Vehicle control system, method and vehicle based on cloud vehicle digital twin

Abstract

The present invention discloses a vehicle control system, method and vehicle based on a cloud vehicle digital twin. The control system includes a vehicle system, a cloud and a vehicle remote instruction system. The vehicle system includes multiple vehicles, and each vehicle is equipped with a vehicle terminal. The vehicle operation data of the vehicle terminal can be sent to the cloud, and the cloud issues remote vehicle control instructions to the vehicle terminal through the vehicle remote instruction system; The cloud includes a vehicle digital twin operation engine server, and the vehicle digital twin operation engine server includes a vehicle data distribution module, a vehicle digital twin operation container module, a vehicle description model service module, and a vehicle operation script module. The present invention can quickly, efficiently and stably build a vehicle digital twin in the cloud, manage the life cycle of the vehicle digital twin, and achieve the purpose of adopting one control strategy for one vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle networking, and particularly to a vehicle control system, method and vehicle based on a cloud vehicle digital twin body. Background Art

[0002] In recent years, as a digital twin technology that practices the tenet of intelligent manufacturing and solves the cyber-physical integration of intelligent manufacturing, it has been successfully implemented in many industrial fields and is constantly updated and iterated. Simply put, digital twin technology is to describe physical entities with numbers and construct a two-way real-time mapping between digital virtual bodies and physical bodies.

[0003] With the development of connected vehicle technology, major vehicle manufacturers have the digital conditions to construct vehicle virtual bodies and are also starting to research the application of digital twin technology in the vehicle manufacturing field. Currently, the main application method is to combine the twin body with simulation prediction. For example, the invention patent application with the application number CN202110936056.8 discloses a digital twin virtual-real multi-vehicle mixed driving simulation method and device. The method includes constructing a virtual vehicle model with similar dynamic characteristics to an intelligent connected vehicle in the physical space based on digital twin modeling technology; constructing an information interaction channel between the virtual vehicle model and the intelligent connected vehicle based on communication, and constructing a multi-vehicle collaborative scenario in the information space; using the virtual vehicle model and the multi-vehicle collaborative scenario for simulation to obtain the digital twin virtual-real multi-vehicle mixed driving simulation result, and feeding the result back to the intelligent connected vehicle. This method solves the problems in the related technology such as difficult dynamic update after parameter presetting and difficult flexible adjustment, introduces digital twin technology into the simulation field of intelligent connected vehicles, tries to represent the intelligent connected vehicle in the physical system by establishing a virtual vehicle model, and conducts multi-vehicle experiments, with advantages such as low time cost and high scene flexibility.

[0004] However, the above digital twin body technology is only used for the simulation test of vehicles and is not directly used for the remote control of vehicles. This is because for large vehicle manufacturers, the number of vehicles running on the market reaches millions. How to quickly, efficiently and stably construct vehicle digital twin bodies in the cloud and how to manage the life cycle of vehicle digital twin bodies in the cloud are issues that must be considered; at the same time, due to the large amount of data in simulation, it also means a large amount of time. Therefore, the simulation in the prior art only involves the common characteristics of most vehicles, and thus it is impossible to achieve the purpose of adopting a control strategy for each vehicle. Summary of the Invention

[0005] In view of the above deficiencies in the prior art, the technical problem to be solved by the present invention is: how to provide a vehicle control system, method and vehicle based on a cloud vehicle digital twin that can quickly, efficiently and stably build a vehicle digital twin in the cloud, manage the life cycle of the vehicle digital twin, and achieve the purpose of adopting a single control strategy for each vehicle.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A vehicle control system based on a cloud vehicle digital twin includes a vehicle system, a cloud, and a vehicle remote instruction system. The vehicle system includes multiple vehicles, and each vehicle is provided with a vehicle terminal. The vehicle terminal is communicatively connected to the cloud so that the vehicle operation data of the vehicle terminal can be sent to the cloud, and the cloud issues a remote vehicle control instruction to the vehicle terminal through the vehicle remote instruction system;

