a modulation coding optimization scheme, compensating distortion and outputting an anti-noise result. According to the method, the instantaneous amplitude and phase of the optical radio frequency dual-mode signal are extracted, a multi-dimensional amplitude-phase characteristic matrix is formed in combination with time domain synchronization and a normalization template, differential residual modeling and nonlinear mapping coefficient calculation are carried out between impedance nodes, and dynamic compensation of amplitude-phase mismatch and envelope offset is achieved. A drift trend quantity is generated based on coherent offset parameter differentiation, feedback is provided for modulation format and coding strategy optimization, amplitude equalization and phase correction are completed, the signal synchronization degree and amplitude-phase consistency are improved, and the steady-state response and anti-disturbance performance of a transmission link are enhanced.

A method and a network device are disclosed for precision time protocol (PTP) clock synchronization. According to an embodiment, the network device determines whether the network device is in one of a first state where a reception of an announce message from a PTP clock source is interrupted due to a local change at the network device, and a second state where the PTP clock source is restored after a predetermined restoration time, or the reception of the announce message from the PTP clock source is recovered after the local change. When determining that the network device is in one of the first state and the second state, the network device uses the PTP clock source as a candidate PTP master, without waiting for the predetermined restoration time.

The invention relates to the technical field of audio playing optimization, and discloses a low-delay multi-room audio playing optimization method and system, a storage medium and equipment, and the method comprises the steps: building a global time synchronization system based on a precision clock protocol in a playing equipment cluster, and enabling all playing equipment to operate based on a unified time reference; monitoring network state parameters in real time, dynamically calculating and adjusting the audio buffer depth of each playing device based on the monitored network quality, and obtaining audio data in advance according to the playing progress and the network state; generating a global playing timestamp according to the global time synchronization system, and controlling all playing devices to perform synchronous starting and progress control of audio playing based on the global playing timestamp; a transmission strategy of audio data is dynamically optimized based on real-time network state parameters, packet loss recovery and bandwidth adaptation are achieved, sub-millisecond multi-room audio synchronous playing is achieved, and meanwhile performance parameters can be automatically optimized according to different network environments and hardware configurations.

The invention relates to a low-delay edge reasoning deployment method for power terminal equipment. The method comprises the following steps: acquiring data under a unified time reference to form an operation data sequence; inputting the operation data sequence into a pre-trained reasoning model to generate a reasoning parameter set adaptive to the local operation capability; performing reasoning calculation based on the reasoning parameter set to obtain a load identification result and an electric quantity prediction result; determining a communication scheduling strategy according to the reasoning result, wherein the communication scheduling strategy comprises communication priority information, sending time sequence information and target receiving node information; a communication instruction is generated according to the communication scheduling strategy, and data content is sent to a target receiving node according to the communication instruction within a limited time, so that rapid data synchronization and dynamic response control based on load state change are realized; according to the invention, intelligent data processing and rapid communication scheduling can be locally realized at the power terminal equipment, the system response time delay is reduced, and the processing efficiency of a load change event is improved.

The invention relates to a power distribution network single-phase earth fault positioning method and system based on transient traveling waves, and the method comprises the steps: 1, collecting a zero-sequence current signal at the moment when a single-phase earth fault occurs, carrying out the decomposition of the collected zero-sequence current signal through a variational mode decomposition algorithm, carrying out the feature extraction through a convolutional neural network, and carrying out the optimization through an alternating direction multiplier method; wherein the zero-sequence current simultaneously comprises a high-frequency traveling wave component and a transient abrupt change characteristic; 2, on the basis of the sampling signals optimized in the step 1, carrying out feature extraction from two dimensions of a transient abrupt change feature and a traveling wave propagation feature, and packaging the features into a fusion vector; 3, identifying a fault line by means of a Grubm angle and field method and the improved DenseNet; and 4, based on the fusion vector in the step 2 and the fault line information determined in the step 3, carrying out iterative operation by adopting an improved sparrow search algorithm, and outputting a finally determined fault section position result. According to the invention, the requirements of intelligent fault sensing and accurate response in a complex power distribution environment are met.

The invention relates to the technical field of electric power communication, and provides a multi-dimensional cooperative scheduling method and system for an electric power communication network and the electric power communication network, and the method comprises the steps: determining a service priority according to the service type of each electric power communication service signal, and carrying out the packaging of an optical service unit frame according to the service priority, and generating optical service unit frame data; obtaining a target scheduling constraint of the frame data of the optical service unit based on a preset regional communication scheduling rule table according to the source and destination node information and the service priority of each electric power communication service signal, and performing multi-dimensional cooperative scheduling according to a target scheduling strategy obtained by solving the preset scheduling optimization model based on the target scheduling constraint and the link resource state data. According to the method, high-timeliness and high-reliability transmission of power communication services can be ensured, the service isolation safety, the resource utilization efficiency and the scheduling flexibility can be improved, the differentiated bearing requirements of diversified services in a complex power communication network scene are effectively met, and the service quality of the services is improved.

