A remote driving control synchronization method, device and equipment and storage medium

Abstract

Embodiments of the present application disclose a control synchronization method, device and equipment for remote driving, and a storage medium, which can be applied to various scenes such as cloud technology and intelligent transportation, and is used for saving control overhead, reducing control delay and improving control efficiency under a weak network. The method comprises the following steps: a simulation controller and a control sending unit are deployed in a simulation cockpit; a target control quantity and a target control quantity type are determined from a control state mirror image; a historical parameter value of the target control quantity is updated as a control quantity parameter value; a sending strategy is determined according to the target control quantity type and the control quantity parameter value; data packets corresponding to the target control quantity are synchronized to a control receiving unit according to the sending strategy; the control receiving unit generates corresponding target control instructions according to the data packets corresponding to the target control quantity and sends the target control instructions to a controlled unit, so that the controlled unit operates according to the target control instructions; and the receiving unit and the controlled unit are deployed in a remote driving device.

Description

Technical Field

[0001] This application relates to the field of intelligent transportation technology, and in particular to a remote driving control synchronization method, apparatus, device, and storage medium. Background Technology

[0002] With the rapid development of technology, making vehicles more intelligent and connected has become a hot topic in the development of automobiles in today's society.

[0003] Remote driving is an important product of vehicle intelligence and connectivity. Remote driving involves transmitting vehicle status information, such as images captured by cameras, to a remote driver's cockpit via the internet and displaying it to the driver in real time. The driver then makes judgments based on this information, controls the simulation controller, and finally, the simulation controller sends control commands to the vehicle via the internet, achieving synchronous control of the vehicle.

[0004] Currently, the technology for achieving synchronous control of vehicles typically involves the analog controller sending control commands directly to the vehicle via TCP, ensuring reliable transmission of control commands. However, when network conditions are poor, leading to packet loss or retransmission, the actual delay in the control commands reaching the other end can be significant, ultimately increasing the end-to-end control synchronization delay. Summary of the Invention

[0005] This application provides a remote driving control synchronization method, apparatus, device, and storage medium. It is used to select different transmission strategies for different types of target control quantities in a control transmission unit deployed in a simulated cockpit. Based on the transmission strategy, different transmission processing methods can be used for different types of target control quantities to perform control synchronization with the control receiving unit and the controlled unit deployed in the remote driving device. This can reduce the delay of control commands reaching the control receiving unit, thereby reducing the control synchronization delay.

[0006] This application provides a remote driving control synchronization method, including:

[0007] The control sending unit receives control commands sent by the simulation controller. The simulation controller and the control sending unit are deployed in the simulation cockpit, which is used to simulate remote driving equipment. The control commands carry control parameter values.

[0008] Based on the control command, determine the target control quantity and the type of target control quantity from the control state mirror of the control sending unit;

[0009] Update the historical parameter values ​​of the target control variable in the control state mirror to the control variable parameter values;

[0010] Determine the transmission strategy corresponding to the target control quantity based on the target control quantity type and control quantity parameter value;

[0011] According to the transmission strategy, the control transmission unit synchronizes the data packets corresponding to the target control quantity to the control receiving unit, wherein the control receiving unit is deployed in the remote driving equipment;

[0012] Based on the data packet corresponding to the target control quantity, the control receiving unit generates the corresponding target control command;

[0013] The control receiving unit sends the target control command to the controlled unit so that the controlled unit can operate according to the target control command. The controlled unit is deployed in the remote driving device.

[0014] Another aspect of this application provides a remote driving control synchronization device, comprising:

[0015] The receiving module is used to control the sending unit to receive control commands sent by the analog controller. The analog controller and the control sending unit are deployed in the simulated cockpit, which is used to simulate remote driving equipment. The control commands carry control parameter values.

[0016] The determination module is used to determine the target control quantity and the type of the target control quantity from the control state image of the control sending unit according to the control command;

[0017] The processing module is used to update the historical parameter values ​​of the target control quantity in the control state mirror to the control quantity parameter values;

[0018] The determination module is also used to determine the transmission strategy corresponding to the target control quantity based on the target control quantity type and control quantity parameter value;

[0019] The processing module is also used to control the sending unit to synchronize the data packet corresponding to the target control quantity to the control receiving unit according to the sending strategy, wherein the control receiving unit is deployed in the remote driving device;

[0020] The processing module is also used to control the receiving unit to generate corresponding target control instructions based on the data packets corresponding to the target control quantity;

[0021] The processing module is also used to control the receiving unit to send target control commands to the controlled unit so that the controlled unit can operate according to the target control commands, wherein the controlled unit is deployed in the remote driving device.

[0022] In one possible design, in another implementation of the embodiments of this application, the processing module may specifically be used for:

[0023] Compare the control parameter values ​​with historical parameter values;

[0024] When the control parameter value is different from the historical parameter value, update the historical parameter value of the target control quantity to the control parameter value;

[0025] Mark the target control variable as a retainable control variable to be updated.

[0026] In one possible design, in another implementation of the embodiments of this application, the processing module may specifically be used for:

[0027] Based on the User Datagram Protocol (UDP), and according to the sending strategy, the control sending unit synchronizes the data packets corresponding to the target control quantity to the control receiving unit.

[0028] In one possible design, in another implementation of the embodiments of this application, the processing module may specifically be used for:

[0029] According to the update cycle, numerical state sampling is performed on all volatile control variables in the control state image to obtain the current control variable parameter value and the current sampling timestamp corresponding to each volatile control variable.

[0030] Generate the first data packet based on each variable control variable, the current control variable parameter value, and the current sampling timestamp;

[0031] Based on the UDP protocol, the control sending unit synchronizes the first data packet to the control receiving unit according to the update cycle.

[0032] In one possible design, in another implementation of the embodiments of this application, the processing module may specifically be used for:

[0033] According to the update cycle, the numerical state sampling is performed on the hold-type control variables to be updated in the control state image to obtain the current control variable parameter value and the current sampling timestamp for each hold-type control variable to be updated.

[0034] The second data packet is generated based on the hold-up control variable to be updated, the current control variable parameter value corresponding to each hold-up control variable to be updated, and the current sampling timestamp.

[0035] Based on the UDP protocol, the control sending unit synchronizes the second data packet to the control receiving unit according to the update cycle.

[0036] In one possible design, in another implementation of the embodiments of this application,

[0037] The processing module is also used to control the receiving unit to compare the current sampling timestamp in the data packet with the standard timestamp of the receiving unit;

[0038] The processing module is also used to control the receiving unit to generate corresponding target control instructions based on the data packet if the current sampling timestamp is greater than the standard timestamp.

[0039] The processing module is also used to control the receiving unit to ignore data packets if the current sampling timestamp is less than the standard timestamp.

[0040] In one possible design, in another implementation of the embodiments of this application,

[0041] The processing module is also used to compare the control quantity parameter value corresponding to the control quantity to be updated and retained carried in the value status confirmation request returned by the control receiving unit with the current parameter value corresponding to the control quantity to be updated and retained in the control status image when the control sending unit receives the value status confirmation request corresponding to the value status confirmation request returned by the control receiving unit.

[0042] The processing module is also used to mark the control quantity to be updated in the control state mirror as a control quantity that does not need to be updated if the control quantity parameter value is consistent with the current parameter value.

[0043] The processing module is also used to make the control sending unit ignore the control parameter value if the control parameter value is inconsistent with the current parameter value.

[0044] In one possible design, in another implementation of the embodiments of this application,

[0045] The processing module is also used to control the sending unit to add the target control quantity to the trigger-type sending queue;

[0046] The processing module can be specifically used for:

[0047] Based on forward error correction codes, packet encoding is performed on the control quantities in the trigger-type transmission queue to obtain the encoded data packets corresponding to each control quantity;

[0048] Based on the UDP protocol, the control sending unit sequentially synchronizes the forward error correction code and the encoded data packet to the control receiving unit according to the order of control variables in the trigger-type sending queue.

[0049] In one possible design, in another implementation of the embodiments of this application,

[0050] The processing module is also used to send a feedback signal indicating reception failure to the control sending unit if the control receiving unit does not receive the forward error correction code and the encoded data packet sent by the control sending unit within the first receiving time.

[0051] The receiving module is also used to control the transmitting unit to repeatedly transmit forward error correction codes and encoded data packets based on the feedback signal of receiving failure;

[0052] The receiving module is also used to send a feedback signal of successful reception to the control sending unit if the control receiving unit receives the forward error correction code and the encoded data packet sent by the control sending unit within the first receiving time.

[0053] The processing module is also used to control the receiving unit to decode the encoded data packet according to the encoding algorithm corresponding to the forward error correction code, so as to obtain the decoding control quantity data;

[0054] Specifically, the processing module can be used to: control the receiving unit to generate corresponding target control commands based on the decoded control data.

[0055] In one possible design, in another implementation of the embodiments of this application,

[0056] The receiving module is also used to determine the current control synchronization state as a control abnormal state if the control receiving unit does not receive the data packet sent by the control sending unit within the second receiving time.

[0057] The processing module is also used to control the receiving unit to generate corresponding abnormal control instructions according to the abnormal emergency mechanism based on the abnormal control status.

[0058] The processing module is also used to control the receiving unit to send abnormal control instructions to the controlled unit, so that the controlled unit can operate according to the abnormal control instructions.

[0059] In one possible design, in another implementation of the embodiments of this application, the determining module can specifically be used for:

[0060] Based on the control quantity identifier carried by the control command, determine the target control quantity corresponding to the control quantity identifier from the control state image;

[0061] Based on the mapping relationship between control quantity and control quantity type, determine the target control quantity type corresponding to the target control quantity.

[0062] This application also provides a computer device, including: a memory, a processor, and a bus system;

[0063] The memory is used to store programs;

[0064] The processor implements the methods described above when executing a program in memory;

[0065] Bus systems are used to connect memory and processor to enable communication between them.

