Interaction method and device of parallel driving system and parallel driving system

Abstract

The application discloses an interaction method and device of a parallel driving system and the parallel driving system. The method is executed by the parallel driving system, the parallel driving system comprises a central control terminal, a client terminal and a server terminal, and the method comprises the following steps: acquiring a vehicle control instruction, wherein the vehicle control instruction comprises a first vehicle control instruction simulated by the client terminal; determining a first connection state of a central control host according to the vehicle control instruction; determining a target sending terminal according to the first connection state of the central control host, wherein the target sending terminal is the central control host or the client terminal; sending the first vehicle control instruction to the server terminal through the target sending terminal, and sending the first vehicle control instruction to a vehicle terminal through the server terminal, so that the vehicle terminal processes the first vehicle control instruction and returns vehicle data. Through the interaction logic of the central control terminal and the client terminal, the normal operation of the system can be ensured when the central control host is abnormal or damaged, and the fault tolerance of the parallel driving system and the safety of remote driving are improved.

Description

Technical Field

[0001] This application relates to the field of parallel driving technology, and in particular to an interaction method, device and parallel driving system for a parallel driving system. Background Technology

[0002] With the development of autonomous driving technology, the unmanned operation of autonomous vehicles has received increasing attention. In the process of autonomous driving technology moving from L4 (highly automated driving) to L5 (fully automated driving), remote control via parallel driving systems can play a crucial auxiliary role. Remote control refers to an operator using simulated control devices such as steering wheel simulators, pedal simulators, and displays to control a vehicle outside their field of vision via wired or wireless networks. The simulated control device and the controlled vehicle are connected via a local area network (LAN) or wide area network (WAN), allowing the control distance to overcome spatial limitations.

[0003] The existing parallel driving system mainly uses the following interaction logic to achieve remote control of autonomous vehicles: the vehicle-side of the autonomous vehicle establishes a connection with the server of the parallel driving system, the relevant programs on the vehicle-side run, collect vehicle data and report it to the server in real time, and the server sends the vehicle data to the central control display screen or the client display screen for display.

[0004] However, the interaction logic adopted by the above-mentioned parallel driving system cannot guarantee the normal operation of the system when the central control host malfunctions or is damaged. Summary of the Invention

[0005] This application provides an interaction method, device, and parallel driving system to ensure that the normal operation of the system is not affected when the central control host in the parallel driving system malfunctions, thereby improving the fault tolerance of the parallel driving system.

[0006] The embodiments of this application adopt the following technical solutions:

[0007] In a first aspect, embodiments of this application provide an interaction method for a parallel driving system. The method is executed by the parallel driving system, which includes a central control terminal, a client terminal, and a server terminal. The central control terminal includes a central control host. The method includes:

[0008] Obtain vehicle control commands, the vehicle control commands including a first vehicle control command simulated by the client;

[0009] The first connection state of the central control host is determined according to the first vehicle control command;

[0010] The target transmitter is determined based on the first connection status of the central control host, wherein the target transmitter is the central control host or the client.

[0011] The first vehicle control command is sent from the target sending end to the server, and then sent from the server to the vehicle end, so that the vehicle end processes the first vehicle control command and returns vehicle data.

[0012] Optionally, the parallel driving system further includes a simulator, the central control unit further includes a central control display screen, and the vehicle control commands further include a second vehicle control command generated by the simulator, and / or a third vehicle control command generated by the central control display screen.

[0013] Optionally, determining the first connection state of the central control unit according to the first vehicle control command includes:

[0014] The client establishes a communication connection with the central control host.

[0015] The first connection status of the central control host is determined based on the communication connection result.

[0016] Optionally, determining the target transmitter based on the first connection state of the central control host includes:

[0017] If the first connection status of the central control host is successful, then the target sending end is determined to be the central control host;

[0018] If the first connection status of the central control host is connection failure, then the target sending end is determined to be the client.

[0019] Optionally, after sending the vehicle control command to the server via the target sending end, and then sending the vehicle control command to the vehicle via the server, the method further includes:

[0020] The server receives vehicle data sent by the vehicle.

[0021] Determine the second connection status of the central control host;

[0022] The target receiving end is determined based on the second connection state of the central control host, wherein the target receiving end is the central control host or the client.

[0023] The vehicle data is sent to the target receiving end, and the vehicle data is displayed through the target receiving end.

[0024] Optionally, determining the target receiving end based on the second connection state of the central control host includes:

[0025] If the second connection status of the central control host is successful, then the target receiving end is determined to be the central control host;

[0026] If the second connection status of the central control host is connection failure, then the target receiving end is determined to be the client.