The invention belongs to the technical field of signal synchronization, and discloses a multi-camera anti-shake time sequence synchronization control system and method based on an FPGA. The method comprises the following steps: taking an FPGA as a core, generating an FSYNC signal as a camera exposure reference, and obtaining a delay value through a timestamp and differential measurement; acquiring I MU data and obtaining a global motion vector through a gradient descent algorithm; analyzing by combining the two to obtain phase deviation and feeding back the phase deviation to the FPGA, and adjusting the FSYNC signal by combining the global motion vector by the FPGA according to the phase deviation; according to the method, nanosecond timestamp recording is realized through a homologous clock reference and hardware-level signal binding mechanism, and the limitation of dependence on static time difference compensation in the prior art is broken through in combination with global motion vector analysis and dynamic phase offset adjustment.

The invention discloses a multi-mode fusion time service method and system based on dynamic calibration of DCP equipment. The method comprises the following steps: completing initial time reference data acquisition based on a multi-mode satellite signal; meanwhile, time data of a ground time service network are collected, and motion parameters of DCP equipment are monitored in real time through an inertial navigation unit; establishing a correlation model of the motion parameter and the time service error; quantitative analysis of error sources is completed based on the correlation model; fusing the multi-source time data; dynamically adjusting the fusion weight of each data source according to the real-time motion state of the DCP equipment; redundant time slots are automatically distributed to high-error equipment; outputting the calibrated time signal to DCP equipment through an interface to complete clock synchronization; and continuously monitoring the time deviation of the DCP equipment, and dynamically updating the calibration parameters to form closed-loop optimization. And the environmental adaptability and the precision stability of the timing system are improved.

The invention relates to the technical field of data integration, in particular to a multi-source data integration system. According to the technical scheme, the system comprises a plurality of heterogeneous data acquisition devices, a data processing module, a data storage module and a data transmission module. Differentiation processing is carried out on data of different devices, accurate time synchronization and data alignment are achieved through an NTP protocol and dynamic calibration, intelligent noise processing and data cleaning are carried out through multiple algorithms, compression encryption is adopted in storage, and a double-queue priority and breakpoint resume mechanism is applied in transmission. And fault monitoring and automatic processing are realized by means of hierarchical log recording and intelligent analysis, so that the problems of data isomerism, time synchronization, noise interference, storage and transmission efficiency, system reliability and the like are efficiently solved, and efficient, stable and safe data support is provided for a real-time monitoring platform.

The invention discloses a multi-device cooperative online control system and method, belongs to the technical field of multi-device cooperative control, and aims to solve the problems of low synchronization precision and response lag during multi-device cooperative action. Triggering and responding execution equipment is accessed and identified, time reference deviation is calibrated, triggering state and auxiliary state data are received to construct a multi-dimensional state data set, triggering conditions are analyzed and judged, and a click-through triggering initial signal is generated and then compared with a sequence tail end signal timestamp so as to update a sequence and transmit the sequence to a central control platform in an incremental mode; measuring communication delay through a test signal, generating and iterating an online control instruction in real time to drive equipment to cooperatively act, identifying an optimization instruction according to the type, and dynamically updating through an updating interface; and constructing a correction data set based on the returned execution state feedback, and calculating an execution deviation to correct the online control instruction. Finally, high-precision synchronization and efficient response of cooperative actions of multiple devices are realized, and the stability and adaptability of an online control system are improved.

A low-delay multi-protocol intelligent lighting synchronization system based on a unified abstraction layer comprises the steps that an instruction from a multi-protocol bridging module is received, and network round-trip time data of terminal equipment is acquired through an active detection mechanism; based on the network round-trip time data, adopting a Kalman filtering algorithm to construct a delay prediction model so as to predict the future network delay of the terminal equipment; inputting the instruction into a third-stage buffer area for processing, and dynamically adjusting the trigger frequency of the active detection mechanism according to the load state of the third-stage annular buffer area; calculating queue delay of the buffer area according to the received load state of the buffer area, and obtaining final sending time of the instruction in combination with future network delay of the terminal equipment; and at the final sending time, sending the instruction from the sending buffer area to the corresponding terminal equipment. According to the system, low-delay and high-stability synchronization of cross-protocol equipment in the field of intelligent illumination is realized.