[0008] The cloud includes a vehicle digital twin operation engine server, and the vehicle digital twin operation engine server includes a vehicle data distribution module, a vehicle digital twin operation container module, a vehicle description model service module, and a vehicle operation script module;

[0009] The vehicle data distribution module is used to receive the vehicle operation data from each vehicle terminal in the vehicle system and send the received vehicle operation data to the vehicle digital twin operation container module;

[0010] The vehicle digital twin operation container module includes multiple vehicle digital twin operation containers, and each vehicle digital twin operation container includes multiple vehicle digital twins. The vehicle data distribution module distributes the received vehicle operation data of the vehicle terminal to different vehicle digital twin operation containers according to a set distribution strategy algorithm. The vehicle digital twin operation container creates a vehicle digital twin corresponding to the vehicle according to the received vehicle operation data of the vehicle terminal in combination with the vehicle description model service module;

[0011] The vehicle operation script module is used to set a vehicle operation control script file and send it to the vehicle digital twin, and the vehicle digital twin issues a remote vehicle control instruction to the corresponding vehicle terminal through the vehicle remote instruction system.

[0012] A vehicle control method based on a cloud vehicle digital twin uses the above-mentioned vehicle control system based on a cloud vehicle digital twin. The vehicle control method first distributes the received vehicle operation data of the vehicle terminal to different vehicle digital twin operation containers according to a set distribution strategy algorithm through the vehicle data distribution module. Then, the vehicle digital twin operation container constructs a vehicle digital twin of the vehicle in combination with the vehicle description model and binds the vehicle operation data to the vehicle digital twin of the vehicle. Finally, the vehicle digital twin remotely controls the vehicle in combination with the vehicle operation script module.

[0013] Preferably, the vehicle control method includes the following steps:

[0014] Step 1) The vehicle data distribution module distributes the received vehicle operation data of each vehicle terminal in the vehicle system to different vehicle digital twin operation containers according to a set distribution strategy algorithm;

[0015] Step 2) The vehicle digital twin operation container updates the data of the vehicle digital twin of the vehicle according to the received vehicle operation data of the vehicle terminal, or constructs a vehicle digital twin of the vehicle in combination with the vehicle description model, and binds the vehicle operation data to the vehicle digital twin of the vehicle;

[0016] Step 3) The vehicle operation script module sends a vehicle operation control script file to the vehicle digital twin of the corresponding vehicle;

[0017] Step 4) When the data of the vehicle digital twin is updated, the vehicle digital twin checks the vehicle operation control script file. When a certain script in the vehicle operation control script file is triggered due to the data update of the vehicle digital twin, the vehicle digital twin sends the instruction corresponding to the script to the vehicle terminal of the vehicle through the vehicle remote instruction system.

[0018] Preferably, the vehicle operation data of the vehicle terminal includes vehicle status data, vehicle event data, and vehicle operation environment data.

[0019] Preferably, step 2) includes the following steps:

[0020] Step 2.1) After receiving the vehicle operation data of the vehicle terminal, the vehicle digital twin operation container determines whether there is already a vehicle digital twin of the vehicle. If not, it executes step 2.2). If so, it executes step 2.3);

[0021] Step 2.2) The vehicle digital twin running container constructs the vehicle digital twin of the vehicle based on the received vehicle operation data from the vehicle terminal and combines it with the vehicle description model, and marks the status of the vehicle digital twin of the vehicle as the startup state. Then, it binds the vehicle operation data of the vehicle terminal of the vehicle to the vehicle digital twin, and at the same time updates the status of the vehicle digital twin to in operation;

[0022] Step 2.3) The vehicle digital twin running container updates the data of the vehicle digital twin of the vehicle according to the received vehicle operation data from the vehicle terminal.

[0023] Preferably, in Step 2), the vehicle digital twin running container regularly checks the update time of the vehicle digital twin. When the update time of the vehicle digital twin is greater than the set time, the vehicle digital twin running container destroys the vehicle digital twin.