[0027] Optionally, the central control terminal further includes a central control display screen and an ambient screen. The vehicle data includes first vehicle data, second vehicle data, and third vehicle data. Sending the vehicle data to the target receiving terminal and displaying the vehicle data through the target receiving terminal includes:

[0028] If the target receiving end is the central control host, then the first vehicle data is displayed through the central control display screen, the second vehicle data is displayed through the ambient screen, and the third vehicle data is sent to the client for display through the central control host;

[0029] If the target receiving end is the client, then the third vehicle data is displayed through the client.

[0030] Secondly, embodiments of this application also provide an interactive device for a parallel driving system. The device is applied to the parallel driving system, which includes a central control terminal, a client terminal, and a server terminal. The central control terminal includes a central control host. The device includes:

[0031] An acquisition unit is used to acquire vehicle control commands, the vehicle control commands including a first vehicle control command simulated by the client;

[0032] The first determining unit is used to determine the first connection state of the central control host according to the first vehicle control command;

[0033] The second determining unit is used to determine the target sending end based on the first connection state of the central control host, wherein the target sending end is the central control host or the client.

[0034] The sending unit is configured to send the first vehicle control command to the server through the target sending terminal, and send the first vehicle control command to the vehicle terminal through the server, so that the vehicle terminal processes the first vehicle control command and returns vehicle data.

[0035] Thirdly, this application also provides a parallel driving system, wherein the system includes a central control terminal, a client, a server, and a simulator. The central control terminal includes a central control host and a central control display screen. The central control host establishes communication connections with the client, the server, the simulator, and the central control display screen respectively. The client is used to simulate a first vehicle control command and send it to the central control host. The simulator is used to generate a second vehicle control command and send it to the central control host. The central control display screen is used to generate a third vehicle control command and send it to the central control host. The central control host is used to send the received first vehicle control command and / or second vehicle control command and / or third vehicle control command to the server. The server is used to send the first vehicle control command and / or second vehicle control command and / or third vehicle control command to the vehicle terminal, so that the vehicle terminal processes the first vehicle control command and / or second vehicle control command and / or third vehicle control command and returns vehicle data.

[0036] Fourthly, embodiments of this application also provide an electronic device, including:

[0037] Processor; and

[0038] A memory configured to store computer-executable instructions, which, when executed, cause the processor to perform any of the methods described above.

[0039] Fifthly, embodiments of this application also provide a computer-readable storage medium that stores one or more programs, which, when executed by an electronic device including multiple applications, cause the electronic device to perform any of the methods described above.

[0040] The at least one technical solution adopted in this application embodiment can achieve the following beneficial effects: The interaction method of the parallel driving system in this application embodiment is executed by the parallel driving system, which includes a central control terminal, a client, and a server. The central control terminal includes a central control host. The interaction method of the parallel driving system first obtains vehicle control commands, which include a first vehicle control command simulated by the client; then, it determines the first connection state of the central control host based on the vehicle control commands; then, it determines the target sending end based on the first connection state of the central control host, which is either the central control host or the client; finally, it sends the vehicle control commands to the server through the target sending end, and the server sends the vehicle control commands to the vehicle end, so that the vehicle end processes the vehicle control commands and returns vehicle data. The interaction method of the parallel driving system in this application embodiment, through the interaction logic between the central control terminal and the client, can ensure the normal operation of the system through the client when the central control host malfunctions or is damaged, thereby improving the fault tolerance of the parallel driving system and the safety of remote driving. Attached Figure Description

[0041] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0042] Figure 1 This is a schematic diagram of the architecture of a parallel driving system according to an embodiment of this application;

[0043] Figure 2 This is a flowchart illustrating an interaction method for a parallel driving system according to an embodiment of this application.

[0044] Figure 3 This is a schematic diagram of the interaction logic of a parallel driving system in an embodiment of this application;

[0045] Figure 4 This is a schematic diagram of the structure of an interactive device for a parallel driving system according to an embodiment of this application;

[0046] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0048] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0049] To facilitate understanding of the various embodiments of this application, a parallel driving system from one embodiment of this application is first introduced, such as... Figure 1 The diagram illustrates the architecture of a parallel driving system according to an embodiment of this application. The system includes a central control unit, a client, a server, and a simulator. The central control unit includes a central control host and a central control display screen. The central control host establishes communication connections with the client, the server, the simulator, and the central control display screen. The client simulates a first vehicle control command and sends it to the central control host. The simulator generates a second vehicle control command and sends it to the central control host. The central control display screen generates a third vehicle control command and sends it to the central control host. The central control host sends the received first and / or second and / or third vehicle control commands to the server. The server sends the first and / or second and / or third vehicle control commands to the vehicle, so that the vehicle processes the first and / or second and / or third vehicle control commands and returns vehicle data.

