Vehicle data transmission method and system, and vehicle

Abstract

The invention provides a vehicle data transmission method and system and a vehicle, and the method comprises the steps: carrying out the perception fusion of the vehicle data of a target vehicle, carrying out the vehicle path planning based on the perception fusion result, generating a vehicle control signal based on the vehicle path planning result, and carrying out the driving control of the target vehicle according to the vehicle control signal. Performing data association on inertial navigation data, a sensing fusion result, a vehicle path planning result and a vehicle control signal, and finally transmitting a data association result to a cloud through a first private controller domain network; wherein the first private controller domain network comprises a private controller domain network in the vehicle controller. For the vehicle without an Ethernet interface, the private controller domain network in the vehicle controller is directly connected with the private controller domain network in the vehicle-mounted communication terminal, so that the implementation scheme that the data return function is changed from nothing to the existence on the target vehicle is realized under the condition that the network delay of the whole vehicle is not influenced, and better compatibility is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of data transmission, and in particular to a vehicle data transmission method and system, and a vehicle. Background Art

[0002] For some special vehicles (such as low-profile vehicles, vans, trucks, etc.), since the whole vehicle does not have an Ethernet architecture design, but only a CAN (Controller Area Network, CAN for short) communication network architecture design, these special vehicles cannot transmit data back. If an emergency scenario, such as an accident scenario, occurs, how to transmit the data collected during the vehicle's driving to the central server or cloud for analysis and processing without an Ethernet connection is a technical problem that needs to be solved urgently. Summary of the invention

[0003] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a vehicle data transmission method and system, and a vehicle, which are used to solve the data transmission problem in the prior art when the vehicle has no Ethernet.

[0004] To achieve the above objectives and other related objectives, the present application provides a vehicle data transmission method, comprising the following steps:

[0005] Acquire vehicle data of the target vehicle collected in advance or in real time; the vehicle data includes: camera data, lidar data, millimeter wave radar data, ultrasonic radar data, and inertial navigation data;

[0006] Performing perception fusion on the vehicle data, and performing vehicle path planning based on the perception fusion result; and generating a vehicle control signal based on the vehicle path planning result, and controlling the driving of the target vehicle according to the vehicle control signal;

[0007] The inertial navigation data, the perception fusion result, the vehicle path planning result and the vehicle control signal are data-associated, and the data association result is transmitted to the cloud through the first private controller area network; including: after generating the data association result, directly and in real time transmitting the data association result to the cloud through the first private controller area network; or, after generating the data association result, determining whether a trigger signal transmitted by a public controller area network is received, and after receiving the trigger signal transmitted by the public controller area network, transmitting the data association result to the cloud through the first private controller area network; wherein the first private controller area network includes a private controller area network in the vehicle controller.

[0008] In one embodiment of the present application, the process of transmitting the data association result to the cloud through the first private controller area network further includes:

[0009] Transmitting the data association result to the second private controller area network through the first private controller area network; wherein the second private controller area network includes a private controller area network in the vehicle communication terminal;

[0010] Parsing the data association result through the vehicle-mounted communication terminal to obtain the payload data body;

[0011] The payload data body is combined, and the mobile network communication component in the vehicle-mounted communication terminal is called to transmit the combined payload data body to the cloud.

[0012] In one embodiment of the present application, the process of performing perception fusion on the vehicle data and performing vehicle path planning based on the perception fusion result includes:

[0013] The road information of the target vehicle in the current driving state is sensed by the camera data, wherein the road information includes: lane line information, road signs and traffic signs; and

[0014] Perceiving a driving environment model of the target vehicle in a current driving state through the laser radar data; and

[0015] The millimeter wave radar data and the ultrasonic radar data are used to sense the probability of the target vehicle colliding with surrounding objects in the current driving state;

[0016] The road information, the driving environment model and the collision probability are fused to obtain a perception fusion result of the vehicle data, and a vehicle path planning is performed based on the perception fusion result.