[0066] Another aspect of this application provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the methods described above.

[0067] As can be seen from the above technical solutions, the embodiments of this application have the following beneficial effects:

[0068] The control sending unit, deployed in the simulator cockpit, receives control commands carrying control parameter values ​​from the simulator controller. Based on the control commands, the control sending unit determines the target control quantity and its type from the control state mirror, updates the historical parameter values ​​of the target control quantity in the control state mirror to the new control parameter values, and then determines the corresponding transmission strategy based on the target control quantity type and parameter values. Following the transmission strategy, the control sending unit synchronizes the data packets corresponding to the target control quantity to the control receiving unit deployed in the remote driving device. The control receiving unit can generate corresponding target control commands based on the data packets corresponding to the target control quantity and send the target control commands to the controlled units, enabling the controlled units deployed in the remote driving device to operate according to the target control commands. In this way, the target control quantity type can be determined in the control transmission unit deployed in the simulated cockpit based on the received control commands and the control quantities in the control state mirror. Different transmission strategies can be selected for different types of target control quantities. Based on the transmission strategy, different transmission processing methods can be used to transmit different types of target control quantities to the control receiving unit and the controlled unit deployed in the remote driving equipment for control synchronization. This can reduce the delay of control commands reaching the control receiving unit, thereby reducing the delay of control synchronization. Attached Figure Description

[0069] Figure 1(a) is an interactive schematic diagram of the remote control system in an embodiment of this application;

[0070] Figure 1(b) is another interactive schematic diagram of the remote control system in an embodiment of this application;

[0071] Figure 2 This is a flowchart of one embodiment of the remote driving control synchronization method in this application;

[0072] Figure 3 This is a flowchart of another embodiment of the remote driving control synchronization method in this application;

[0073] Figure 4 This is a flowchart of another embodiment of the remote driving control synchronization method in this application;

[0074] Figure 5 This is a flowchart of another embodiment of the remote driving control synchronization method in this application;

[0075] Figure 6 This is a flowchart of another embodiment of the remote driving control synchronization method in this application;

[0076] Figure 7 This is a flowchart of another embodiment of the remote driving control synchronization method in this application;

[0077] Figure 8 This is a flowchart of another embodiment of the remote driving control synchronization method in this application;

[0078] Figure 9 This is a flowchart of another embodiment of the remote driving control synchronization method in this application;

[0079] Figure 10 This is a flowchart of another embodiment of the remote driving control synchronization method in this application;

[0080] Figure 11 This is a flowchart of another embodiment of the remote driving control synchronization method in this application;

[0081] Figure 12 This is a flowchart of another embodiment of the remote driving control synchronization method in this application;

[0082] Figure 13 This is a schematic diagram illustrating the principle of remote driving control synchronization method based on TCP protocol for transmitting control commands in an embodiment of this application;

[0083] Figure 14 This is a schematic diagram illustrating the principle of the remote driving control synchronization method in this application embodiment;

[0084] Figure 15 This is a schematic diagram of one embodiment of the remote driving control synchronization device in this application;

[0085] Figure 16 This is a schematic diagram of one embodiment of the computer device described in this application. Detailed Implementation

[0086] This application provides a remote driving control synchronization method, apparatus, device, and storage medium. It is used to select different transmission strategies for different types of target control quantities in a control transmission unit deployed in a simulated cockpit. Based on the transmission strategy, different transmission processing methods can be used for different types of target control quantities to perform control synchronization with the control receiving unit and the controlled unit deployed in the remote driving device. This can reduce the delay of control commands reaching the control receiving unit, thereby reducing the control synchronization delay.

[0087] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “corresponding to,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0088] It is understood that in the specific embodiments of this application, data related to control quantities and control quantity parameter values ​​are involved. When the above embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0089] It is understood that the remote driving control synchronization method disclosed in this application specifically involves Intelligent Vehicle Infrastructure Cooperative Systems (IVICS), which will be further introduced below. Intelligent Vehicle Infrastructure Cooperative Systems, or simply Vehicle-Road Cooperative Systems, are a development direction of Intelligent Transportation Systems (ITS). IVICS utilizes advanced wireless communication and next-generation Internet technologies to implement comprehensive, real-time dynamic information interaction between vehicles and roads. Based on the collection and fusion of dynamic traffic information across all times and spaces, it conducts active vehicle safety control and cooperative road management, fully realizing effective coordination between people, vehicles, and roads, ensuring traffic safety, improving traffic efficiency, and thus forming a safe, efficient, and environmentally friendly road traffic system.

[0090] It is understandable that the remote driving control synchronization method disclosed in this application also involves cloud technology, which will be further introduced below. Cloud technology refers to a hosting technology that unifies a series of resources such as hardware, software, and networks within a wide area network or local area network to realize data computing, storage, processing, and sharing. Cloud technology is a general term for network technology, information technology, integration technology, management platform technology, and application technology based on the cloud computing business model. It can form a resource pool, which can be used on demand, flexibly and conveniently. Cloud computing technology will become an important support. The back-end services of technical network systems require a large amount of computing and storage resources, such as video websites, image websites, and more portal websites. With the rapid development and application of the Internet industry, in the future, every item may have its own identification mark, which will need to be transmitted to the back-end system for logical processing. Data of different levels will be processed separately, and various industry data will all require strong system support, which can only be achieved through cloud computing.

[0091] Cloud computing is a computing model that distributes computing tasks across a resource pool composed of a large number of computers, enabling various application systems to access computing power, storage space, and information services as needed. The network providing these resources is called the "cloud." From the user's perspective, the resources in the "cloud" are infinitely scalable, readily available, on-demand, expandable, and pay-as-you-go.

[0092] As a provider of fundamental cloud computing capabilities, a cloud resource pool (referred to as a cloud platform, generally called an IaaS (Infrastructure as a Service) platform) is established. Various types of virtual resources are deployed in the resource pool for external customers to choose from. The cloud resource pool mainly includes: computing devices (virtualized machines containing operating systems), storage devices, and network devices.

[0093] Based on logical function, a PaaS (Platform as a Service) layer can be deployed on top of the IaaS (Infrastructure as a Service) layer, and a SaaS (Software as a Service) layer can be deployed on top of the PaaS layer. Alternatively, SaaS can be deployed directly on top of IaaS. PaaS is a platform for running software, such as databases and web containers. SaaS refers to various types of transaction software, such as web portals and bulk SMS senders. Generally speaking, SaaS and PaaS are upper layers compared to IaaS.

[0094] Secondly, cloud security refers to the collective term for security software, hardware, users, organizations, and security cloud platforms based on cloud computing business models. Cloud security integrates emerging technologies and concepts such as parallel processing, grid computing, and unknown virus behavior detection. Through a large network of clients, it monitors abnormal software behavior on the network, obtains the latest information on Trojans and malware on the Internet, sends it to the server for automatic analysis and processing, and then distributes solutions for viruses and Trojans to each client.

[0095] Secondly, cloud storage is a new concept that extends and develops from the concept of cloud computing. A distributed cloud storage system (hereinafter referred to as a storage system) refers to a storage system that uses cluster applications, grid technology, and distributed storage file systems to bring together a large number of storage devices of various types (storage devices are also called storage nodes) in the network to work together and jointly provide data storage and transaction access functions to the outside world.

[0096] Currently, the storage method of storage systems is as follows: Logical volumes are created. During the creation of a logical volume, physical storage space is allocated to each logical volume. This physical storage space may consist of a single storage device or the disks of several storage devices. Clients store data on a logical volume, which means storing the data on the file system. The file system divides the data into many parts, each part being an object. Each object contains not only the data but also additional information such as a data identifier (ID, ID entity). The file system writes each object to the physical storage space of that logical volume and records the storage location information of each object. Therefore, when a client requests access to data, the file system can allow the client to access the data based on the storage location information of each object.

[0097] The process by which a storage system allocates physical storage space to a logical volume is as follows: the physical storage space is pre-divided into strips according to the capacity estimate of the objects stored in the logical volume (this estimate often has a large margin relative to the actual capacity of the objects to be stored) and the grouping of Redundant Array of Independent Disks (RAID). A logical volume can be understood as a strip, thus allocating physical storage space to the logical volume.

[0098] It should be understood that the remote driving control synchronization method provided in this application can be applied to various scenarios, including but not limited to cloud technology, artificial intelligence, intelligent transportation, and assisted driving, for scenarios such as remote driving or control of vehicles, aircraft, or ships by sending control commands from an analog controller to the vehicle end. For example, by sending a rudder direction control command from the analog controller to ship A, ship A adjusts its rudder direction to move. As another example, by sending a windshield wiper control command from the analog controller to car B, car B turns on its windshield wipers. As yet another example, by sending a gear control command from the analog controller to excavator C, excavator C adjusts its gear to dig. In all these scenarios, to achieve synchronized control of the vehicle, control commands are usually transmitted directly to the vehicle end based on the TCP protocol. However, when the network is poor, and problems such as packet loss or retransmission occur, the actual time delay of the control commands reaching the other end can be large, ultimately leading to a larger end-to-end control synchronization delay.

[0099] To address the aforementioned issues, this application proposes a remote driving control synchronization method. This method is applied to the remote control system shown in Figure 1(a). Figure 1(a) is a schematic diagram of the architecture of the remote control system in an embodiment of this application. As shown in Figure 1(a), the control sending unit deployed in the simulated cockpit receives control commands carrying control quantity parameter values ​​sent by the simulated controller. The control sending unit can determine the target control quantity and the target control quantity type from the control state mirror based on the control command, and update the historical parameter values ​​of the target control quantity in the control state mirror to the control quantity parameter values. Then, based on the target control quantity type and the control quantity parameter values, the sending strategy corresponding to the target control quantity is determined. Then, according to the sending strategy, the control sending unit synchronizes the data packet corresponding to the target control quantity to the control receiving unit deployed in the remote driving device. The control receiving unit can generate a corresponding target control command based on the data packet corresponding to the target control quantity and send the target control command to the controlled unit so that the controlled unit deployed in the remote driving device operates according to the target control command. In this way, the target control quantity type can be determined in the control transmission unit deployed in the simulated cockpit based on the received control commands and the control quantities in the control state mirror. Different transmission strategies can be selected for different types of target control quantities. Based on the transmission strategy, different transmission processing methods can be used to transmit different types of target control quantities to the control receiving unit and the controlled unit deployed in the remote driving equipment for control synchronization. This can reduce the delay of control commands reaching the control receiving unit, thereby reducing the delay of control synchronization.