[0050] The central control terminal in this application embodiment mainly includes a central control host, a central control display screen, and an ambient screen. The client mainly includes a client program and a client display screen. For example, the client can be implemented using a Pad client. Users can replace the traditional mouse and keyboard operation with touch, solving the problems of inconvenience, time-consuming operation, and verification security risks associated with traditional mouse and keyboard operation. Touch operation via the Pad display screen is more convenient and faster than traditional desktop operation. Safety officers can easily and quickly complete remote safety operations, improving the efficiency of remote safety officers' work.

[0051] The central control unit can establish a communication connection with the simulator via USB, with the central control display and ambient screen via HDMI, with the server via wired / WSS (Web Socket Secure), and with the client via WIFI / WSS. The client and server can also communicate via WIFI / WSS. Of course, besides using the WSS communication protocol, other commonly used communication protocols such as TCP / IP can also be used.

[0052] The central control display and the client display can function as independent units, each displaying different vehicle data, but both share a unified control interface. Users can operate the parallel driving system via the client display, with the ambient screen and central control display responding to user touch commands on the client display. Alternatively, users can operate the parallel driving system via mouse clicks on the central control display, with the ambient screen and client display responding to commands on the central control display.

[0053] Furthermore, embodiments of this application provide an interaction method for a parallel driving system. The method is executed by the parallel driving system, which includes a central control unit, a client, and a server. The central control unit includes a central control host, such as... Figure 2 The diagram shows a flowchart of an interaction method for a parallel driving system according to an embodiment of this application. The method includes at least the following steps S210 to S240:

[0054] Step S210: Obtain vehicle control instructions, the vehicle control instructions including a first vehicle control instruction simulated by the client.

[0055] The vehicle control command in this application embodiment can refer to a command to obtain data such as the current driving status of the vehicle, or it can refer to a command to control the driving status of the vehicle. For example, the user can generate and trigger the first vehicle control command through the client display screen of the parallel driving system. The touch method replaces the traditional mouse and keyboard operation, which can solve the problems of inconvenience, high time consumption and verification security risks of traditional mouse and keyboard operation. Touch operation through the Pad client display screen is more convenient and faster than traditional desktop operation. Safety officers can easily and quickly complete remote safety operations, improving the efficiency of remote safety officers.

[0056] Step S220: Determine the first connection state of the central control host according to the first vehicle control command.

[0057] To ensure the safety of remote control of the parallel driving system, the processing and transmission logic of vehicle control commands is mainly executed by the central control unit. However, the connection status of the central control unit may be abnormal or damaged for some reason, that is, it is not always available. Therefore, this application embodiment designs the interaction logic between the central control unit and the client. After the client obtains the first vehicle control command triggered by the user, it needs to further determine the current first connection status of the central control unit and determine whether the central control unit is currently available.

[0058] Step S230: Determine the target sending end based on the first connection state of the central control host. The target sending end is either the central control host or the client.

[0059] Based on the first connection status of the central control unit, it can be determined whether the central control unit is currently able to process and transmit vehicle control commands. If it is able to, the central control unit can be directly used as the target sender to process the first vehicle control command and transmit it to the server. If the central control unit malfunctions, the interaction logic between the central control unit and the client, designed based on the aforementioned steps, can transmit vehicle control commands through the client, thereby ensuring that the overall control logic of the system can continue to operate normally and avoiding the problem that the system cannot operate normally when the central control unit malfunctions.

[0060] Step S240: The first vehicle control command is sent to the server through the target sending end, and the first vehicle control command is sent to the vehicle end through the server, so that the vehicle end processes the first vehicle control command and returns vehicle data.

[0061] After identifying the target sender through the aforementioned steps, the first vehicle control command can be sent to the server through the target sender. The server processes the command accordingly and then sends it to the vehicle. The vehicle responds to and processes the first vehicle control command and provides feedback on the vehicle's real-time status and other data.

[0062] The interaction method of the parallel driving system in this application embodiment, through the interaction logic between the central control unit and the client, can ensure that the normal operation of the system is not affected when the central control host malfunctions or is damaged, thereby improving the fault tolerance of the parallel driving system.

[0063] In some embodiments of this application, the parallel driving system further includes a simulator, the central control unit further includes a central control display screen, the vehicle control commands further include a second vehicle control command generated by the simulator, and / or a third vehicle control command generated by the central control display screen.

[0064] The parallel driving system in this application embodiment also includes a simulator, which may include a steering wheel simulator and a pedal simulator, etc. Therefore, in addition to generating the first vehicle control command through the client display screen, the user can also trigger the steering wheel control command through the steering wheel simulator and the pedal control command through the pedal simulator.