[0024] Preferably, in Step 1), the set distribution strategy algorithm is: the vehicle data distribution module extracts the vehicle serial number of the vehicle from the vehicle operation data uploaded by the vehicle terminal, then obtains the virtual node number to which the vehicle belongs through the vehicle serial number, and finally sends the vehicle operation data of the vehicle to the vehicle digital twin running container where the virtual node number is located.

[0025] Preferably, the virtual node numbers are the node numbers of each of a predetermined number with consecutive numbers.

[0026] Preferably, the method for obtaining the virtual node number to which the vehicle belongs through the vehicle serial number is: performing a hash modulo operation on the vehicle serial number to obtain the hash value of the vehicle, and then dividing the hash value of the vehicle by N and taking the remainder to obtain the value which is the virtual node number to which the vehicle belongs.

[0027] A vehicle adopts the above vehicle control method based on a cloud vehicle digital twin.

[0028] Compared with the prior art, the present invention has the following advantages:

[0029] 1. The present invention distributes the operation data of a vehicle to different vehicle digital twin operation containers according to a set distribution strategy algorithm through a vehicle data distribution module, realizing the diversion of a large amount of data. At the same time, as the number of vehicles continuously increases, it can support the dynamic addition of vehicle digital twin operation containers. Moreover, under the condition of maintaining data balance in each vehicle digital twin operation container, most of the vehicle data is ensured to be distributed to the same vehicle digital twin operation container. Through the combination of the vehicle digital twin operation container and the vehicle description model service module, a vehicle digital twin is quickly, efficiently, and stably constructed in the cloud, and the life cycle of the vehicle digital twin of each vehicle is managed. At the same time, a one-vehicle-one-control strategy is realized by combining with a vehicle operation script file.

[0030] 2. In the vehicle digital twin of the present invention, in the vehicle digital twin operation container, due to the continuous update of vehicle status, vehicle events, and vehicle environment data, a digital twin vehicle that is running and is the same as the physical vehicle is also constructed in the cloud. Therefore, only by adding a control logic, that is, a vehicle operation control script file, to the running vehicle digital twin and combining it with the vehicle remote instruction system, the purpose of remotely controlling the vehicle through the vehicle digital twin can be achieved. At the same time, this control logic can be a combined operation logic script, and this script is user-defined by the vehicle user. Due to the flexibility of the script and being defined by the vehicle owner himself, a one-vehicle-one-control strategy can be realized.

[0031] 3. The present invention provides a specific implementation method of a cloud vehicle digital twin operation engine. By formulating a data distribution strategy, the cloud can run digital twins of millions of vehicles. By setting up vehicle digital twin operation containers, the life cycle of the vehicle digital twins in the cloud is managed, enabling the quick, efficient, and stable construction of vehicle digital twins in the cloud. At the same time, when the vehicle is not in use, the digital twins can be destroyed in time, thus saving cloud resources. A one-vehicle-one-control strategy is realized through the combination of the vehicle digital twin and the vehicle operation script defined by the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a system block diagram of a vehicle control system based on a cloud vehicle digital twin of the present invention;

[0033] Figure 2 It is an interaction block diagram of a vehicle control system based on a cloud vehicle digital twin of the present invention;

[0034] Figure 3 It is a flowchart for dynamically controlling a vehicle by using a vehicle control method based on a cloud vehicle digital twin of the present invention;

[0035] Figure 4Flowchart for distributing vehicle operation data to the digital twin operation container in the vehicle control method based on the cloud vehicle digital twin of the present invention;

[0036] Figure 5 Schematic diagram of virtual node adjustment caused by actual node changes in the vehicle control method based on the cloud vehicle digital twin of the present invention;

[0037] Figure 6 Lifecycle flowchart of vehicle operation instances in the vehicle control method based on the cloud vehicle digital twin of the present invention. Detailed implementation manners

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] As shown in Figure 1 and Figure 2 shown, a vehicle control system based on a cloud vehicle digital twin includes a vehicle system, a cloud, and a vehicle remote instruction system. The vehicle system includes multiple vehicles, and each vehicle is equipped with a vehicle terminal. The vehicle terminal is communicatively connected to the cloud so that the vehicle operation data of the vehicle terminal can be sent to the cloud, and the cloud issues a remote vehicle control instruction to the vehicle terminal through the vehicle remote instruction system;