[0017] In one embodiment of the present application, the process of generating a vehicle control signal based on a vehicle path planning result and controlling the target vehicle to travel according to the vehicle control signal includes:

[0018] One or more driving paths generated by performing vehicle path planning based on the perception fusion result as the vehicle path planning result;

[0019] Based on the vehicle path planning result, the vehicle display screen of the target vehicle is called, and the vehicle path planning result is displayed on the display screen according to preset conditions; wherein the preset conditions include: shortest time, shortest distance, least cost, and no contact with surrounding objects;

[0020] receiving a driving path selected by a target person on the vehicle display screen, recording the path as the target path; and controlling the target vehicle to drive according to the target path; if the vehicle display screen does not receive a driving path selection signal within a preset time, taking the first driving path displayed on the vehicle display screen as the target path; wherein the target person includes the driver of the target vehicle;

[0021] A vehicle control signal is generated based on the target path, and driving control of the target vehicle is performed according to the vehicle control signal, so that the target vehicle drives according to the target path.

[0022] In one embodiment of the present application, before the public controller area network transmits the trigger signal, the method further includes:

[0023] Monitoring the target vehicle includes: monitoring the working state of the airbag inside the target vehicle through the camera data; and monitoring the lane line information of the target vehicle in the current driving state through the camera data; and constructing a driving environment model of the target vehicle in the current driving state through the laser radar data, and monitoring whether there are obstacles in the driving environment model that affect the normal driving of the target vehicle; and monitoring the collision probability of the target vehicle with surrounding objects in the current driving state through the millimeter wave radar data and the ultrasonic radar data, and when the collision probability is greater than a preset probability, marking the obstacle approaching and issuing a vehicle warning sound prompt;

[0024] After a preset event occurs in the target vehicle, the trigger signal is generated through the chassis of the target vehicle; wherein the preset event includes at least one of the following: airbag popping out, vehicle warning sound prompt, lane line deviation, and obstacle approaching.

[0025] In one embodiment of the present application, the process of data associating the inertial navigation data, the perception fusion result, the vehicle path planning result and the vehicle control signal includes:

[0026] Encapsulating the inertial navigation data, the perception fusion result, the vehicle path planning result and the vehicle control signal in accordance with a unified diagnostic service protocol format; and

[0027] The data encapsulation result is encrypted to obtain the data association result.

[0028] In one embodiment of the present application, the target vehicle includes a vehicle that is configured with a controller area network communication architecture and is not configured with an Ethernet communication architecture.

[0029] The present application also provides a vehicle data transmission system, the system comprising:

[0030] A data acquisition module is used to obtain vehicle data of a target vehicle collected in advance or in real time; the vehicle data includes: camera data, lidar data, millimeter wave radar data, ultrasonic radar data, and inertial navigation data;

[0031] A perception module, used to perceive the vehicle data and obtain a perception result;

[0032] A fusion module, used to fuse the perception results to obtain a perception fusion result;

[0033] A path planning module is used to perform vehicle path planning according to the perception fusion result to obtain a vehicle path planning result;

[0034] A control module, used to generate a vehicle control signal according to the vehicle path planning result, and control the driving of the target vehicle according to the vehicle control signal;

[0035] A data recording module is used to perform data association on the inertial navigation data, the perception fusion result, the vehicle path planning result and the vehicle control signal to obtain a data association result; and transmit the data association result to the cloud through a first private controller area network; including: after generating the data association result, directly and in real time transmitting the data association result to the cloud through the first private controller area network; or, after generating the data association result, determining whether a trigger signal transmitted by a public controller area network is received, and after receiving the trigger signal transmitted by the public controller area network, transmitting the data association result to the cloud through the first private controller area network; wherein the first private controller area network includes a private controller area network in a vehicle controller.