[0065] It should be noted that the second vehicle control command generated by the simulator needs to be forwarded to the server through the central control unit, and then sent to the vehicle through the server to achieve precise control of the vehicle's direction, speed, etc. Therefore, when the central control unit malfunctions, the simulator will be unable to send vehicle control commands to the vehicle. In this case, in order to avoid problems such as loss of control of the vehicle's direction and speed, emergency handling can be performed through the Pad client. For example, the touch buttons on the Pad display can be used to achieve rough control of the vehicle's direction and speed, control the vehicle to stop safely in time, and ensure the safety of remote driving.

[0066] Of course, if the Pad display is unavailable or is a low-spec version, users can also trigger a second vehicle control command by clicking the mouse on the central control display. The ambient screen, or the ambient screen and the Pad display, can then interact and link together based on the commands triggered by the central control display. Therefore, how to trigger control commands depends on the user's convenience needs, as well as the functionality of both the client display and the central control display. When users want to more conveniently perform some basic vehicle controls, or when the central control display malfunctions, users can trigger vehicle control commands through the client display.

[0067] In addition, it should be noted that there is no need to make separate judgments when the client display screen or the central control display screen is abnormal. This is because if the user can trigger vehicle control commands through the client display screen or the central control display screen, it can be indicated that the client display screen or the central control display screen is currently available. In other words, if the screen currently operated by the user is unavailable, the user will naturally operate on the other available screen.

[0068] In some embodiments of this application, determining the first connection state of the central control unit according to the first vehicle control command includes: establishing a communication connection between the client and the central control unit; and determining the first connection state of the central control unit based on the communication connection result.

[0069] If a user triggers a vehicle control command through the client, the client can further determine the first connection status of the central control unit after generating the first vehicle control command. For example, it can first establish a communication connection with the central control unit. If the communication connection can be successfully established, the central control unit can be considered available. If the communication connection cannot be successfully established, the central control unit can be considered unavailable.

[0070] In some embodiments of this application, determining the target sender based on the first connection status of the central control host includes: if the first connection status of the central control host is successful, then the target sender is determined to be the central control host; if the first connection status of the central control host is failed, then the target sender is determined to be the client.

[0071] If the central control unit's initial connection status is "connection successful," it means the central control unit can currently process and transmit vehicle control commands. Therefore, to ensure the security of remote control, the central control unit can be directly used as the target sender. If the central control unit's initial connection status is "connection failed," it means the central control unit cannot currently process and transmit vehicle control commands. In this case, the client's emergency function can be utilized, using the client as the target sender to transmit vehicle control commands, thereby ensuring the normal operation of the overall control logic and improving the fault tolerance of the parallel driving system.

[0072] In some embodiments of this application, after the vehicle control command is sent to the server via the target sending end, and then sent to the vehicle terminal via the server, the method further includes: receiving vehicle data sent by the vehicle terminal via the server; determining a second connection state of the central control host; determining a target receiving end based on the second connection state of the central control host, wherein the target receiving end is the central control host or the client; sending the vehicle data to the target receiving end, and displaying the vehicle data via the target receiving end.

[0073] After the server sends vehicle control commands to the vehicle, the vehicle processes the commands and sends back real-time vehicle operating status data to the server. Upon receiving the vehicle data from the vehicle, the server first determines the current second operating status of the central control unit. Based on the second connection status of the central control unit, it can determine whether the central control unit is currently available, i.e., whether it can process and display vehicle data. If available, the central control unit can be directly used as the target receiving end to process and display the vehicle data accordingly. If unavailable, the vehicle data needs to be processed and displayed through the client, thereby ensuring that the system can operate normally as much as possible when the central control unit malfunctions.

[0074] In some embodiments of this application, determining the target receiving end based on the second connection state of the central control host includes: if the second connection state of the central control host is a successful connection, then the target receiving end is determined to be the central control host; if the second connection state of the central control host is a failed connection, then the target receiving end is determined to be the client.

[0075] If the central control unit's second connection status is "connection successful," it means the central control unit can currently process and display vehicle data. Therefore, to ensure the security of remote control, the central control unit can be directly used as the target receiving end. If the central control unit's second connection status is "connection failed," it means the central control unit cannot currently process and display vehicle data. In this case, the client can be used as the target receiving end, processing and displaying the corresponding vehicle data, thereby ensuring the normal operation of the system and improving the fault tolerance of the parallel driving system.