[0040] The cloud includes a vehicle digital twin operation engine server, and the vehicle digital twin operation engine server includes a vehicle data distribution module, a vehicle digital twin operation container module, a vehicle description model service module, and a vehicle operation script module;

[0041] The vehicle data distribution module is used to receive the vehicle operation data from each vehicle terminal in the vehicle system and send the received vehicle operation data to the vehicle digital twin operation container module;

[0042] The vehicle digital twin operation container module includes multiple vehicle digital twin operation containers, and each vehicle digital twin operation container includes multiple vehicle digital twins. The vehicle data distribution module distributes the received vehicle operation data of the vehicle terminal to different vehicle digital twin operation containers according to a set distribution strategy algorithm. The vehicle digital twin operation container creates a vehicle digital twin corresponding to the vehicle based on the received vehicle operation data of the vehicle terminal in combination with the vehicle description model service module;

[0043] The vehicle operation script module is used to set a vehicle operation control script file and send it to the vehicle digital twin, and the vehicle digital twin issues a remote vehicle control instruction to the corresponding vehicle terminal through the vehicle remote instruction system.

[0044] As shown in Figure 3As shown in the figure, a vehicle control method based on a cloud vehicle digital twin uses the above-mentioned vehicle control system based on a cloud vehicle digital twin. The vehicle control method first distributes the received vehicle operation data from the vehicle-mounted terminal to different vehicle digital twin operation containers according to a set distribution strategy algorithm through the vehicle data distribution module. Then, the vehicle digital twin operation container constructs a vehicle digital twin of the vehicle in combination with the vehicle description model and binds the vehicle operation data to the vehicle digital twin of the vehicle. Finally, the vehicle digital twin combines with the vehicle operation script module to remotely control the vehicle.

[0045] In this embodiment, the vehicle control method includes the following steps:

[0046] Step 1) The vehicle data distribution module distributes the received vehicle operation data from each vehicle-mounted terminal in the vehicle system to different vehicle digital twin operation containers according to a set distribution strategy algorithm;

[0047] In this embodiment, the vehicle operation data of the vehicle-mounted terminal includes the status data of the vehicle, the event data that occurs to the vehicle, and the environmental data of the vehicle operation;

[0048] The set distribution strategy algorithm is as follows: The vehicle data distribution module extracts the vehicle serial number of the vehicle from the vehicle operation data uploaded by the vehicle-mounted terminal, then obtains the virtual node number to which the vehicle belongs through the vehicle serial number, and finally sends the vehicle operation data of the vehicle to the vehicle digital twin operation container where the virtual node number is located.

[0049] In this embodiment, the virtual node numbers are the node numbers of each of a predetermined number and having consecutive numbers.

[0050] In this embodiment, the method for obtaining the virtual node number to which the vehicle belongs through the vehicle serial number is as follows: Perform a hash modulo operation on the vehicle serial number to obtain the hash value of the vehicle, and then the value obtained by dividing the hash value of the vehicle by N and taking the remainder is the virtual node number to which the vehicle belongs.

[0051] Specifically, the vehicle data distribution module is a functional program running on the server, which receives the vehicle status data, event data that occurs, and identified environmental data uploaded by all vehicles; and then distributes different vehicle data to different vehicle digital twin operation containers through the distribution strategy algorithm.

[0052] As shown in the appendix Figure 4As shown, the distribution strategy algorithm determines, through a certain algorithm, which digital twin running container the vehicle's data should be allocated to. There can be many such algorithms. In this embodiment, it can be as follows: First, the vehicle ID (vehicle serial number) is retrieved from the vehicle status data, event data, and identified environmental data uploaded by the vehicle. Suppose the vehicle ID is 1267769810535940096. By taking the modulus of the hash of the vehicle ID, the virtual node number to which it belongs is obtained, and it is queried which vehicle digital twin running container the virtual node number belongs to, so as to forward the vehicle's data to the node of the corresponding vehicle digital twin running container.