[0036] The present application also provides a vehicle, the vehicle comprising a vehicle controller, the vehicle controller being configured to perform the following steps:

[0037] Acquire vehicle data of the vehicle collected in advance or in real time; the vehicle data includes: camera data, laser radar data, millimeter wave radar data, ultrasonic radar data, and inertial navigation data;

[0038] Performing perception fusion on the vehicle data, and performing vehicle path planning based on the perception fusion result; and generating a vehicle control signal based on the vehicle path planning result, and controlling the driving of the target vehicle according to the vehicle control signal;

[0039] The inertial navigation data, the perception fusion result, the vehicle path planning result and the vehicle control signal are data-associated, and the data association result is transmitted to the cloud through the first private controller area network; including: after generating the data association result, directly and in real time transmitting the data association result to the cloud through the first private controller area network; or, after generating the data association result, determining whether a trigger signal transmitted by a public controller area network is received, and after receiving the trigger signal transmitted by the public controller area network, transmitting the data association result to the cloud through the first private controller area network; wherein the first private controller area network includes a private controller area network in the vehicle controller.

[0040] In one embodiment of the present application, the vehicle further includes an on-board communication terminal, and the on-board communication terminal is used to perform the following steps:

[0041] receiving, through the private controller area network in the vehicle communication terminal, a data association result transmitted by the first private controller area network;

[0042] Parsing the data association result to obtain the payload data body;

[0043] The payload data body is combined, and the mobile network communication component in the vehicle-mounted communication terminal is called to transmit the combined payload data body to the cloud.

[0044] As described above, the present application provides a vehicle data transmission method and system, and a vehicle, which have the following beneficial effects:

[0045] The present application obtains a perception fusion result by perceiving and fusing the vehicle data of the target vehicle; performs vehicle path planning based on the perception fusion result to obtain a vehicle path planning result; generates a vehicle control signal based on the vehicle path planning result, and controls the target vehicle in accordance with the vehicle control signal; then performs data association on the inertial navigation data, the perception fusion result, the vehicle path planning result and the vehicle control signal, and finally transmits the data association result to the cloud through a first private controller area network; including: after generating the data association result, directly and in real time transmitting the data association result to the cloud through the first private controller area network; or, after generating the data association result, determining whether a trigger signal transmitted by a public controller area network is received, and after receiving the trigger signal transmitted by the public controller area network, transmitting the data association result to the cloud through the first private controller area network; wherein the first private controller area network includes a private controller area network in the vehicle controller. It can be seen that for vehicles that are not equipped with Ethernet interfaces, the vehicle data transmission solution provided by this application directly connects the private controller domain network in the vehicle controller to the private controller domain network in the vehicle communication terminal, without affecting the network delay of the entire vehicle, and realizes the implementation of the data backhaul function on the target vehicle from scratch, with better compatibility; at the same time, when encountering special driving scenarios, special accidents, special working conditions, and special road sections, these vehicles can perform effective data collection and transmission based on the controller domain network for subsequent data iteration and model upgrades, etc., so as to better protect the safety of use of these vehicles. In addition, after the cloud receives the actual data of these vehicles, it can conduct in-depth mining and analysis of the actual data received, so that the design of subsequent related products is more targeted and more supported by theoretical data, thereby saving the cost of manpower research and reducing the deviation caused by personal subjective factors. Therefore, the assisted driving system designed based on the data transmission solution of this application can be widely used in a variety of vehicles and communication equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of a process flow of a vehicle data transmission method provided in an embodiment of the present application;

[0047] Figure 2 A schematic diagram of the hardware structure of a vehicle data transmission system provided in an embodiment of the present application;

[0048] Figure 3 A schematic diagram of the architecture of vehicle data transmission provided by an embodiment of the present application;

[0049] Figure 4 A schematic diagram of the communication process between a vehicle and the cloud provided in an embodiment of the present application; DETAILED DESCRIPTION

[0050] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0051] It should be noted that the illustrations provided in this embodiment only illustrate the basic concept of the present application in a schematic manner, and the figures only show the components related to the present application rather than being drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0052] TBOX (Telematics BOX, TBOX for short): It is an intelligent vehicle-mounted communication terminal in the Internet of Vehicles system, mainly used to communicate with the background system and mobile phone APP to realize the vehicle information display and control of the mobile phone APP. As a wireless gateway, TBOX provides a remote communication interface for the whole vehicle. It can also upload data to the TSP background or receive background instructions, providing users with more abundant services.