[0076] In some embodiments of this application, the central control terminal further includes a central control display screen and an ambient screen. The vehicle data includes first vehicle data, second vehicle data, and third vehicle data. Sending the vehicle data to the target receiving terminal and displaying the vehicle data through the target receiving terminal includes: if the target receiving terminal is the central control host, then displaying the first vehicle data through the central control display screen, displaying the second vehicle data through the ambient screen, and sending the third vehicle data to the client for display through the central control host; if the target receiving terminal is the client, then displaying the third vehicle data through the client.

[0077] If the server successfully connects to the central control unit, the central control unit can process the received vehicle data. For example, it can determine the first vehicle data to be displayed on the central control screen, the second vehicle data to be displayed on the ambient screen, and the third vehicle data to be displayed on the client screen.

[0078] The data for the first and second vehicles can be directly sent to the corresponding screens for display via the HDMI connection between the central control unit and the central control display and the ambient screen. The data for the third vehicle can be sent to the corresponding client display via the WIFI / WSS connection between the central control unit and the client, thus realizing the multi-screen linkage display effect of the parallel driving system.

[0079] Because the central control display screen, ambient screen, and client display screen differ significantly in size and offer varying degrees of user convenience, the ambient screen, being larger, is suitable for displaying environmental information over a wider area. The central control display screen, smaller than the ambient screen but larger than the client display screen, can present information related to vehicle perception and high-precision map information—information that doesn't require frequent user interaction. The client display screen, being smaller, is unsuitable for displaying large-scale environmental information, but its touch-screen operation allows it to present information requiring frequent user interaction. Of course, the specific content displayed on each screen may overlap; how this is presented can be flexibly configured by those skilled in the art based on actual needs.

[0080] For example, the first vehicle data displayed on the central control screen in this application embodiment may include: login, system exit, auxiliary line switch, vehicle information display, high-precision map, 2D map, etc. The second vehicle data displayed on the ambient screen may include: the number of online vehicles, the number of vehicles to be processed, the 360-degree environment of the vehicle body displayed through the vehicle camera, vehicle speed, latency, driving auxiliary lines, AR navigation, etc., displayed according to instructions issued by the client display screen and the central control screen. The second vehicle data displayed on the client display screen may include: selecting a vehicle, activating monitoring mode, switching driving mode, remotely controlling the vehicle's PDRN gear position, handbrake, hazard lights, etc.

[0081] To facilitate understanding of the various embodiments of this application, a control flow of a parallel driving system according to an embodiment of this application is provided:

[0082] 1) Login: When a user opens the Pad client application and enters the login page, the Pad client's display screen and the central control display screen can enter the account and password. After the verification is correct, the user can enter the system. The ambient screen can display the startup image.

[0083] 2) Entering the system: After entering the system, the Pad client's display screen and the central control display screen can also display the card information of the currently reported vehicles, and the environmental screen can display information such as the total number of vehicles to be processed and the total number of vehicles online;

[0084] 3) Select vehicle: Users can select a vehicle to drive by clicking on the vehicle card through the Pad client. The central control display shows the click animation, and the ambient screen displays real-time video and other information from the front, rear, left and right cameras of the vehicle.

[0085] 4) Monitoring status: After parallel driving is enabled by operating the Pad client, the central control display shows vehicle information, high-precision map, 2D map, and the ambient screen displays real-time video from the front, rear, left and right cameras of the vehicle.

[0086] 5) Parallel driving mode: When in parallel driving mode, the Pad client can operate the vehicle to enter autonomous driving or manual driving mode, and the ambient screen displays real-time video and other information from the front, rear, left and right cameras of the vehicle.

[0087] 6) Voice calls: When the central control host malfunctions, or when either the central control display or the Pad client display is malfunctioning or damaged, normal real-time voice calls can still be maintained.

[0088] For ease of understanding of the various embodiments of this application, such as Figure 3The diagram illustrates the interaction logic of a parallel driving system according to an embodiment of this application. First, the Pad client can generate a first vehicle control command based on user touch operations and establish a communication connection with the central control unit. If the connection is successful, the first vehicle control command can be sent to the central control unit for processing. If the connection fails, the Pad client can directly send the first vehicle control command to the server. The simulator can also generate a second vehicle control command based on user operations and send it to the central control unit. After receiving the first and / or second vehicle control commands, the central control unit can process the vehicle control commands and send them to the server. Alternatively, the central control display can also generate a third vehicle control command based on user mouse clicks and, under normal conditions, send the third vehicle control command to the server.

[0089] After receiving a vehicle control command, the server can process the command and send it to the vehicle. The vehicle processes the command and sends real-time vehicle status data back to the server. Upon receiving the vehicle data, the server can further determine the connection status of the central control unit (CCU) to see if a successful connection can be established. If so, the server directly sends the vehicle data to the CCU, which can then distribute the data and display it on multiple screens. If not, the server sends the vehicle data directly to the client for display on the client's screen.