[0053] In this solution, the virtual nodes are nodes with a pre-specified number of consecutive numbers. For example, if the number of virtual nodes is specified as 10, then there are 10 virtual nodes with numbers 1, 2, 3,..., 10 respectively.

[0054] In this solution, when taking the modulus of the hash of the vehicle ID, first obtain the hash value of the vehicle ID, and then divide the hash value by N to take the remainder. This remainder is the virtual node number. In particular, if it is divisible exactly, the virtual node is N. For example, in this solution, if the vehicle ID is 1267769810535940096, its hash value is 328366612. Then divide the hash value by 10 to take the remainder to get the value 2. This remainder 2 is the virtual node number. In particular, if it is divisible exactly, the virtual node number is 10.

[0055] When the vehicle digital twin running container is adjusted, it only needs to readjust the virtual nodes into the adjusted vehicle digital twin running container. It should be noted that readjusting the virtual nodes into the vehicle digital twin running container is to ensure the balanced distribution of virtual nodes and avoid large-scale virtual node migrations. Only some of the virtual nodes in the existing vehicle digital twin running container will be adjusted. As shown in the appendix Figure 5The figure shows the schematic diagram of the adjustment of virtual nodes caused by the change of the vehicle digital twin running container (i.e., the actual node). At the beginning, there is only one actual node InstanceServer.node1. Then, all virtual nodes are on this node. That is, the vehicles with virtual node numbers 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 will be distributed to InstanceServer.node1. That is, the virtual node corresponding to the vehicle ID 1267769810535940096 is number 2, and the data will be distributed to the vehicle digital twin running container corresponding to InstanceServer.node1. If an additional actual node InstanceServer.node2 is added, after the virtual nodes are evenly distributed to the actual nodes, the vehicles with virtual node numbers 1, 2, 3, 4, 5 will be distributed to InstanceServer.node1, and the vehicles with virtual node numbers 6, 7, 8, 9, 10 will be distributed to InstanceServer.node2. When adding another actual node InstanceServer.node3, the virtual nodes are re-evenly distributed to the actual nodes. The vehicles with virtual node numbers 1, 2, 3, 4 will be distributed to InstanceServer.node1, the vehicles with virtual node numbers 6, 7, 8 will be distributed to InstanceServer.node2, and the vehicles with virtual node numbers 5, 9, 10 will be distributed to InstanceServer.node3. Similarly, if an actual node InstanceServer.node2 is reduced, after re-distribution, the vehicles with virtual node numbers 1, 2, 3, 4, 6 will be distributed to InstanceServer.node1, and the vehicles with virtual node numbers 5, 9, 10, 7, 8 will be distributed to InstanceServer.node3. For the above changes, the vehicle data with the vehicle ID 1267769810535940096 will be distributed to the actual node InstanceServer.node1.

[0056] Step 2) The vehicle digital twin running container updates the vehicle digital twin of the vehicle according to the received vehicle operation data from the in-vehicle terminal, or constructs the vehicle digital twin of the vehicle in combination with the vehicle description model, and binds the vehicle operation data to the vehicle digital twin of the vehicle.

[0057] In this embodiment, step 2) includes the following steps:

[0058] Step 2.1) After the vehicle digital twin running container receives the vehicle operation data from the in-vehicle terminal, it determines whether there is already a vehicle digital twin for this vehicle. If not, it executes Step 2.2); if so, it executes Step 2.3).

[0059] Step 2.2) The vehicle digital twin running container constructs the vehicle digital twin for this vehicle based on the received vehicle operation data from the in-vehicle terminal and combines it with the vehicle description model, and marks the status of the vehicle digital twin for this vehicle as the startup status. Then, it binds the vehicle operation data from the in-vehicle terminal of this vehicle to the vehicle digital twin, and at the same time updates the status of the vehicle digital twin to running.

[0060] Step 2.3) The vehicle digital twin running container updates the data of the vehicle digital twin for this vehicle according to the received vehicle operation data from the in-vehicle terminal.