[0053] Private CAN: Unlike public CAN networks (such as the CAN network where the OBD II diagnostic interface is located), private CAN networks are usually not open to the public and do not allow external devices to directly access them. This helps protect the vehicle's critical data and control systems from unauthorized access or tampering. It is usually an exclusive CAN communication channel under the controller.

[0054] Public CAN: A public, open CAN communication network. Public CAN allows multiple devices or control units to be connected to the same network. On public CAN, multiple devices and control units can share important real-time information to achieve more efficient system collaboration. In the automotive field, public CAN may be used to connect multiple vehicle control units, such as the Electronic Control Unit (ECU) and the Body Control Module (BCM), to achieve information exchange and collaboration between various vehicle systems. This helps to improve the overall performance and safety of the vehicle.

[0055] Figure 1 FIG. 1 shows a flow chart of a vehicle data transmission method provided by an embodiment of the present application. Specifically, in an exemplary embodiment, Figure 1 As shown, this embodiment provides a vehicle data transmission method, the method comprising the following steps:

[0056] S110, obtaining vehicle data of the target vehicle collected in advance or in real time; the vehicle data includes: camera data, laser radar data, millimeter wave radar data, ultrasonic radar data, and inertial navigation data. In this embodiment or other embodiments, the target vehicle includes a vehicle configured with a controller area network communication architecture and not configured with an Ethernet communication architecture. As an example, the target vehicle in this embodiment can be a truck configured with a controller area network communication architecture and not configured with an Ethernet communication architecture, including a dump truck, a tractor truck, an off-road truck, and a vehicle manufactured for special needs, such as an airport shuttle, a fire truck, an ambulance, a tanker truck, a container tractor truck, etc. As another example, the target vehicle in this embodiment can also be a vehicle that lacks one or more of all the functions of the same type of commercial vehicle, and is configured with a controller area network communication architecture and not configured with an Ethernet communication architecture. As another example, the target vehicle in this embodiment can also be a truck configured with a controller area network communication architecture and not configured with an Ethernet communication architecture. In this embodiment or other embodiments, the vehicle data includes but is not limited to: camera data, laser radar data, millimeter wave radar data, ultrasonic radar data, etc. The camera data includes image data and / or video data captured by a camera on the vehicle. In this embodiment or other embodiments, the inertial navigation data includes but is not limited to: Yaw angle, Roll angle, Pitch angle, etc. Among them, Yaw angle: a form of Euler angle, often used to describe the direction or posture of an object in three-dimensional space. Vehicle heading angle, mainly describes the angle between the horizontal projection of the vehicle and the earth's axis. Roll angle: a form of Euler angle, often used to describe the direction or posture of an object in three-dimensional space. It is the angle of rotation of the object around the front and rear axis, also known as the roll angle. A more specific definition is that when the vehicle rolls to the right, the roll angle is positive, and vice versa. Pitch angle: a form of Euler angle, often used to describe the direction or posture of an object in three-dimensional space. When the vehicle raises its head, the pitch angle is positive. It can also be understood as the angle between the X-axis of the body coordinate system and the horizontal plane.

[0057] S120, sensing and fusing the vehicle data, and planning the vehicle path based on the sensing and fusion results; and generating a vehicle control signal based on the vehicle path planning results, and controlling the target vehicle to travel according to the vehicle control signal. In this embodiment or other embodiments, the process of sensing and fusing the vehicle data may include: sensing the vehicle data, obtaining the corresponding sensing results, and then fusing the sensing results to obtain the sensing and fusion results. Among them, the process of sensing the vehicle data and fusing the sensing results can be determined according to the actual vehicle data, and this embodiment will not be repeated here. As an example, the process of sensing and fusing the vehicle data in this embodiment may include: de-distorting, cropping, scaling, etc. the image data and / or video data collected by the camera, and performing point cloud filtering on the laser radar data, millimeter wave radar data, and ultrasonic radar data, and then using the processed camera data, the laser radar data after point cloud filtering, the millimeter wave radar data after point cloud filtering, and the ultrasonic radar data after point cloud filtering for sensing and fusion. Among them, this embodiment can identify events such as lane deviation, obstacle approaching, and airbag deployment through the perception fusion results. The perception fusion results can also be used for vehicle path planning to allow the target vehicle to avoid obstacles or pedestrians, thereby allowing the target vehicle to drive normally.