[0090] In summary, the interaction method of the parallel driving system of this application has achieved at least the following technical effects:

[0091] 1) It solves the problems of inconvenience, time-consuming operation, and security risks associated with traditional mouse and keyboard operation;

[0092] 2) Touch operation via the Pad display is more convenient and faster than traditional desktop operation, allowing safety officers to easily and quickly complete remote safety operations, thus improving the efficiency of remote operations.

[0093] 3) When the Pad display is temporarily unavailable or is a low-spec version, commands can be sent through the central control terminal, and the ambient screen or the ambient screen and Pad display can interact and link in a multi-screen manner according to the commands sent through the central control terminal.

[0094] 4) When the central control host malfunctions, or when either the central control display or the Pad customer display is unavailable, the parallel driving system can still operate normally, improving system robustness and the safety of remote driving.

[0095] This application embodiment also provides an interactive device 400 for a parallel driving system. The device 400 is applied to the parallel driving system, which includes a central control terminal, a client terminal, and a server terminal. The central control terminal includes a central control host, such as… Figure 4The diagram shows a schematic representation of the interactive device of a parallel driving system according to an embodiment of this application. The device 400 includes at least: an acquisition unit 410, a first determination unit 420, a second determination unit 430, and a sending unit 440, wherein:

[0096] Acquisition unit 410 is used to acquire vehicle control commands, the vehicle control commands including a first vehicle control command simulated by the client;

[0097] The first determining unit 420 is used to determine the first connection state of the central control host according to the first vehicle control command;

[0098] The second determining unit 430 is used to determine the target sending end based on the first connection state of the central control host, wherein the target sending end is the central control host or the client.

[0099] The sending unit 440 is used to send the first vehicle control command to the server through the target sending end, and send the first vehicle control command to the vehicle end through the server, so that the vehicle end processes the first vehicle control command and returns vehicle data.

[0100] In some embodiments of this application, the parallel driving system further includes a simulator, the central control unit further includes a central control display screen, the vehicle control commands further include a second vehicle control command generated by the simulator, and / or a third vehicle control command generated by the central control display screen.

[0101] In some embodiments of this application, the first determining unit 420 is specifically used to: establish a communication connection between the client and the central control host; and determine the first connection status of the central control host based on the communication connection result.

[0102] In some embodiments of this application, the second determining unit 430 is specifically used to: if the first connection status of the central control host is successful, then determine the target sending end as the central control host; if the first connection status of the central control host is failed, then determine the target sending end as the client.

[0103] In some embodiments of this application, the apparatus further includes: a receiving unit for receiving vehicle data sent by the vehicle terminal through the server; a third determining unit for determining a second connection state of the central control host; a fourth determining unit for determining a target receiving end based on the second connection state of the central control host, wherein the target receiving end is the central control host or the client; and a display unit for sending the vehicle data to the target receiving end and displaying the vehicle data through the target receiving end.

[0104] In some embodiments of this application, the fourth determining unit is specifically used to: if the second connection status of the central control host is successful, then determine the target receiving end as the central control host; if the second connection status of the central control host is failed, then determine the target receiving end as the client.

[0105] In some embodiments of this application, the central control unit further includes a central control display screen and an ambient screen. The vehicle data includes first vehicle data, second vehicle data, and third vehicle data. The display unit is specifically used for: if the target receiving end is the central control host, displaying the first vehicle data through the central control display screen, displaying the second vehicle data through the ambient screen, and sending the third vehicle data to the client for display through the central control host; if the target receiving end is the client, displaying the third vehicle data through the client.

[0106] It is understood that the interaction device of the above-mentioned parallel driving system can realize each step of the interaction method of the parallel driving system provided in the foregoing embodiments. The relevant explanations of the interaction method of the parallel driving system are applicable to the interaction device of the parallel driving system, and will not be repeated here.

[0107] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Please refer to it. Figure 5 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and memory. The memory may include main memory, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk drive. Of course, the electronic device may also include other hardware required for other business operations.

[0108] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0109] Memory is used to store programs. Specifically, programs may include program code, which includes computer operation instructions. Memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

[0110] The processor reads the corresponding computer program from non-volatile memory into main memory and then runs it, forming the interactive device of the parallel driving system at the logical level. The processor executes the program stored in memory and specifically performs the following operations:

[0111] Obtain vehicle control commands, the vehicle control commands including a first vehicle control command simulated by the client;

[0112] The first connection state of the central control host is determined according to the first vehicle control command;

[0113] The target transmitter is determined based on the first connection status of the central control host, wherein the target transmitter is the central control host or the client.