One or more computer-readable media (CRM) storing instructions for monitoring quality of-service (QoS) flows in a wireless cellular network are disclosed. The instructions, upon execution by one or more processors, cause the one or more processors to: obtain a signal in the wireless cellular network; determine, based on the signal, a QoS flow event for a session management function (SMF); determine performance measurements related to the QoS flow event; and modify at least one of the QoS flows in the wireless cellular network based on the performance measurements. Example QoS flow events include a request to create or modify a QoS flow, a successfully created or modified Qos flow, a QoS flow that failed to be created or modified, etc.

The invention discloses a multi-protocol high-speed image data receiving and aligning method and system based on an FPGA (Field Programmable Gate Array), and relates to the technical field of electronic information and image processing. Serial data streams from an image sensor are received, an FPGA serial input primitive is dynamically called to convert serial data into parallel data; a low-voltage differential signal protocol, a mobile industry processor interface protocol and a serial low-voltage signal protocol are supported; a configurable sliding window mechanism is adopted to compare synchronous codes in real time, and byte boundaries are locked; by identifying the time difference of arrival of data of each channel, multi-channel phase alignment is realized by adopting hardware-level delay compensation, and data arriving at the channel in advance is compensated by adopting a first-level register cache; and analyzing frame header and frame tail information of the image data, reconstructing an original image matrix and generating a video time sequence signal. The problems of poor compatibility and high resource consumption in multi-protocol high-speed image data receiving are solved.

The invention provides a time service precision evaluation method and system for a network time server, and relates to the technical field of computer networks, and the method comprises the steps: 1, collecting the operation data of the network time server in a dynamic network environment in real time, including core index data and auxiliary index data, carrying out the normalization of the core index data, and carrying out the calculation of the auxiliary index data; generating a standardized core index data set; step 2, dynamically integrating the standardized core index data set according to the fluctuation characteristics and relevance of each core index to generate a comprehensive core index characterization value; and step 3, in combination with auxiliary index data, carrying out dynamic compensation correction on the comprehensive core index representation value, and generating a comprehensive time service precision evaluation value. According to the invention, comprehensive, accurate and dynamic evaluation and abnormity diagnosis of the time service precision of the network time server are realized, and the network time service quality and the operation and maintenance efficiency are effectively improved.

The invention discloses a sensor-based agricultural information data acquisition system and method, and belongs to the technical field of agricultural information acquisition. Multi-type sensor nodes are arranged in an agricultural target area in a heterogeneous manner; the method comprises the following steps: constructing a multi-dimensional influence factor model according to crop growth stages and environmental historical fluctuation data, dividing initial sensing sub-regions, and configuring a sensor cluster; dynamically updating the sensing boundary based on the historical change rate and the spatial gradient information; fusing the heterogeneous data by adopting a multi-channel time synchronization mechanism to generate a standardized environment vector set W; calculating a sampling priority matrix according to a parameter change trend in the W, and adaptively adjusting a node state; integrating an energy consumption estimation model, and executing low-power-consumption scheduling; when any parameter exceeds the threshold, high-density sampling and remote early warning are triggered; according to the method, high-precision, low-power-consumption and dynamic-response data acquisition and intelligent early warning can be realized, and the efficiency and reliability of an agricultural sensing system are improved.

The embodiment of the invention provides a time-space synchronization method and device, electronic equipment and a medium, which are used for solving the problem of inaccuracy of a local clock in related technologies. In the embodiment of the invention, the electronic equipment combines the average deviation pseudo-range, the RTT jitter and the target frequency offset into the multi-dimensional observation vector, so that the error source of clock synchronization is fully covered. The time deviation and the frequency deviation of the clock are accurately and effectively determined through a Kalman filtering algorithm, recursive processing of observation vectors and dynamic estimation of the time deviation and the frequency deviation of the clock, and high-precision synchronization of the local clock in a complex environment is achieved in combination with the optimization capability of the Kalman filtering algorithm. And the time of the local clock is the time determined according to the time of the multiple clocks, so that the clocks are more accurate.

The invention discloses a wide-area time traceability credible authentication method in a power heterogeneous network environment, and belongs to the technical field of power system informatization and automation. Comprising the following steps: acquiring various high-precision time source information in a power heterogeneous network environment, and acquiring an initial time reference of the power system time synchronization device; generating uniform reference time, and embedding a digital watermark containing time source information and credibility thereof for each timestamp by using the digital watermark embedding module; controlling the power system time synchronization device to sequentially generate time transmission fingerprints at all levels of network nodes; constructing a unique time fingerprint chain covering the whole link; packaging the time fingerprint of each time transmission node and the traceability information thereof, and performing uplink storage; precise prediction and optimal control of time transmission errors are realized; if the overall cumulative time error exceeds a range of + / -10 [mu] s, the predictive correction is maintained until the error is controlled within + / -10 [mu] s.