[0100] The system includes communication connections between the analog controller and the control transmitting unit, between the control transmitting unit and the control receiving unit, and between the control receiving unit and the controlled unit. Specifically, the analog controller and the control transmitting unit can be integrated on the same server or serve as two separate servers. It should be understood that the number of analog controllers, control transmitting units, control receiving units, and controlled units shown in Figure 1(a) is merely an example and is not intended to limit the specific number of these units. The exact number should be determined flexibly based on the actual situation.

[0101] It should be noted that, please refer to Figure 1(b), which is another schematic diagram of the architecture of the remote control system in this application embodiment, including an analog controller, a control transmitting unit, a control receiving unit, and a controlled unit. The control receiving unit and the controlled unit are deployed on the terminal device. It is understood that only one type of terminal device is shown in Figure 1(b). In actual scenarios, more types of terminal devices can participate in the data processing process. Terminal devices include, but are not limited to, mobile phones, computers, intelligent voice interaction devices, smart home appliances, vehicle terminals, aircraft, etc. The specific number and types depend on the actual scenario and are not limited here.

[0102] It should be noted that in this embodiment, the server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms.

[0103] Based on the above introduction, the control synchronization method for remote driving in this application will be described below. Please refer to [link / reference]. Figure 2 One embodiment of the remote driving control synchronization method in this application includes:

[0104] In step S101, the control sending unit receives control commands sent by the simulation controller. The simulation controller and the control sending unit are deployed in the simulation cockpit, which is used to simulate remote driving equipment. The control commands carry control quantity parameter values.

[0105] In this embodiment, the simulation controller can be a remote controller deployed in the simulator, or it can take other forms, without specific limitations. For example, the simulation controller may include, but is not limited to, a steering controller, a gear controller, a throttle controller, and a brake pedal controller. The control sending unit is deployed in the simulator and is used to forward various control commands received from the simulation controller to the remote driving device, i.e., the control receiving unit of the terminal device (such as the vehicle), to achieve synchronous control of the corresponding remote driving device (such as the vehicle).

[0106] The control command carries control parameter values. These control parameter values ​​indicate the numerical state of the control quantity; for example, a control parameter value of 3 for a gear indicates that the gear is 3.

[0107] Specifically, such as Figure 14 As shown, when a driver or test subject performs control operations on a remote driving device (such as a vehicle) through a simulated cockpit, the simulation controller deployed in the simulated cockpit can receive the driver's or test subject's selection operation for the remote driving device (such as a vehicle) that they want to drive or control, and generate corresponding control commands based on the driver's or test subject's selection operation. For example, by operating the steering wheel controller in the simulated cockpit, a steering wheel control command is generated to control the direction of travel of the remote driving device (such as a vehicle); or by operating the gear position controller in the simulated cockpit, a gear position control command is generated to control the gear position of the remote driving device (such as a vehicle); or by operating the throttle controller in the simulated cockpit, a throttle control command is generated to control the acceleration or deceleration of the remote driving device (such as a vehicle); or by operating the brake pedal controller in the simulated cockpit, a brake control command is generated to control the braking of the remote driving device (such as a vehicle), etc. Then, the simulation controller sends the generated series of control commands to the control sending unit so that the control sending unit can obtain the control commands sent by the simulation controller.

[0108] In step S102, the target control quantity and the type of target control quantity are determined from the control state mirror of the control sending unit according to the control quantity instruction;

[0109] In this embodiment, after the control unit receives the control command sent by the analog controller, it can query or traverse the target control quantity and the target control quantity type corresponding to the target control quantity from the control state mirror of the control sending unit according to the control command. This allows the control command to be sent to the control receiving unit more effectively by selecting an appropriate sending strategy based on the target control quantity type, thereby reducing the control synchronization delay to a certain extent.

[0110] The control state mirror is built within the control sending unit to simulate remote driving equipment (such as a vehicle) and various control devices (such as vehicle control devices) associated with the remote driving equipment (such as a vehicle). The control devices are scaled down and built into the control state mirror according to a preset ratio, and can be represented as various control variables, such as accelerator, brake, steering wheel, gear shift, and horn. The target control variable type can be volatile, hold, or trigger-type, or other types; no specific restrictions are placed here.

[0111] Among them, the variable type is used to indicate control quantities that only take effect at the current value and change rapidly, such as accelerator, brake, and steering wheel control quantities; the hold type is used to indicate control quantities that only take effect at the current value and change slowly, such as turn signal, gear, wiper, and turn signal control quantities; and the trigger type is used to indicate control quantities that require any historical value to take effect, such as horn control quantities.

[0112] Specifically, after the control unit receives the control command sent by the analog controller, it can quickly determine the target control quantity corresponding to the control quantity identifier from the control state mirror according to the control quantity identifier and the correspondence between the control quantity identifier and the control quantity, and quickly determine the target control quantity type corresponding to the target control quantity according to the mapping relationship between the control quantity and the control quantity type.

[0113] In step S103, the historical parameter values ​​of the target control quantity in the control state mirror are updated to the control quantity parameter values;

[0114] In this embodiment, after obtaining the target control quantity and the target control quantity type, the historical parameter values ​​of the target control quantity in the control state image can be updated according to the target control quantity type, so as to update the historical parameter values ​​to control quantity parameter values.

[0115] Specifically, after obtaining the target control quantity and its type, the historical parameter values ​​of the target control quantity in the control state mirror can be updated according to the target control quantity type. For example, when the target control quantity type is volatile, the numerical state of the corresponding target control quantity in the control state mirror is directly updated, that is, the historical parameter value of the target control quantity is changed to the control quantity parameter value; or, when the target control quantity type is persistent, the control quantity parameter value is compared with the historical parameter value. Only when the control quantity parameter value is different from the historical parameter value is the historical parameter value of the target control quantity changed to the control quantity parameter value, and at the same time, the target control quantity is marked as a persistent control quantity that needs to be updated; or, when the target control quantity type is triggering, the historical parameter value of the target control quantity is changed to the control quantity parameter value, and it is added to the trigger sending queue. Other update methods can also be used, and no specific restrictions are imposed here.

[0116] For example, an analog controller can periodically report control quantity data such as throttle, steering wheel, and brake to the control sending unit according to a reporting update cycle of 10ms. When the control sending unit receives these control quantity reports, it updates the corresponding volatile control quantities in the local control state mirror.

[0117] In step S104, the transmission strategy corresponding to the target control quantity is determined based on the target control quantity type and the control quantity parameter value.

[0118] In this embodiment, after updating the historical parameter values ​​of the target control quantity to the control quantity parameter values, the transmission strategy corresponding to the target control quantity can be obtained according to the target control quantity type and the control quantity parameter values. This allows for subsequent control synchronization based on the transmission strategy, enabling different transmission processing methods to be used for different types of target control quantities. This reduces the delay of control commands reaching the control receiving unit, thereby reducing the delay of control synchronization.

[0119] Among them, the sending strategy can be expressed as synchronous, without retransmission, or according to the queue order, supporting retransmission, or other sending strategies, depending on the different target control variable types. No specific restrictions are made here.

[0120] Specifically, after updating the historical parameter values ​​of the target control quantity to the control quantity parameter values, a suitable transmission strategy can be matched according to the pre-configured mapping relationship between control quantity types and transmission strategies. For example, since volatile control quantities are control quantities that only have the current value in effect and change rapidly, synchronous updates can be used to perform timed updates and transmissions according to a preset period.

[0121] In step S105, according to the sending strategy, the control sending unit synchronizes the data packet corresponding to the target control quantity to the control receiving unit, wherein the control receiving unit is deployed in the remote driving device;

[0122] In this embodiment, after determining the transmission strategy corresponding to the target control quantity, the control transmission unit can synchronize the data packet corresponding to the target control quantity to the control receiving unit according to the control transmission strategy, so as to synchronize the control to the controlled unit through the control receiving unit, thereby realizing the control synchronization of the remote driving device. This can reduce the delay of the control command reaching the control receiving unit, thereby reducing the control synchronization delay.

[0123] The control receiving unit is deployed in the remote driving device (such as a vehicle) to parse the data packets corresponding to the received target control quantity and generate corresponding control commands to synchronize to the controlled unit. The data packet refers to the segmented transmission data corresponding to the target control quantity, used to encapsulate and transmit the data corresponding to the target control quantity.

[0124] Specifically, such as Figure 14 As shown, after determining the transmission strategy corresponding to the target control quantity, the control transmission unit can encapsulate the control quantity identifier and control quantity parameter values ​​of the target control quantity into a data packet corresponding to the target control quantity according to the control transmission strategy. Then, the control transmission unit can send the data packet to the control receiving unit according to the control transmission strategy.

[0125] In step S106, the control receiving unit generates a corresponding target control command based on the data packet corresponding to the target control quantity.

[0126] In this embodiment, after the control receiving unit receives the data packet corresponding to the target control quantity sent by the control sending unit, the control receiving unit can generate a corresponding target control instruction based on the data packet corresponding to the target control quantity, so that it can be synchronized to the controlled unit. This allows the controlled unit to operate according to the target control instruction, thereby realizing the control synchronization of the remote driving device. This reduces the delay of the control command reaching the control receiving unit, thus reducing the control synchronization delay.