[0114] The first vehicle control command is sent from the target sending end to the server, and then sent from the server to the vehicle end, so that the vehicle end processes the first vehicle control command and returns vehicle data.

[0115] The above is as stated in this application. Figure 1The method executed by the interactive device of the parallel driving system disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0116] The electronic device can also perform Figure 1 The method for executing the interaction device of the parallel driving system, and the implementation of the interaction device of the parallel driving system in Figure 1 The functions of the embodiments shown are not described in detail here.

[0117] This application also proposes a computer-readable storage medium that stores one or more programs, the programs including instructions that, when executed by an electronic device including multiple applications, enable the electronic device to perform... Figure 1 The method executed by the interactive device of the parallel driving system in the illustrated embodiment is specifically used to perform:

[0118] Obtain vehicle control commands, the vehicle control commands including a first vehicle control command simulated by the client;

[0119] The first connection state of the central control host is determined according to the first vehicle control command;

[0120] The target transmitter is determined based on the first connection status of the central control host, wherein the target transmitter is the central control host or the client.

[0121] The first vehicle control command is sent from the target sending end to the server, and then sent from the server to the vehicle end, so that the vehicle end processes the first vehicle control command and returns vehicle data.

[0122] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0123] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0124] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0125] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0126] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0127] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0128] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0129] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0130] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0131] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. An interaction method for a parallel driving system, the method being executed by the parallel driving system, the parallel driving system comprising a central control terminal, a client terminal, and a server terminal, wherein the central control terminal includes a central control host, wherein... The method includes: Obtain vehicle control commands, the vehicle control commands including a first vehicle control command simulated by the client; The first connection state of the central control host is determined according to the first vehicle control command; The target transmitter is determined based on the first connection status of the central control host, wherein the target transmitter is the central control host or the client. The first vehicle control command is sent to the server through the target sending end, and then sent to the vehicle end through the server, so that the vehicle end can process the first vehicle control command and return vehicle data. The client includes a client display screen, and the first vehicle control command is generated by the user touching the client display screen; The step of determining the target transmitter based on the first connection state of the central control host includes: If the first connection status of the central control host is successful, then the target sending end is determined to be the central control host; If the first connection status of the central control host is connection failure, then the target sending end is determined to be the client; After sending the vehicle control command to the server via the target sending terminal, and then sending the vehicle control command to the vehicle via the server, the method further includes: The server receives vehicle data sent by the vehicle. Determine the second connection status of the central control host; The target receiving end is determined based on the second connection state of the central control host, wherein the target receiving end is the central control host or the client. The vehicle data is sent to the target receiving end, and the vehicle data is displayed through the target receiving end; The central control unit also includes a central control display screen and an ambient screen. The vehicle data includes first vehicle data, second vehicle data, and third vehicle data. Sending the vehicle data to the target receiving end and displaying the vehicle data through the target receiving end includes: If the target receiving end is the central control host, then the first vehicle data is displayed through the central control display screen, the second vehicle data is displayed through the ambient screen, and the third vehicle data is sent to the client for display through the central control host; If the target receiving end is the client, then the third vehicle data is displayed through the client; The first vehicle data includes at least one of the following: login, system exit, auxiliary line switch, vehicle information display, high-precision map, and 2D map; the second vehicle data includes at least one of the following: number of online vehicles, number of vehicles to be processed, 360-degree environment of the vehicle body displayed through the vehicle camera, vehicle speed, time delay, driving auxiliary lines, and AR navigation; the third vehicle data includes at least one of the following: vehicle selection, activation of monitoring mode, switching driving mode, remote control of vehicle PDRN gear position, handbrake, and hazard lights.

2. The method as described in claim 1, wherein, The parallel driving system also includes a simulator, the central control unit also includes a central control display screen, and the vehicle control commands also include a second vehicle control command generated by the simulator, and / or a third vehicle control command generated by the central control display screen.

3. The method as described in claim 1, wherein, Determining the first connection state of the central control host according to the first vehicle control command includes: The client establishes a communication connection with the central control host. The first connection status of the central control host is determined based on the communication connection result.

4. The method as described in claim 1, wherein, The step of determining the target receiving end based on the second connection state of the central control host includes: If the second connection status of the central control host is successful, then the target receiving end is determined to be the central control host; If the second connection status of the central control host is connection failure, then the target receiving end is determined to be the client.