[0058] S130, data association is performed on the inertial navigation data, the perception fusion result, the vehicle path planning result and the vehicle control signal, and the data association result is transmitted to the cloud through the first private controller area network; including: after the data association result is generated, the data association result is directly and in real time transmitted to the cloud through the first private controller area network; or, after the data association result is generated, it is determined whether a trigger signal transmitted by a public controller area network is received, and after receiving the trigger signal transmitted by the public controller area network, the data association result is transmitted to the cloud through the first private controller area network; wherein the first private controller area network includes a private controller area network in the vehicle controller.

[0059] It can be seen that for vehicles that are not equipped with Ethernet interfaces, the vehicle data transmission solution provided by this embodiment has better compatibility; at the same time, when encountering special driving scenarios, special accidents, special working conditions, and special road sections, these vehicles can perform effective data collection and transmission based on the controller area network for subsequent data iteration and model upgrades, etc., so as to better protect the safety of these vehicles. At the same time, this embodiment can use two methods to transmit the data association results to the cloud through the first private controller area network. One method is to directly transmit the data association results to the cloud in real time through the first private controller area network after generating them; the other method is to transmit the data association results to the cloud through the first private controller area network after receiving the trigger signal transmitted by the public controller area network.

[0060] According to the above records, in an exemplary embodiment, the process of transmitting the data association result to the cloud through the first private controller domain network also includes: transmitting the data association result to the second private controller domain network through the first private controller domain network; wherein the second private controller domain network includes the private controller domain network in the vehicle communication terminal; parsing the data association result through the vehicle communication terminal to obtain the payload data body; combining the payload data body, and calling the mobile network communication component in the vehicle communication terminal to transmit the combined payload data body to the cloud. It can be seen that this embodiment directly connects the private controller domain network in the vehicle controller to the private controller domain network in the vehicle communication terminal. When the vehicle communication terminal receives the data association result sent by the private controller domain network in the vehicle controller, it parses out the payload data part body, and packages the data body as a whole and then forwards it to the internal 4G / 5G communication module, and the 4G / 5G communication module calls the mobile network communication component to realize communication with the cloud, and uploads the data association result to the specified cloud address. After the cloud receives the actual data of these vehicles, it can conduct in-depth mining and analysis of the actual data received, such as decryption, storage, training and testing, etc., so that the design of subsequent related products is more targeted and more supported by theoretical data, thereby saving manpower research costs and reducing deviations caused by personal subjective factors.

[0061] According to the above records, in an exemplary embodiment, the process of perceiving and fusing vehicle data and planning a vehicle path based on the perceiving and fusion results includes: perceiving the road information of the target vehicle in the current driving state through camera data, the road information includes: lane line information, road signs and traffic signs; and, perceiving the driving environment model of the target vehicle in the current driving state through laser radar data; and, perceiving the collision probability of the target vehicle with surrounding objects in the current driving state through millimeter wave radar data and ultrasonic radar data; fusing the road information, driving environment model and collision probability to obtain the perceiving and fusion results of the vehicle data, and planning the vehicle path based on the perceiving and fusion results. In this embodiment or other embodiments, the selection of the perceiving and fusion algorithm may depend on the specific application scenario and requirements, for example, weighted average method, Kalman filtering, Bayesian estimation, fuzzy logic, neural network and other methods may be selected. At the same time, the specific process of vehicle path planning based on perception fusion results can be determined according to actual vehicle data. For example, if the perception fusion results show that the target vehicle has deviated from the lane line, the path planning can be carried out by revising the current lane line deviation direction and distance when performing vehicle path planning, so that the target vehicle can overcome the lane line deviation and drive normally when driving along the planned path. The specific planning process will not be repeated in this embodiment.