[0127] Specifically, after the control receiving unit receives the data packet corresponding to the target control quantity sent by the control sending unit, the control receiving unit can parse the acquired data packet to obtain control quantity data containing control quantity identifier and control quantity parameter values. Then, the control receiving unit generates a target control command corresponding to the target control quantity, such as shifting the gear to 3rd gear or turning on the right turn signal.

[0128] In step S107, the control receiving unit sends the target control command to the controlled unit so that the controlled unit operates according to the target control command, wherein the controlled unit is deployed in the remote driving device.

[0129] In this embodiment, after the control receiving unit generates the target control command, it can send the target control command to the controlled unit so that the controlled unit can operate according to the target control command to realize the control synchronization of the remote driving device, which can effectively maintain the control synchronization delay.

[0130] The controlled unit is a local controller deployed on the remote driving equipment. This local controller can be a vehicle control unit (VCU) or any other controller; no specific limitation is made here. The controlled unit sends target control commands to various component controllers or control devices, enabling the remote driving equipment to drive or operate as desired by the driving or testing object.

[0131] Specifically, such as Figure 14As shown, after the control receiving unit generates the target control command, it can send the target control command to the controlled unit, so that the controlled unit can send the target control command to the corresponding component controller or the corresponding control device, so that the component controller or control device can operate or adjust according to the target control command, so as to realize the control of the synchronous remote driving equipment to drive or operate.

[0132] In this application embodiment, a remote driving control synchronization method is provided. Through the above method, the target control quantity type can be determined in the control sending unit deployed in the simulated cockpit based on the received control command and the control quantity in the control state image. Different sending strategies can be selected for different types of target control quantities. Based on the sending strategy, different transmission processing methods can be used to transmit different types of target control quantities to the control receiving unit and the controlled unit deployed in the remote driving device for control synchronization. This can reduce the delay of the control command reaching the control receiving unit, thereby reducing the control synchronization delay.

[0133] Optionally, in the above Figure 2 Based on the corresponding embodiments, in another optional embodiment of the remote driving control synchronization method provided in this application, such as... Figure 3 As shown, the target control variable type includes hold-type; step S103 updates the historical parameter values ​​of the target control variable in the control state mirror to the control variable parameter values, including:

[0134] In step S301, the control parameter value is compared with the historical parameter value;

[0135] In step S302, when the control parameter value is different from the historical parameter value, the historical parameter value of the target control quantity is updated to the control parameter value.

[0136] In step S303, the target control variable is marked as a retainable control variable to be updated.

[0137] In this embodiment, since hold-type control variables are control variables that only take effect at the current value and change slowly, after the control sending unit determines that the target control variable type corresponding to the target control variable is hold-type, the control sending unit can compare the control variable parameter value with the historical parameter value. If the control variable parameter value is different from the historical parameter value, the historical parameter value of the target control variable is updated to the control variable parameter value, and the target control variable is marked as a hold-type control variable that needs to be updated. This avoids synchronizing a large number of hold-type control variables that do not need to be updated to the control receiving unit, reduces the consumption of synchronization resources, and improves synchronization efficiency. This can reduce the control synchronization delay to a certain extent, thereby achieving the effect of saving control overhead and improving control efficiency under weak network conditions.

[0138] Specifically, after the control sending unit determines that the target control quantity corresponding to the target control quantity is of the hold type, the control sending unit can compare the received control quantity parameter value with the historical parameter value of the target control quantity. If the control quantity parameter value is the same as the historical parameter value, it can be understood that no update is needed, and the control quantity parameter value and the corresponding control command are ignored. Conversely, if the control quantity parameter value is different from the historical parameter value, it can be understood that the numerical state of the target control quantity has changed. The control sending unit then updates the historical parameter value of the target control quantity to the control quantity parameter value and marks the target control quantity as a hold type control quantity that needs to be updated. This allows the subsequent control sending unit to synchronize the data packet corresponding to the hold type control quantity to be updated to the control receiving unit deployed on the remote driving equipment in a timely manner, so as to better maintain the control synchronization latency.

[0139] Optionally, in the above Figure 3 Based on the corresponding embodiments, in another optional embodiment of the remote driving control synchronization method provided in this application, such as... Figure 4 As shown, step S105, according to the transmission strategy, controls the transmitting unit to synchronize the data packet corresponding to the target control quantity to the receiving unit, including:

[0140] In step S401, based on the User Datagram Protocol (UDP) and according to the sending strategy, the control sending unit synchronizes the data packet corresponding to the target control quantity to the control receiving unit.

[0141] Specifically, such as Figure 13 As shown, while directly transmitting control commands to the control receiving unit based on the TCP protocol can achieve reliable transmission of control commands, the TCP protocol's connection establishment efficiency is low. When network fluctuations occur, it easily leads to repeated connection establishment, resulting in unstable control synchronization and a large actual delay in the arrival of control commands at the other end. This leads to a significant increase in end-to-end control synchronization delay. Therefore, as... Figure 14 As shown, this embodiment is based on the User Datagram Protocol (UDP). According to the transmission strategy, the data packets corresponding to the target control quantity are synchronized to the control receiving unit through the control sending unit. UDP is a simple datagram-oriented transport layer protocol with a very fast transmission speed. Based on UDP, no connection needs to be established between the control sending unit and the control receiving unit before transmitting the data packet. This avoids additional connection overhead during network fluctuations, maintaining stable control synchronization. Therefore, it can better maintain control synchronization latency to a certain extent, achieving the effects of saving control overhead and improving control efficiency in weak network conditions.

[0142] Optionally, in the above Figure 4Based on the corresponding embodiments, in another optional embodiment of the remote driving control synchronization method provided in this application, such as... Figure 5 As shown, the target control quantity type also includes volatile types; step S401, based on the User Datagram Protocol (UDP), according to the sending strategy, the control sending unit synchronizes the data packet corresponding to the target control quantity to the control receiving unit, including:

[0143] In step S501, according to the update cycle, numerical state sampling is performed on all volatile control quantities in the control state image to obtain the current control quantity parameter value and the current sampling timestamp corresponding to each volatile control quantity.

[0144] In step S502, a first data packet is generated based on each variable control variable, the current control variable parameter value, and the current sampling timestamp;

[0145] In step S503, based on the UDP protocol and according to the update cycle, the control sending unit synchronizes the first data packet to the control receiving unit.

[0146] In this embodiment, since volatile control quantities are control quantities whose current value is effective only and whose change rate is relatively fast, in order to ensure the effectiveness of this type of control quantity and control command, after the control sending unit determines that the target control quantity type corresponding to the target control quantity is volatile and determines the sending strategy corresponding to the volatile control quantity, the control sending unit can perform numerical state sampling on all volatile control quantities in the control state mirror according to the update cycle to obtain the current control quantity parameter value and the current sampling timestamp corresponding to each volatile control quantity. Based on each volatile control quantity, the current control quantity parameter value, and the current sampling timestamp, a first data packet is generated. Then, based on the UDP protocol, the first data packet is synchronized to the control receiving unit according to the update cycle. Through the transmission processing method of periodically and stably sending the first data packet, even if the network is poor and the first data packet is lost or retransmitted, the first data packet can still be synchronized to the control receiving unit uninterruptedly and stably. This can better maintain the control synchronization latency and achieve the effect of saving control overhead and improving control efficiency under weak network conditions.

[0147] The first data packet is used to encapsulate and transmit each variable control variable, the current control variable parameter value, and the current sampling timestamp.

[0148] Specifically, after the control sending unit determines that the target control quantity type corresponding to the target control quantity is volatile and determines the sending strategy corresponding to the volatile control quantity, the control sending unit can sample the numerical status of all volatile control quantities in the control state mirror according to a preset update cycle. That is, it can be understood as periodically sampling the current parameter values ​​of all volatile control quantities in the control state mirror, that is, sampling the current parameter values ​​of volatile control quantities that have been updated with historical parameter values ​​and those that have not been updated with historical parameter values, and recording the sampling time to obtain the current control quantity parameter value and the current sampling timestamp corresponding to each volatile control quantity. For example, the control sending unit samples the values ​​of volatile control quantities such as throttle, steering wheel and brake in the local control state mirror according to a preset update cycle of 50ms, and records the current sampling timestamp such as "1637197210". The current sampling timestamp can be used to indicate the time point "2020-11-21 9:00:00".

[0149] Furthermore, after obtaining the current control quantity parameter value and the current sampling timestamp corresponding to each variable control quantity, the control quantity data such as each variable control quantity, the current control quantity parameter value, and the current sampling timestamp can be encapsulated into a first data packet. Then, based on the UDP protocol and according to the update cycle, the control sending unit deployed on the simulator can synchronize the first data packet to the control receiving unit deployed on the remote driving equipment.

[0150] Optionally, in the above Figure 4 Based on the corresponding embodiments, in another optional embodiment of the remote driving control synchronization method provided in this application, such as... Figure 6 As shown, the target control quantity type includes hold-type; step S401, based on the User Datagram Protocol (UDP), synchronizes the data packet corresponding to the target control quantity to the control receiving unit according to the sending strategy, including:

[0151] In step S601, according to the update cycle, the numerical state of the hold-type control variables to be updated in the control state mirror is sampled to obtain the current control variable parameter value and the current sampling timestamp corresponding to each hold-type control variable to be updated.

[0152] In step S602, a second data packet is generated based on the hold-up control variable to be updated, the current control variable parameter value corresponding to each hold-up control variable to be updated, and the current sampling timestamp;

[0153] In step S603, based on the UDP protocol and according to the update cycle, the control sending unit synchronizes the second data packet to the control receiving unit.