[0061] In this embodiment, in Step 2), the vehicle digital twin running container periodically checks the update time of the vehicle digital twin. When the update time of the vehicle digital twin is greater than the set time, the vehicle digital twin running container destroys the vehicle digital twin.

[0062] Specifically, the above vehicle digital twin running container is a functional program running on the server, and the vehicle digital twin running container node refers to this set of functional programs running on a certain server among multiple servers. As shown in the Figure 6 Lifecycle flowchart of vehicle operation instances in the example running container. After the vehicle data is distributed to a certain node of the vehicle digital twin running container, the vehicle digital twin running container will first check whether there is a running vehicle digital twin for this vehicle. If not, it will create the vehicle digital twin for this vehicle in combination with the established vehicle description model service module, and mark the status of the vehicle digital twin for this vehicle as the startup status, then bind the distributed vehicle operation data to the vehicle digital twin, and at the same time update the status of the vehicle digital twin to running. If there is already a running vehicle digital twin for this vehicle, it will directly update the data value in the corresponding bound vehicle digital twin. Since the vehicle digital twin in the vehicle digital twin running container continuously updates the vehicle status, vehicle events, and vehicle environment data, there is also a digital twin vehicle running in the cloud that is the same as the physical vehicle; the vehicle digital twin running container will periodically perform an activity check on all vehicle digital twins (that is, check whether the data of the vehicle digital twin has been updated). If it is found that the digital twin of a vehicle has not been updated for a long time (such as not updated for 12 hours, indicating that the vehicle corresponding to this vehicle digital twin is in a parked state), it is considered that the digital twin of this vehicle is inactive, and the vehicle digital twin of this vehicle will be destroyed.

[0063] Step 3) The vehicle operation script module sends the vehicle operation control script file to the vehicle digital twin of the corresponding vehicle.

[0064] Specifically, in the vehicle digital twin running container, the vehicle digital twin continuously updates vehicle status, vehicle events, and vehicle environment data, and a running digital twin vehicle identical to the physical vehicle is also constructed in the cloud. Now, only by adding control logic to the running digital twin and combining it with the vehicle remote instruction system, vehicle control by the twin can be achieved. This control logic can be a combined operation logic script in this embodiment, and the script is user-defined by the vehicle user. The script can be triggered by the vehicle's status, such as a script to close the window is triggered when the vehicle speed is greater than 100 km / h, or by vehicle events, such as a script to take a photo and then send a text message to notify the vehicle owner is triggered when a vehicle scratch event occurs, or by the environment, such as a script to close the window is triggered when it rains. Due to the flexibility of the script and being defined by the vehicle owner himself, a one-vehicle-one-control strategy can be implemented.

[0065] Step 4) When the data of the vehicle digital twin is updated, the vehicle digital twin checks the vehicle operation control script file. When a certain script in the vehicle operation control script file is triggered due to the data update of the vehicle digital twin, the vehicle digital twin sends the instruction corresponding to the script to the in-vehicle unit of the vehicle through the vehicle remote instruction system.

[0066] Specifically, the vehicle operation control script file runs on the vehicle digital twin. Each update of the vehicle digital twin checks whether a certain script is triggered. When the script (a script is an executable file written in a specific descriptive language according to a certain format) is triggered, the predefined instructions of the script will be executed, and the vehicle digital twin sends the corresponding instructions to the physical vehicle for execution through the vehicle remote instruction system.

[0067] In addition, the present invention also provides a vehicle that adopts the above vehicle control method based on the cloud vehicle digital twin.