The invention relates to the technical field of network communication, in particular to a logistics equipment unified access method based on multi-protocol conversion. The specific implementation process comprises: establishing a model comprising a source logistics device, a target logistics device, a protocol conversion gateway and a time-sensitive network, wherein the time-sensitive network comprises a network master clock; the protocol conversion gateway and the network master clock are periodically synchronized, an original data packet of the source logistics equipment is analyzed, and data content and a source identifier containing a time sequence relation are extracted; through an adaptive mapping rule, mapping the data content and the source identifier into a time-sensitive network traffic category containing predetermined traffic, and obtaining a gating scheduling strategy of the time-sensitive network traffic category; and the data content is converted and packaged into a time-sensitive network data frame, and the time-sensitive network data frame is sent to the target logistics equipment according to a gating scheduling strategy. According to the invention, the access accuracy and stability of the logistics equipment are realized by fusing protocol conversion and the time-sensitive network.

The invention belongs to the technical field of power system measurement, and relates to a three-phase power parameter wireless synchronous measurement and vector analysis method and system, and the method comprises the following steps: generating and broadcasting a synchronous pulse code containing triggering phase information; generating a predicted phase angle; obtaining a comprehensive phase deviation value; performing dynamic feature separation processing on the comprehensive phase deviation value to generate a slowly-varying propagation delay feature and a transient prediction error feature; injecting the prediction error characteristics into a local phase predictor for calibration; acquiring phase voltage / current data based on the compensated sampling time, and calculating a fundamental wave effective value and a phase angle relative to a local calibration time reference; and packaging the fundamental wave effective value, the phase angle and the local timestamp into a simplified data packet and transmitting the simplified data packet to an analysis terminal. According to the method, the problems that in a traditional mode, satellite time service rejects signals in a substation indoor or underground scene, and synchronization interruption is easily caused by electromagnetic interference are solved.

The invention relates to the technical field of communication quality, and particularly discloses an acquisition terminal for communication quality monitoring, which comprises an electric energy meter interface module for reading an instrument value from an electric energy meter; the time synchronization module is used for aligning the terminal clock to the coordinated world time and generating a time frame with 1s as granularity; the communication quality monitoring module is used for measuring a communication quality index and calculating a value at the 95% position within a preset statistical time period as a statistical result preset statistical time period; the data slicing and counting module is used for forming 10T0 fragments according to 10 fundamental wave periods in each time frame; the caching and out-of-order correction module is used for performing grouping, out-of-order rearrangement and missing compensation on instrument values and communication quality indexes according to the same time frame before uploading and completing framing in a waiting window; and the alarm and uploading module is used for outputting a local alarm by taking the value of the 95% position as a statistical result. According to the invention, the overall end-to-end time delay of the acquisition terminal is reduced.

The invention relates to the technical field of edge computing, and discloses an edge computing intelligent decision-making system based on edge cloud collaboration, which comprises a terminal sensing layer, an edge computing layer, a network transmission layer and a cloud center layer. The terminal sensing layer is configured to collect original data; the edge computing layer comprises edge computing equipment, a resource scheduling module and a distributed synchronous triggering module which are respectively used for data preprocessing and model reasoning, dynamic resource allocation based on multi-agent deep reinforcement learning and multi-equipment synchronous acquisition realized through a precision time protocol; the network transmission layer dynamically adjusts a transmission strategy based on a reinforcement learning algorithm during data transmission; and the cloud center layer carries out training optimization on the model through a federal learning mechanism and issues the model to an edge side. According to the method, millisecond-level real-time intelligent decision making of an industrial site and sustainable evolution of the AI model are realized through a side cloud collaborative architecture, and the efficiency, the reliability and the self-adaptive capability of the system are effectively improved.

The invention provides a heterogeneous vehicle cooperative control method based on the combination of a semantic potential field and an artificial potential field, and belongs to the technical field of automatic driving collaboration.The method comprises the steps that environment data are collected through a vehicle-mounted sensor of an automatic driving heterogeneous vehicle, and the environment data comprise the position and speed of the surrounding automatic driving heterogeneous vehicle and distribution of static obstacles; setting a vehicle type, a task type, a task priority and a real-time state of the vehicle, generating a corresponding semantic tag, and constructing a semantic potential field; constructing an artificial potential field, and calculating static obstacle repulsive force and gravitational force of a target position; generating a comprehensive potential field, and planning a driving path of the automatic driving heterogeneous vehicle; transmitting a key semantic tag by adopting an event triggering communication rule, and transmitting the semantic tag through a local cache and a priority queue when the communication is limited; through a distributed game theory, path conflicts among automatic driving heterogeneous vehicles are eliminated. According to the invention, the cooperative efficiency of the automatic driving heterogeneous vehicles is improved, and the path conflict of the vehicles is effectively eliminated.