[0154] In this embodiment, since hold-type control variables are control variables whose current value is effective only and whose change rate is slow, in order to avoid synchronizing a large number of hold-type control variables that do not need to be updated to the control receiving unit, thus increasing the consumption of synchronization resources, in this embodiment, after the control sending unit determines that the target control variable corresponding to the target control variable is hold-type and determines the corresponding sending strategy for hold-type control variables, the control sending unit can sample the numerical state of the hold-type control variables to be updated in the control state mirror according to the update cycle, obtain the current control variable parameter value and the current sampling timestamp corresponding to each hold-type control variable to be updated, and generate a second data packet based on the hold-type control variable to be updated, the current control variable parameter value corresponding to each hold-type control variable to be updated, and the current sampling timestamp. Then, based on the UDP protocol, the control sending unit synchronizes the second data packet to the control receiving unit according to the update cycle. Through the stable transmission processing method of sending data packets according to the synchronization cycle, even if the network is poor and the second data packet is lost or retransmitted, the second data packet can still be synchronized to the control receiving unit uninterruptedly and stably, thereby better maintaining the control synchronization latency and achieving the effect of saving control overhead and improving control efficiency under weak network conditions.

[0155] The second data packet is used to encapsulate and transmit the retainable control variable to be updated, the current control variable parameter value corresponding to each retainable control variable to be updated, and the current sampling timestamp.

[0156] Specifically, after the control sending unit determines that the target control quantity corresponding to the target control quantity is of the holding type and determines the sending strategy corresponding to the holding type control quantity, the control sending unit can sample the numerical status of all marked holding type control quantities to be updated in the control state image according to the same preset update period as the sampling of volatile control quantities. That is, it can be understood that while sampling the current parameter values ​​of all volatile control quantities in the control state image at regular intervals, it also samples the current parameter values ​​of the holding type control quantities to be updated to obtain the current control quantity parameter value corresponding to each holding type control quantity to be updated. For example, the control sending unit samples the values ​​of volatile control quantities such as accelerator, steering wheel and brake in the local control state image according to a preset update period of 50ms, and records the current sampling timestamp such as "1637197210". At the same time, it samples the values ​​of holding type control quantities such as turn signal, gear and wiper to be updated in the local control state image.

[0157] Furthermore, after obtaining the current control quantity parameter value corresponding to each hold-type control quantity, the hold-type control quantity to be updated, the current control quantity parameter value corresponding to each hold-type control quantity to be updated, and the current sampling timestamp can be encapsulated into a second data packet. Then, based on the UDP protocol, the control sending unit can synchronize the second data packet to the control receiving unit according to the update cycle.

[0158] Understandably, when the target control quantity in the control sending unit includes both volatile control quantities and maintainable control quantities to be updated, a third data packet can be generated based on each volatile control quantity, the current control quantity parameter value corresponding to each volatile control quantity, the maintainable control quantity to be updated, the current control quantity parameter value corresponding to each maintainable control quantity to be updated, and the current sampling timestamp. Then, based on the UDP protocol, the control sending unit synchronizes the third data packet to the control receiving unit according to the update cycle. By using a synchronous cycle to stably send data packets to the maintainable control quantity to be updated and the volatile control quantity, even in the case of poor network conditions, packet loss, or retransmission, it can not only continuously and stably synchronize the third data packet to the control receiving unit, but also further save control overhead, thereby better maintaining control synchronization latency and improving control efficiency under weak network conditions.

[0159] The third data packet is used to encapsulate and transmit each volatile control variable, the current control variable parameter value corresponding to each volatile control variable, the hold-type control variable to be updated, the current control variable parameter value corresponding to each hold-type control variable to be updated, and the current sampling timestamp.

[0160] Optionally, in the above Figure 5 Based on the embodiment corresponding to 6, in another optional embodiment of the remote driving control synchronization method provided in this application, such as Figure 7 As shown, before step S106, which controls the receiving unit to generate the corresponding target control command based on the data packet corresponding to the target control quantity, the method further includes:

[0161] In step S701, the control receiving unit compares the current sampling timestamp in the data packet with the standard timestamp of the control receiving unit;

[0162] In step S702, if the current sampling timestamp is greater than the standard timestamp, the control receiving unit generates the corresponding target control command based on the data packet;

[0163] In step S703, if the current sampling timestamp is less than the standard timestamp, the receiving unit is controlled to ignore the data packet.

[0164] In this embodiment, as Figure 14As shown, after the control sending unit deployed in the simulated cockpit synchronizes data packets to the control receiving unit deployed in the remote driving device (such as a vehicle) according to the update cycle based on the UDP protocol, the control receiving unit can compare the current sampling timestamp in the data packet with the standard timestamp of the control receiving unit. If the current sampling timestamp is greater than the standard timestamp, the control receiving unit can generate the corresponding target control command based on the data packet, so that the subsequent control receiving unit can send the target control command to the controlled unit to achieve control synchronization of the remote driving device. Conversely, if the current sampling timestamp is less than the standard timestamp, the control receiving unit ignores the data packet to avoid the situation where the end-to-end control synchronization delay increases due to the generation of control commands with excessive delay based on the data packet, thereby maintaining the control synchronization delay to a certain extent.

[0165] The standard timestamp of the control receiving unit is used to indicate the latest time when the control receiving unit has received the data packet, i.e., the horizontal time.

[0166] Specifically, after the control sending unit synchronizes the data packets to the control receiving unit according to the update cycle based on the UDP protocol, the control receiving unit can compare the current sampling timestamp in the data packet with the standard timestamp of the control receiving unit. If the current sampling timestamp is greater than the standard timestamp, it can be understood that the currently received data packet is newly sampled control quantity data. Then, the control receiving unit can generate corresponding target control instructions based on the data packet so that the target control instructions can be sent to the controlled unit in the future, thereby realizing the control synchronization of the remote driving equipment.

[0167] For example, the control sending unit synchronizes a data packet containing the current sampling timestamp, such as "1637197210", and the sampled values ​​of control quantities such as turn signals, gear shift, and wipers to the control receiving unit according to a preset update cycle of 50ms. The control receiving unit can then compare the current sampling timestamp "1637197210" ​​with the control receiving unit's standard timestamp, such as "1637196180". If the current sampling timestamp is greater than the standard timestamp, the control receiving unit can generate the corresponding target control command based on the data packet.

[0168] Furthermore, if the current sampling timestamp is less than the standard timestamp, it can be understood that due to poor network conditions, data packets sent by the control sending unit with timestamps less than the standard timestamp cannot reach the control receiving unit in time, or that the update cycle is too fast, resulting in new data packets being synchronized to the control receiving unit before previous data packets have arrived. Other scenarios are also possible, without specific restrictions here. Then, the control receiving unit can ignore data packets with current sampling timestamps less than the standard timestamp, which can further save control overhead, thereby better maintaining control synchronization latency and improving control efficiency under weak network conditions.

[0169] Optionally, in the above Figure 6 Based on the corresponding embodiments, in another optional embodiment of the remote driving control synchronization method provided in this application, such as... Figure 8 As shown, step S603, based on the UDP protocol, involves the control sending unit synchronizing the first data packet to the control receiving unit according to the update cycle. The method further includes:

[0170] In step S801, when the control sending unit receives the numerical status confirmation request corresponding to the control quantity to be updated and retained returned by the control receiving unit, it compares the control quantity parameter value corresponding to the control quantity to be updated and retained carried in the numerical status confirmation request with the current parameter value corresponding to the control quantity to be updated and retained in the control status mirror.

[0171] In step S802, if the control quantity parameter value is consistent with the current parameter value, the control quantity to be updated and retained in the control state mirror is marked as a control quantity that does not need to be updated.

[0172] In step S803, if the control parameter value is inconsistent with the current parameter value, the control sending unit ignores the control parameter value.

[0173] In this embodiment, when the control sending unit receives a numerical status confirmation request for the maintainable control quantity to be updated returned by the control receiving unit, the control sending unit can compare the control quantity parameter value corresponding to the maintainable control quantity to be updated carried in the numerical status confirmation request with the current parameter value corresponding to the maintainable control quantity to be updated in the control status mirror. If the control quantity parameter value is consistent with the current parameter value, the maintainable control quantity to be updated can be marked as a control quantity that does not need to be updated, that is, remote control synchronization from the control sending unit deployed on the simulator cockpit to the control receiving unit deployed on the remote driving device has been achieved. Conversely, if the control quantity parameter value is inconsistent with the current parameter value, the control sending unit can ignore the control quantity parameter value to avoid the situation where the end-to-end control synchronization delay becomes large due to the update cycle being too fast, thereby maintaining the control synchronization delay to a certain extent.

[0174] Specifically, after the control receiving unit converts the second data packet into a target control command and sends it to the controlled unit, the control receiving unit can send a value status confirmation request corresponding to the holdable control quantity to be updated to the control sending unit based on the control quantity parameter value belonging to the holdable control quantity. Therefore, when the control sending unit receives the value status confirmation request corresponding to the holdable control quantity to be updated returned by the control receiving unit, the control sending unit can compare the control quantity parameter value corresponding to the holdable control quantity to be updated carried in the value status confirmation request with the current parameter value corresponding to the holdable control quantity to be updated in the control status mirror to determine whether the control quantity parameter value is consistent with the current parameter value, so as to maintain the end-to-end control synchronization delay.

[0175] Furthermore, if the control parameter value is consistent with the current parameter value, it can be understood that the remote control synchronization between the control sending unit deployed on the simulator and the control receiving unit deployed on the remote driving device is complete. In this case, the control quantity to be updated and retained can be marked as a control quantity that does not need to be updated. Conversely, if the control parameter value is inconsistent with the current parameter value, it may be due to the update cycle being too fast or the influence of network fluctuations, causing the value status confirmation request corresponding to the control quantity to be updated and retained previously sent by the control receiving unit to arrive at the control sending unit later. The control sending unit may have already updated the historical parameter value of the control quantity to be updated and retained. Other situations may also exist, which are not specifically limited here. Then, the control sending unit can ignore the control parameter value of the control quantity to be updated and retained.