[0068] Compared with the prior art, the present invention distributes the operation data of vehicles to different vehicle digital twin operation containers according to the set distribution strategy algorithm through the vehicle data distribution module, realizing the shunt of a large amount of data. At the same time, as the number of vehicles continues to increase, it can support the dynamic addition of vehicle digital twin operation containers, and while maintaining the data balance of each vehicle digital twin operation container, it also ensures that most of the vehicle data is distributed to the same vehicle digital twin operation container. Through the combination of the vehicle digital twin operation container and the vehicle description model service module, a vehicle digital twin is quickly, efficiently, and stably constructed in the cloud, and the life cycle of the vehicle digital twin of each vehicle is managed. At the same time, a one-vehicle-one-control strategy is realized by combining the vehicle operation script file. The vehicle digital twin of the present invention continuously updates the vehicle state, vehicle events, and vehicle environment data in the vehicle digital twin operation container, and a digital twin vehicle that is running just like the physical vehicle is also constructed in the cloud. Therefore, only by adding control logic, that is, the vehicle operation control script file, to the running vehicle digital twin and combining it with the vehicle remote instruction system, the purpose of remotely controlling the vehicle through the vehicle digital twin can be achieved. At the same time, this control logic can be a combined operation logic script, and this script is defined by the vehicle user. Due to the flexibility of the script and the fact that it is defined by the vehicle owner himself, a one-vehicle-one-control strategy can be realized. The present invention provides a specific implementation method of a cloud vehicle digital twin operation engine. By formulating a data distribution strategy, the cloud can run digital twins of millions of vehicles. By setting up vehicle digital twin operation containers, the life cycle of the vehicle digital twins in the cloud is managed, enabling the rapid, efficient, and stable construction of vehicle digital twins in the cloud. At the same time, the digital twins can be destroyed in a timely manner when the vehicles are not in use, thereby saving cloud resources. A one-vehicle-one-control strategy is realized through the combination of the vehicle digital twin and the user-defined vehicle operation script.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them. Those of ordinary skill in the art should understand that any modifications or equivalent replacements made to the technical solutions of the present invention without departing from the purpose and scope of the present technical solution shall be covered by the scope of the claims of the present invention.

Claims

1. A vehicle control system based on a cloud vehicle digital twin, characterized in that, it includes a vehicle system, a cloud, and a vehicle remote instruction system. The vehicle system includes multiple vehicles, and each vehicle is equipped with a vehicle terminal. The vehicle terminal is communicatively connected to the cloud so that the vehicle operation data of the vehicle terminal can be sent to the cloud, and the cloud issues a remote vehicle control instruction to the vehicle terminal through the vehicle remote instruction system; the cloud includes a vehicle digital twin operation engine server, and the vehicle digital twin operation engine server includes a vehicle data distribution module, a vehicle digital twin operation container module, a vehicle description model service module, and a vehicle operation script module; the vehicle data distribution module is used to receive the vehicle operation data from each vehicle terminal in the vehicle system and send the received vehicle operation data to the vehicle digital twin operation container module; the vehicle digital twin operation container module includes multiple vehicle digital twin operation containers, and each vehicle digital twin operation container includes multiple vehicle digital twins. The vehicle data distribution module distributes the received vehicle operation data of the vehicle terminal to different vehicle digital twin operation containers according to a set distribution strategy algorithm. The vehicle digital twin operation container creates a vehicle digital twin corresponding to the vehicle according to the received vehicle operation data of the vehicle terminal in combination with the vehicle description model service module; the vehicle operation script module is used to set a vehicle operation control script file and send it to the vehicle digital twin, and the vehicle digital twin issues a remote vehicle control instruction to the corresponding vehicle terminal through the vehicle remote instruction system; by distributing the operation data of the vehicle to different vehicle digital twin operation containers according to a set distribution strategy algorithm by the vehicle data distribution module, a large amount of data can be shunted. At the same time, as the number of vehicles continues to increase, it can support the dynamic addition of vehicle digital twin operation containers, and while maintaining the data balance of each vehicle digital twin operation container, it also ensures that most vehicle data is distributed to the same vehicle digital twin operation container. The vehicle digital twin is constructed in the cloud by the vehicle digital twin operation container in combination with the vehicle description model service module, and the life cycle of the vehicle digital twin of each vehicle is managed. At the same time, the one-vehicle-one-control strategy is implemented in combination with the vehicle operation script file.