5. An interactive device for a parallel driving system, the device being applied to the parallel driving system, the parallel driving system comprising a central control terminal, a client terminal, and a server terminal, wherein the central control terminal includes a central control host, wherein... The device includes: An acquisition unit is used to acquire vehicle control commands, the vehicle control commands including a first vehicle control command simulated by the client; The first determining unit is used to determine the first connection state of the central control host according to the first vehicle control command; The second determining unit is used to determine the target sending end based on the first connection state of the central control host, wherein the target sending end is the central control host or the client. The sending unit is configured to send the first vehicle control command to the server through the target sending terminal, and send the first vehicle control command to the vehicle terminal through the server, so that the vehicle terminal processes the first vehicle control command and returns vehicle data; The client includes a client display screen, and the first vehicle control command is generated by the user touching the client display screen; The second determining unit is specifically used for: If the first connection status of the central control host is successful, then the target sending end is determined to be the central control host; If the first connection status of the central control host is connection failure, then the target sending end is determined to be the client; The device further includes: A receiving unit is used to receive vehicle data sent by the vehicle terminal through the server. The third determining unit is used to determine the second connection state of the central control host; The fourth determining unit is used to determine the target receiving end based on the second connection state of the central control host, wherein the target receiving end is the central control host or the client. The display unit is used to send the vehicle data to the target receiving end and display the vehicle data through the target receiving end; The central control unit also includes a central control display screen and an ambient screen. The vehicle data includes first vehicle data, second vehicle data, and third vehicle data. The display unit is specifically used for: If the target receiving end is the central control host, then the first vehicle data is displayed through the central control display screen, the second vehicle data is displayed through the ambient screen, and the third vehicle data is sent to the client for display through the central control host; If the target receiving end is the client, then the third vehicle data is displayed through the client; The first vehicle data includes at least one of the following: login, system exit, auxiliary line switch, vehicle information display, high-precision map, and 2D map; the second vehicle data includes at least one of the following: number of online vehicles, number of vehicles to be processed, 360-degree environment of the vehicle body displayed through the vehicle camera, vehicle speed, time delay, driving auxiliary lines, and AR navigation; the third vehicle data includes at least one of the following: vehicle selection, activation of monitoring mode, switching driving mode, remote control of vehicle PDRN gear position, handbrake, and hazard lights.

6. A parallel driving system, wherein, The system includes a central control unit, a client, a server, and a simulator. The central control unit includes a central control host and a central control display screen. The central control host establishes communication connections with the client, the server, the simulator, and the central control display screen. The client is used to simulate a first vehicle control command and send it to the central control host. The simulator is used to generate a second vehicle control command and send it to the central control host. The central control display screen is used to generate a third vehicle control command and send it to the central control host. The central control host is used to send the received first vehicle control command and / or second vehicle control command and / or third vehicle control command to the server. The server is used to send the first vehicle control command and / or second vehicle control command and / or third vehicle control command to the vehicle terminal, so that the vehicle terminal processes the first vehicle control command and / or second vehicle control command and / or third vehicle control command and returns vehicle data. The client includes a client display screen, and the first vehicle control command is generated by the user touching the client display screen; The client is also used to determine the target sender based on the first connection status of the central control host; if the first connection status of the central control host is a successful connection, then the target sender is determined to be the central control host; if the first connection status of the central control host is a failed connection, then the target sender is determined to be the client. After the vehicle control command is sent to the server via the target sending terminal, and then sent to the vehicle terminal via the server, the client is further configured to: The server receives vehicle data sent by the vehicle. Determine the second connection status of the central control host; The target receiving end is determined based on the second connection state of the central control host, wherein the target receiving end is the central control host or the client. The vehicle data is sent to the target receiving end, and the vehicle data is displayed through the target receiving end; The central control unit also includes a central control display screen and an ambient screen. The vehicle data includes first vehicle data, second vehicle data, and third vehicle data. The client is also used for: If the target receiving end is the central control host, then the first vehicle data is displayed through the central control display screen, the second vehicle data is displayed through the ambient screen, and the third vehicle data is sent to the client for display through the central control host; If the target receiving end is the client, then the third vehicle data is displayed through the client; The first vehicle data includes at least one of the following: login, system exit, auxiliary line switch, vehicle information display, high-precision map, and 2D map; the second vehicle data includes at least one of the following: number of online vehicles, number of vehicles to be processed, 360-degree environment of the vehicle body displayed through the vehicle camera, vehicle speed, time delay, driving auxiliary lines, and AR navigation; the third vehicle data includes at least one of the following: vehicle selection, activation of monitoring mode, switching driving mode, remote control of vehicle PDRN gear position, handbrake, and hazard lights.

7. An electronic device, comprising: processor; as well as A memory configured to store computer-executable instructions, which, when executed, cause the processor to perform the method of any one of claims 1 to 4.

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