[0176] For example, after the control receiving unit converts control quantity data such as throttle, steering wheel, brake, and gear position into control commands and sends them to the controlled unit (such as the vehicle's local controller) for vehicle operation, the control receiving unit can synchronously reply to the control sending unit with the current parameter value corresponding to the gear position, which belongs to the holding control quantity. This allows the control sending unit to mark the gear position control quantity as not needing to be updated if it finds that the current parameter value matches the parameter value of the gear position in the local control state mirror after receiving the current parameter value of the gear position from the control receiving unit.

[0177] Optionally, in the above Figure 4 Based on the corresponding embodiments, in another optional embodiment of the remote driving control synchronization method provided in this application, such as... Figure 9 As shown, the target control quantity type also includes trigger type; after step S102 determines the target control quantity and target control quantity type from the control state mirror of the control sending unit according to the control command, the method further includes: step S901; step S401 includes: steps S902 to S903.

[0178] In step S901, the control sending unit adds the target control quantity to the trigger-type sending queue;

[0179] In step S902, the control quantities in the trigger-type transmission queue are packet encoded based on the forward error correction code to obtain the encoded data packet corresponding to each control quantity;

[0180] In step S903, according to the order of control quantities in the trigger-type transmission queue, the control transmission unit sequentially synchronizes the forward error correction code and the encoded data packet to the control reception unit based on the UDP protocol.

[0181] Specifically, such as Figure 13 As shown, while directly transmitting control commands to the control receiving unit based on the TCP protocol can ensure reliable transmission of control commands, it is difficult to detect network link anomalies in real time. Periodic heartbeat packets are needed to detect network link anomalies. Furthermore, since triggered control quantities are control quantities that need to take effect regardless of their historical value, this embodiment adds the target control quantity to the triggered sending queue when it is received. Then, based on forward error correction codes, the control quantities in the triggered sending queue are packet encoded to obtain the encoded data packets corresponding to each control quantity. Following the order of the control quantities in the triggered sending queue, the forward error correction codes and encoded data packets are sequentially synchronized to the control receiving unit using the UDP protocol. This allows the subsequent control receiving unit to parse the encoded data packets using the corresponding decoding algorithm and quickly locate erroneous data based on the forward error correction codes, enabling timely processing or repair. This reduces the control synchronization latency to a certain extent and achieves the effect of quickly detecting network errors.

[0182] The forward error correction code can be represented by repetition coding, XOR coding, or Reed-solomon (RS) coding, or other forms, without specific restrictions here.

[0183] For example, when the control transmitting unit receives multiple horn control quantities reported by the analog controller, it can add them to the trigger-type transmitting queue in sequence. Then, it can use forward error correction codes to encode the trigger-type control quantities (such as horn control quantities) in the trigger-type transmitting queue in sequence. Finally, it can send the encoded data packets and forward error correction codes to the control receiving unit in parallel.

[0184] Optionally, in the above Figure 9 Based on the corresponding embodiments, in another optional embodiment of the remote driving control synchronization method provided in this application, such as... Figure 10As shown, in step S903, according to the order of control quantities in the trigger-type sending queue, based on the UDP protocol, the control sending unit sequentially synchronizes the forward error correction code and the encoded data packet to the control receiving unit. The method also includes steps S1001 to S1004; step S106 includes step S1005.

[0185] In step S1001, if the control receiving unit does not receive the forward error correction code and the encoded data packet sent by the control sending unit within the first receiving time, it sends a feedback signal indicating a reception failure to the control sending unit.

[0186] In step S1002, the control transmission unit retransmits forward error correction codes and encoded data packets according to the feedback signal of reception failure;

[0187] In step S1003, if the control receiving unit receives the forward error correction code and the encoded data packet sent by the control sending unit within the first receiving time, it sends a feedback signal indicating successful reception to the control sending unit.

[0188] In step S1004, the control receiving unit decodes the encoded data packet according to the encoding algorithm corresponding to the forward error correction code to obtain decoded control data.

[0189] In step S1005, the receiving unit generates the corresponding target control command based on the decoded control data.

[0190] In this embodiment, if the control receiving unit deployed on the remote driving device (vehicle) does not receive the forward error correction code and encoded data packet sent by the control sending unit deployed on the simulator cockpit within the first receiving time, the control receiving unit can send a reception failure feedback signal to the control sending unit. When the control sending unit receives the reception failure feedback signal, it retransmits the forward error correction code and encoded data packet. Conversely, if the control receiving unit receives the forward error correction code and encoded data packet sent by the control sending unit within the first receiving time, it sends a reception success feedback signal to the control sending unit. Then, the control receiving unit can decode the encoded data packet according to the encoding algorithm corresponding to the forward error correction code to obtain decoded control quantity data, and generate corresponding target control commands based on the decoded control quantity data. In the event of poor network conditions and packet loss, the forward error correction code and encoded data packet can be repeatedly sent to the control receiving unit based on the forward error correction code encoding and the transmission processing method that supports retransmission. This can further save control overhead, thereby better maintaining control synchronization latency and improving control efficiency under weak network conditions.

[0191] The first reception time is a time set according to the actual application requirements, and no specific restrictions are imposed here. The first reception time is used to detect whether there are any abnormalities in the forward error correction codes and encoded data packets sent by the control unit.

[0192] Specifically, when the control receiving unit is in the receiving state, if the control receiving unit does not receive the forward error correction code and encoded data packet sent by the control sending unit within the first receiving time, that is, the control receiving unit waits for a timeout, the control receiving unit can send a receiving failure feedback signal to the control sending unit. When the control sending unit receives the receiving failure feedback signal, it can resend the forward error correction code and encoded data packet to the control receiving unit.

[0193] Furthermore, if the control receiving unit receives the forward error correction code and the encoded data packet sent by the control sending unit within the first receiving time, that is, the control receiving unit has not timed out, the control receiving unit can send a feedback signal of successful reception to the control sending unit. At the same time, the control receiving unit can decode the encoded data packet according to the encoding algorithm corresponding to the forward error correction code to obtain the decoded control quantity data. Then, the control receiving unit can generate the corresponding target control command based on the decoded control quantity data.

[0194] For example, if the control transmitting unit receives multiple horn control signals reported by the analog controller, it can add them sequentially to the trigger-type transmitting queue. Then, it sequentially encodes each trigger-type control signal (such as a horn control signal) in the queue using forward error correction (FEC) codes. Finally, it sends the encoded data packets and FEC codes in parallel to the control receiving unit. Upon receiving the encoded data packets and FEC codes, the control receiving unit can reply to the control transmitting unit with a signal indicating successful reception. However, if a horn control signal is lost during transmission (i.e., the control receiving unit times out), it can reply to the control transmitting unit with a signal indicating reception failure, allowing the control transmitting unit to retransmit the horn control signal.

[0195] Optionally, in the above Figure 2 Based on the corresponding embodiments, in another optional embodiment of the remote driving control synchronization method provided in this application, such as... Figure 11 As shown, in step S105, after the control sending unit synchronizes the data packet corresponding to the target control quantity to the control receiving unit according to the sending strategy, the method further includes:

[0196] In step S1101, if the control receiving unit does not receive the data packet sent by the control sending unit within the second receiving time, the control receiving unit determines the current control synchronization state as a control abnormal state.

[0197] In step S1102, the control receiving unit generates a corresponding abnormal control command according to the abnormal emergency mechanism based on the abnormal control status.

[0198] In step S1103, the control receiving unit sends an abnormal control command to the controlled unit so that the controlled unit operates according to the abnormal control command.

[0199] In this embodiment, after the control sending unit synchronizes the data packet corresponding to the target control quantity to the control receiving unit according to the sending strategy, if the control receiving unit does not receive the data packet sent by the control sending unit within the second receiving time, the control receiving unit can determine the current control synchronization state as a control anomaly state. Based on the control anomaly state, the control receiving unit generates a corresponding abnormal control command according to the anomaly emergency mechanism. Then, the control receiving unit sends the abnormal control command to the controlled unit so that the controlled unit can operate according to the abnormal control command without sending periodic heartbeat packets. Through the real-time signal feedback of the control receiving unit, network anomalies can be detected in a timely manner, and corresponding emergency handling can be carried out to better maintain the control synchronization latency.

[0200] The second receiving time is a time set according to actual application requirements, and no specific restrictions are imposed here. The second receiving time is used to detect whether a network abnormality occurs when the control sending unit sends data packets.

[0201] Specifically, when the control receiving unit is in the control receiving state, if it does not receive control data (i.e., data packets) from the control sending unit within a preset time (i.e., the second receiving time), it can be determined as a control abnormal state. That is, the control receiving unit determines the current control synchronization state as a control abnormal state. Then, based on the control abnormal state, the control receiving unit generates corresponding abnormal control instructions according to the abnormal emergency mechanism. Specifically, the control receiving unit can process the data according to preset emergency control rules and generate corresponding abnormal control instructions to send to the controlled unit, so that the controlled unit can send the abnormal control instructions to the corresponding controller or control device to perform emergency processing.

[0202] For example, when network fluctuations occur, if the control receiving unit does not receive the data packet corresponding to the target control quantity from the control sending unit within a preset time of 150ms, it enters a control abnormal state, triggers a preset braking operation, and sends the braking control command to the controlled unit (such as the vehicle local controller), so that the controlled unit distributes the braking control command to the brake controller to perform emergency braking.

[0203] Optionally, in the above Figure 2 Based on the corresponding embodiments, in another optional embodiment of the remote driving control synchronization method provided in this application, such as... Figure 12As shown, based on the control command, the target control quantity and its type are determined from the control state mirror of the control sending unit, including:

[0204] In step S1201, the target control quantity corresponding to the control quantity identifier is determined from the control state mirror based on the control quantity identifier carried by the control command.

[0205] In step S1202, the target control quantity type corresponding to the target control quantity is determined according to the mapping relationship between the control quantity and the control quantity type.