2. A vehicle control method based on a cloud vehicle digital twin, characterized in that, Adopt the vehicle control system based on the cloud vehicle digital twin as described in claim 1. The vehicle control method first distributes the received vehicle operation data of the vehicle terminal to different vehicle digital twin operation containers according to the set distribution strategy algorithm through the vehicle data distribution module, and then the vehicle digital twin operation container constructs the vehicle digital twin of the vehicle in combination with the vehicle description model, and binds the vehicle operation data to the vehicle digital twin of the vehicle. Finally, the vehicle is remotely controlled by the vehicle digital twin in combination with the vehicle operation script module.

3. The vehicle control method based on the cloud vehicle digital twin according to claim 2, characterized in that, the vehicle control method includes the following steps: Step 1) The vehicle data distribution module distributes the received vehicle operation data of each vehicle terminal in the vehicle system to different vehicle digital twin operation containers according to the set distribution strategy algorithm; Step 2) The vehicle digital twin operation container updates the data of the vehicle digital twin of the vehicle according to the received vehicle operation data of the vehicle terminal, or constructs the vehicle digital twin of the vehicle in combination with the vehicle description model, and binds the vehicle operation data to the vehicle digital twin of the vehicle; Step 3) The vehicle operation script module sends the vehicle operation control script file to the vehicle digital twin of the corresponding vehicle; Step 4) When the data of the vehicle digital twin is updated, the vehicle digital twin checks the vehicle operation control script file. When a certain script in the vehicle operation control script file is triggered due to the data update of the vehicle digital twin, the vehicle digital twin sends the instruction corresponding to the script to the vehicle terminal of the vehicle through the vehicle remote instruction system.

4. The vehicle control method based on the cloud vehicle digital twin according to claim 3, characterized in that, the vehicle operation data of the vehicle terminal includes the state data of the vehicle, the event data occurred by the vehicle, and the environmental data of the vehicle operation.

5. The vehicle control method based on the cloud vehicle digital twin according to claim 4, characterized in that, Step 2) includes the following steps: Step 2.1) After the vehicle digital twin operation container receives the vehicle operation data of the vehicle terminal, it judges whether there is already a vehicle digital twin of the vehicle. If not, execute Step 2.2); if so, execute Step 2.3); Step 2.2) The vehicle digital twin operation container constructs the vehicle digital twin of the vehicle in combination with the vehicle description model according to the received vehicle operation data of the vehicle terminal, and marks the state of the vehicle digital twin of the vehicle as the start state. Then, the vehicle operation data of the vehicle terminal is bound to the vehicle digital twin, and the state of the vehicle digital twin is updated to running; Step 2.3) The vehicle digital twin operation container updates the data of the vehicle digital twin of the vehicle according to the received vehicle operation data of the vehicle terminal.

6. The vehicle control method based on the cloud vehicle digital twin according to claim 5, characterized in that, in step 2), the vehicle digital twin running container regularly checks the update time of the vehicle digital twin. When the update time of the vehicle digital twin is greater than the set time, the vehicle digital twin running container destroys the vehicle digital twin.

7. The vehicle control method based on the cloud vehicle digital twin according to claim 6, characterized in that, in step 1), the set distribution strategy algorithm is as follows: the vehicle data distribution module extracts the vehicle serial number of the vehicle from the vehicle operation data uploaded by the vehicle terminal, then obtains the virtual node number to which the vehicle belongs through the vehicle serial number, and finally sends the vehicle operation data of the vehicle to the vehicle digital twin running container where the virtual node number is located.

8. The vehicle control method based on the cloud vehicle digital twin according to claim 7, characterized in that, the virtual node numbers are the node numbers of each of a predetermined number of nodes with consecutive numbers.

9. The vehicle control method based on the cloud vehicle digital twin according to claim 8, characterized in that, the method for obtaining the virtual node number to which the vehicle belongs through the vehicle serial number is: performing a hash modulo operation on the vehicle serial number to obtain the hash value of the vehicle, and then dividing the hash value of the vehicle by N and taking the remainder to obtain the value which is the virtual node number to which the vehicle belongs.

10. A vehicle, characterized in that, the vehicle adopts the vehicle control method based on the cloud vehicle digital twin according to any one of claims 2 to 9.

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