[0206] In this embodiment, after the control unit receives the control command sent by the analog controller, it can query or traverse the control state mirror according to the control quantity identifier to find the target control quantity corresponding to the control quantity identifier. Then, the control sending unit can quickly determine the target control quantity type corresponding to the target control quantity according to the mapping relationship between the control quantity and the control quantity type. This allows the control command to be sent to the control receiving unit in a more efficient manner based on the target control quantity type, thereby reducing the control synchronization delay to a certain extent.

[0207] Among them, the control command may carry a control quantity identifier, which can also be called a control quantity identity code (ID). It is used to indicate the control quantity on the remote driving device (such as a vehicle) that the driving object or test object wants to adjust. It can be specifically represented as an integer (int) type number string, or it can be specifically represented as a string, etc. The control quantity identifier may be an implicit identifier, such as which byte it is, but the specifics are not limited here.

[0208] Specifically, after the control unit receives the control command sent by the analog controller, it can quickly index or capture the target control quantity (such as gear control quantity) corresponding to the control quantity identifier from the control state mirror according to the pre-configured correspondence between the control quantity identifier and the control quantity. Furthermore, based on the pre-defined definitions of various control quantity types and the pre-established mapping relationship between control quantity and control quantity type, it can accurately determine the target control quantity type (such as holding type) corresponding to the target control quantity.

[0209] The remote driving control and synchronization device in this application is described in detail below. Please refer to [link / reference]. Figure 15 , Figure 15 This is a schematic diagram of one embodiment of the remote driving control and synchronization device in this application. The remote driving control and synchronization device 20 includes:

[0210] The receiving module 201 is used to control the sending unit to receive control commands sent by the analog controller. The analog controller and the control sending unit are deployed in the simulated cockpit, which is used to simulate remote driving equipment. The control commands carry control quantity parameter values.

[0211] The determination module 202 is used to determine the target control quantity and the type of the target control quantity from the control state mirror of the control sending unit according to the control command;

[0212] Processing module 203 is used to update the historical parameter values ​​of the target control quantity in the control state mirror to the control quantity parameter values;

[0213] The determining module 202 is also used to determine the transmission strategy corresponding to the target control quantity based on the target control quantity type and the control quantity parameter value;

[0214] The processing module 203 is also used to control the sending unit to synchronize the data packet corresponding to the target control quantity to the control receiving unit according to the sending strategy, wherein the control receiving unit is deployed in the remote driving device;

[0215] The processing module 203 is also used to control the receiving unit to generate corresponding target control instructions based on the data packet corresponding to the target control quantity;

[0216] The processing module 203 is also used to control the receiving unit to send the target control command to the controlled unit so that the controlled unit can operate according to the target control command, wherein the controlled unit is deployed in the remote driving device.

[0217] Optionally, in the above Figure 15 Based on the corresponding embodiments, in another embodiment of the remote driving control synchronization device provided in this application, the processing module 203 can specifically be used for:

[0218] Compare the control parameter values ​​with historical parameter values;

[0219] When the control parameter value is different from the historical parameter value, update the historical parameter value of the target control quantity to the control parameter value;

[0220] Mark the target control variable as a retainable control variable to be updated.

[0221] Optionally, in the above Figure 15 Based on the corresponding embodiments, in another embodiment of the remote driving control synchronization device provided in this application, the processing module 203 can specifically be used for:

[0222] Based on the User Datagram Protocol (UDP), and according to the sending strategy, the control sending unit synchronizes the data packets corresponding to the target control quantity to the control receiving unit.

[0223] Optionally, in the above Figure 15 Based on the corresponding embodiments, in another embodiment of the remote driving control synchronization device provided in this application, the processing module 203 can specifically be used for:

[0224] According to the update cycle, numerical state sampling is performed on all volatile control variables in the control state image to obtain the current control variable parameter value and the current sampling timestamp corresponding to each volatile control variable.

[0225] Generate the first data packet based on each variable control variable, the current control variable parameter value, and the current sampling timestamp;

[0226] Based on the UDP protocol, the control sending unit synchronizes the first data packet to the control receiving unit according to the update cycle.

[0227] Optionally, in the above Figure 15 Based on the corresponding embodiments, in another embodiment of the remote driving control synchronization device provided in this application, the processing module 203 can specifically be used for:

[0228] According to the update cycle, the numerical state sampling is performed on the hold-type control variables to be updated in the control state image to obtain the current control variable parameter value and the current sampling timestamp for each hold-type control variable to be updated.

[0229] The second data packet is generated based on the hold-up control variable to be updated, the current control variable parameter value corresponding to each hold-up control variable to be updated, and the current sampling timestamp.

[0230] Based on the UDP protocol, the control sending unit synchronizes the second data packet to the control receiving unit according to the update cycle.

[0231] Optionally, in the above Figure 15 Based on the corresponding embodiments, in another embodiment of the remote driving control synchronization device provided in this application,

[0232] The processing module 203 is also used to control the receiving unit to compare the current sampling timestamp in the data packet with the standard timestamp of the receiving unit;

[0233] The processing module 203 is also used to control the receiving unit to generate corresponding target control instructions based on the data packet if the current sampling timestamp is greater than the standard timestamp;

[0234] The processing module 203 is also used to control the receiving unit to ignore data packets if the current sampling timestamp is less than the standard timestamp.

[0235] Optionally, in the above Figure 15Based on the corresponding embodiments, in another embodiment of the remote driving control synchronization device provided in this application,

[0236] The processing module 203 is also used to compare the control quantity parameter value corresponding to the control quantity to be updated and retained carried in the value status confirmation request returned by the control receiving unit with the current parameter value corresponding to the control quantity to be updated and retained in the control status image when the control sending unit receives the value status confirmation request corresponding to the value status confirmation request returned by the control receiving unit.

[0237] The processing module 203 is also used to mark the control quantity to be updated in the control state mirror as a control quantity that does not need to be updated if the control quantity parameter value is consistent with the current parameter value.

[0238] The processing module 203 is also used to ignore the control quantity parameter value if the control quantity parameter value is inconsistent with the current parameter value.

[0239] Optionally, in the above Figure 15 Based on the corresponding embodiments, in another embodiment of the remote driving control synchronization device provided in this application,

[0240] The processing module 203 is also used to control the sending unit to add the target control quantity to the trigger-type sending queue;

[0241] Processing module 203 can be specifically used for:

[0242] Based on forward error correction codes, packet encoding is performed on the control quantities in the trigger-type transmission queue to obtain the encoded data packets corresponding to each control quantity;

[0243] Based on the UDP protocol, the control sending unit sequentially synchronizes the forward error correction code and the encoded data packet to the control receiving unit according to the order of control variables in the trigger-type sending queue.

[0244] Optionally, in the above Figure 15 Based on the corresponding embodiments, in another embodiment of the remote driving control synchronization device provided in this application,

[0245] The processing module 203 is also used to send a feedback signal indicating reception failure to the control sending unit if the control receiving unit does not receive the forward error correction code and the encoded data packet sent by the control sending unit within the first receiving time.

[0246] The receiving module 201 is also used to control the transmitting unit to repeatedly transmit forward error correction codes and encoded data packets according to the feedback signal of receiving failure;

[0247] The receiving module 201 is also used to send a feedback signal of successful reception to the control sending unit if the control receiving unit receives the forward error correction code and the encoded data packet sent by the control sending unit within the first receiving time.

[0248] The processing module 203 is also used to control the receiving unit to decode the encoded data packet according to the encoding algorithm corresponding to the forward error correction code, so as to obtain the decoding control quantity data;

[0249] Specifically, the processing module 203 can be used to: control the receiving unit to generate corresponding target control commands based on the decoded control data.

[0250] Optionally, in the above Figure 15 Based on the corresponding embodiments, in another embodiment of the remote driving control synchronization device provided in this application,

[0251] The receiving module 201 is also used to determine the current control synchronization state as a control abnormal state if the control receiving unit does not receive the data packet sent by the control sending unit within the second receiving time.

[0252] The processing module 203 is also used to control the receiving unit to generate corresponding abnormal control instructions according to the abnormal emergency mechanism based on the abnormal control state.

[0253] The processing module 203 is also used to control the receiving unit to send abnormal control instructions to the controlled unit so that the controlled unit can operate according to the abnormal control instructions.

[0254] Optionally, in the above Figure 15 Based on the corresponding embodiments, in another embodiment of the remote driving control synchronization device provided in this application, the determining module 202 can specifically be used for:

[0255] Based on the control quantity identifier carried by the control command, determine the target control quantity corresponding to the control quantity identifier from the control state image;

[0256] Based on the mapping relationship between control quantity and control quantity type, determine the target control quantity type corresponding to the target control quantity.

[0257] This application also provides a schematic diagram of another computer device, such as... Figure 16 As shown, Figure 16This is a schematic diagram of a computer device structure provided in an embodiment of this application. The computer device 300 can vary significantly due to different configurations or performance. It may include one or more central processing units (CPUs) 310 (e.g., one or more processors) and a memory 320, and one or more storage media 330 (e.g., one or more mass storage devices) for storing application programs 331 or data 332. The memory 320 and storage media 330 can be temporary or persistent storage. The program stored in the storage media 330 may include one or more modules (not shown in the diagram), each module including a series of instruction operations on the computer device 300. Furthermore, the CPU 310 may be configured to communicate with the storage media 330 and execute the series of instruction operations in the storage media 330 on the computer device 300.

[0258] Computer device 300 may also include one or more power supplies 340, one or more wired or wireless network interfaces 350, one or more input / output interfaces 360, and / or one or more operating systems 333, such as Windows Server. TM Mac OS X TM Unix TM Linux TM FreeBSD TM etc.

[0259] The aforementioned computer device 300 is also used to perform, for example Figures 2 to 12 The steps in the corresponding embodiments.

[0260] Another aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements... Figures 2 to 12 The steps in the method described in the illustrated embodiment.

[0261] Another aspect of this application provides a computer program product comprising a computer program, which, when executed by a processor, implements as follows: Figures 2 to 12 The steps in the method described in the illustrated embodiment.

[0262] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0263] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0264] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0265] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0266] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A remote driving control synchronization method, characterized in that, include: The control sending unit receives control commands sent by the simulation controller, wherein the simulation controller and the control sending unit are deployed in a simulated cockpit, the simulated cockpit is used to simulate a remote driving device, and the control commands carry control quantity parameter values; According to the control command, the target control quantity and the target control quantity type are determined from the control state mirror of the control sending unit; the target control quantity type includes at least one of volatile, hold, or trigger type, the volatile control quantity refers to the control quantity whose current value is effective and changes rapidly, the hold type control quantity refers to the control quantity whose current value is effective and changes slowly, and the trigger type control quantity refers to the control quantity that needs to be effective for any historical value. Update the historical parameter values ​​of the target control quantity in the control state mirror to the control quantity parameter values; Based on the target control variable type and the control variable parameter value, determine the transmission strategy corresponding to the target control variable; According to the sending strategy, the control sending unit synchronizes the data packet corresponding to the target control quantity to the control receiving unit, wherein the control receiving unit is deployed in the remote driving device; Based on the data packet corresponding to the target control quantity, the control receiving unit generates a corresponding target control instruction; The control receiving unit sends the target control command to the controlled unit so that the controlled unit operates according to the target control command, wherein the controlled unit is deployed on the remote driving device.

2. The method according to claim 1, characterized in that, When the target control variable type includes hold-type; The step of updating the historical parameter value of the target control quantity in the control state mirror to the control quantity parameter value includes: The control parameter value is compared with the historical parameter value; When the control quantity parameter value is different from the historical parameter value, the historical parameter value of the target control quantity is updated to the control quantity parameter value; The target control variable is marked as a retainable control variable to be updated.

3. The method according to claim 2, characterized in that, According to the transmission strategy, the control transmission unit synchronizes the data packet corresponding to the target control quantity to the control receiving unit, including: Based on the User Datagram Protocol (UDP), and in accordance with the aforementioned sending strategy, the control sending unit synchronizes the data packet corresponding to the target control quantity to the control receiving unit.

4. The method according to claim 3, characterized in that, When the target control variable type also includes a variable type; Based on the User Datagram Protocol (UDP), and according to the aforementioned sending strategy, the control sending unit synchronizes the data packet corresponding to the target control quantity to the control receiving unit, including: According to the update cycle, numerical state sampling is performed on all volatile control quantities in the control state image to obtain the current control quantity parameter value and the current sampling timestamp corresponding to each volatile control quantity. A first data packet is generated based on each variable control variable, the current control variable parameter value, and the current sampling timestamp; Based on the UDP protocol and according to the update cycle, the control sending unit synchronizes the first data packet to the control receiving unit.

5. The method according to claim 3, characterized in that, When the target control variable type also includes a hold-type; Based on the User Datagram Protocol (UDP), and according to the aforementioned sending strategy, the control sending unit synchronizes the data packet corresponding to the target control quantity to the control receiving unit, including: According to the update cycle, the numerical state sampling is performed on the retainable control variables to be updated in the control state image to obtain the current control variable parameter value and the current sampling timestamp corresponding to each retainable control variable to be updated. A second data packet is generated based on the retainable control variable to be updated, the current control variable parameter value corresponding to each retainable control variable to be updated, and the current sampling timestamp. Based on the UDP protocol and according to the update cycle, the control sending unit synchronizes the second data packet to the control receiving unit.

6. The method according to any one of claims 4 or 5, characterized in that, Before the control receiving unit generates the corresponding target control instruction based on the data packet corresponding to the target control quantity, the method further includes: The control receiving unit compares the current sampling timestamp in the data packet with the standard timestamp of the control receiving unit. If the current sampling timestamp is greater than the standard timestamp, the control receiving unit generates the corresponding target control command based on the data packet; If the current sampling timestamp is less than the standard timestamp, the control receiving unit ignores the data packet.

7. The method according to claim 5, characterized in that, Based on the UDP protocol and according to the update cycle, after the control sending unit synchronizes the second data packet to the control receiving unit, the method further includes: When the control sending unit receives the numerical status confirmation request corresponding to the control quantity to be updated and retained returned by the control receiving unit, it compares the control quantity parameter value corresponding to the control quantity to be updated and retained carried in the numerical status confirmation request with the current parameter value corresponding to the control quantity to be updated and retained in the control status image. If the control quantity parameter value is consistent with the current parameter value, then the control quantity to be updated and retained in the control state image is marked as a control quantity that does not need to be updated. If the control parameter value is inconsistent with the current parameter value, the control sending unit ignores the control parameter value.

8. The method according to claim 3, characterized in that, When the target control variable type also includes trigger type; After determining the target control quantity and the type of the target control quantity from the control state mirror of the control sending unit according to the control command, the method further includes: The control sending unit adds the target control quantity to the trigger-type sending queue; Based on the User Datagram Protocol (UDP), and according to the aforementioned sending strategy, the control sending unit synchronizes the data packet corresponding to the target control quantity to the control receiving unit, including: Based on forward error correction codes, packet encoding is performed on the control quantities in the trigger-type transmission queue to obtain the encoded data packet corresponding to each control quantity. According to the order of control quantities in the trigger-type transmission queue, based on the UDP protocol, the control transmission unit sequentially synchronizes the forward error correction code and the encoded data packet to the control reception unit.

9. The method according to claim 8, characterized in that, Following the step of synchronizing the forward error correction code and the encoded data packet to the control receiving unit sequentially according to the order of control quantities in the trigger-type transmission queue and based on the UDP protocol, the method further includes: If the control receiving unit does not receive the forward error correction code and the encoded data packet sent by the control sending unit within the first receiving time, it sends a feedback signal indicating a reception failure to the control sending unit. The control transmission unit retransmits the forward error correction code and the encoded data packet according to the feedback signal of reception failure; If the control receiving unit receives the forward error correction code and the encoded data packet sent by the control sending unit within the first receiving time, it sends a feedback signal indicating successful reception to the control sending unit. The control receiving unit decodes the encoded data packet according to the encoding algorithm corresponding to the forward error correction code to obtain decoded control quantity data; The step of generating a corresponding target control instruction by the control receiving unit based on the data packet corresponding to the target control quantity includes: Based on the decoded control data, the control receiving unit generates the corresponding target control command.

10. The method according to claim 1, characterized in that, According to the transmission strategy, after the control transmission unit synchronizes the data packet corresponding to the target control quantity to the control receiving unit, the method further includes: If the control receiving unit does not receive the data packet sent by the control sending unit within the second receiving time, the control receiving unit determines the current control synchronization state as a control abnormal state. The control receiving unit generates corresponding abnormal control commands according to the abnormal emergency mechanism based on the abnormal control state. The control receiving unit sends the abnormal control command to the controlled unit so that the controlled unit operates according to the abnormal control command.

11. The method according to claim 1, characterized in that, Determining the target control quantity and its type from the control state mirror of the control sending unit according to the control command includes: Based on the control quantity identifier carried by the control command, determine the target control quantity corresponding to the control quantity identifier from the control state mirror; Based on the mapping relationship between control quantity and control quantity type, determine the target control quantity type corresponding to the target control quantity.

12. A remote driving control and synchronization device, characterized in that, include: A receiving module is used to control the sending unit to receive control commands sent by the simulation controller, wherein the simulation controller and the control sending unit are deployed in a simulated cockpit, the simulated cockpit is used to simulate a remote driving device, and the control commands carry control quantity parameter values; The determination module is used to determine the target control quantity and the target control quantity type from the control state mirror of the control sending unit according to the control instruction; the target control quantity type includes at least one of volatile, hold, or trigger type, the volatile control quantity refers to the control quantity whose current value is effective and changes rapidly, the hold type control quantity refers to the control quantity whose current value is effective and changes slowly, and the trigger type control quantity refers to the control quantity that needs to be effective for any historical value; The processing module is used to update the historical parameter values ​​of the target control quantity in the control state image to the control quantity parameter values; The determining module is further configured to determine the transmission strategy corresponding to the target control quantity based on the target control quantity type and the control quantity parameter value; The processing module is further configured to, according to the sending strategy, have the control sending unit synchronize the data packet corresponding to the target control quantity to the control receiving unit, wherein the control receiving unit is deployed in the remote driving device; The processing module is further configured to generate a corresponding target control instruction by the control receiving unit based on the data packet corresponding to the target control quantity. The processing module is further configured to send the target control command to the controlled unit via the control receiving unit, so that the controlled unit operates according to the target control command, wherein the controlled unit is deployed on the remote driving device.

13. The apparatus according to claim 12, characterized in that, When the target control variable type includes a hold type, the processing module can specifically be used for: Compare the control parameter values ​​with historical parameter values; When the control parameter value is different from the historical parameter value, update the historical parameter value of the target control quantity to the control parameter value; Mark the target control variable as a retainable control variable to be updated.

14. The apparatus according to claim 13, characterized in that, The processing module can specifically be used for: Based on the User Datagram Protocol (UDP), and according to the sending strategy, the control sending unit synchronizes the data packets corresponding to the target control quantity to the control receiving unit.

15. The apparatus according to claim 14, characterized in that, When the target control variable type also includes a variable type, the processing module can specifically be used for: According to the update cycle, numerical state sampling is performed on all volatile control variables in the control state image to obtain the current control variable parameter value and the current sampling timestamp corresponding to each volatile control variable. Generate the first data packet based on each variable control variable, the current control variable parameter value, and the current sampling timestamp; Based on the UDP protocol, the control sending unit synchronizes the first data packet to the control receiving unit according to the update cycle.

16. A computer device comprising a memory, a processor, and a bus system, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 11; The bus system is used to connect the memory and the processor to enable communication between the memory and the processor.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 11.

18. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 11.

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