[0062] According to the above records, in an exemplary embodiment, a process of generating a vehicle control signal based on a vehicle path planning result and controlling the target vehicle to drive according to the vehicle control signal includes: using one or more driving paths generated by vehicle path planning based on a perception fusion result as a vehicle path planning result; calling an on-board display screen of the target vehicle based on the vehicle path planning result, and displaying the vehicle path planning result on the display screen according to preset conditions; wherein the preset conditions include: shortest time, shortest distance, least cost, and no contact with surrounding objects; receiving a driving path selected by a target person on the on-board display screen, and recording it as a target path; and controlling the target vehicle to drive according to the target path; if the on-board display screen does not receive a driving path selection signal within a preset time, the first driving path displayed on the on-board display screen is used as the target path; wherein the target person includes the driver of the target vehicle; generating a vehicle control signal based on the target path, and controlling the target vehicle to drive according to the vehicle control signal, so that the target vehicle drives according to the target path. As an example, for example, this embodiment uses the perception fusion results to obtain that there are surrounding objects such as pedestrians, animals, and other obstacles around the target vehicle that affect the normal driving of the target vehicle, which may cause the target vehicle to collide with these pedestrians, animals, and obstacles. The preset condition at this time may be no contact with the surrounding objects, so that one or more driving paths that do not contact the surrounding objects are displayed on the on-board display screen. After the target person selects or the target person does not select but the time automatically reaches the preset time period set in advance, the target vehicle can be controlled to drive according to the corresponding target path, thereby ensuring that the target vehicle will not contact and collide with surrounding objects after driving along the target path.

[0063] According to the above records, in an exemplary embodiment, the process of data association of inertial navigation data, perception fusion results, vehicle path planning results and vehicle control signals includes: encapsulating the inertial navigation data, perception fusion results, vehicle path planning results and vehicle control signals according to the unified diagnostic service protocol format; and encrypting the data encapsulation results to obtain data association results. Among them, the UDS (Unified Diagnostic Services, referred to as UDS) protocol: is based on the ISO 14229 standard, provides a standardized diagnostic service and communication mechanism, mainly used for diagnosis and communication between automotive electronic control units ECU. It supports functions including fault code reading, reading real-time data, ECU programming, secure access, etc. It can be seen that this embodiment designs a data transmission method (using the UDS protocol to privately access the CAN channel) and a data packet processing method (packaging in the UDS protocol mode). When the data association result is directly connected from the private CAN in the vehicle controller to the private CAN of the on-board communication terminal TBOX, without affecting the network delay of the entire vehicle, the data backhaul function is implemented from scratch on low-end vehicles, vans, trucks and other target vehicles.

[0064] According to the above records, in an exemplary embodiment, before the public controller area network transmits the trigger signal, it can also include: monitoring the target vehicle, including: monitoring the working status of the airbag inside the target vehicle through camera data; and, monitoring the lane line information of the target vehicle in the current driving state through camera data; and, constructing a driving environment model of the target vehicle in the current driving state through lidar data, and monitoring whether there are obstacles in the driving environment model that affect the normal driving of the target vehicle; and, monitoring the collision probability of the target vehicle with surrounding objects in the current driving state through millimeter wave radar data and ultrasonic radar data, and when the collision probability is greater than the preset probability, marking the obstacle approaching and issuing a vehicle warning sound prompt; after a preset event occurs in the target vehicle, a trigger signal is generated through the chassis of the target vehicle; wherein the preset events include but are not limited to: airbag pop-up, vehicle warning sound prompt, lane line deviation, and obstacle approaching.

[0065] In summary, the present application provides a vehicle data transmission method, which performs perception fusion on the vehicle data of the target vehicle to obtain a perception fusion result; performs vehicle path planning based on the perception fusion result to obtain a vehicle path planning result; generates a vehicle control signal based on the vehicle path planning result, and controls the target vehicle in accordance with the vehicle control signal; then performs data association on the inertial navigation data, the perception fusion result, the vehicle path planning result and the vehicle control signal, and finally transmits the data association result to the cloud through a first private controller area network; including: after generating the data association result, directly and in real time transmitting the data association result to the cloud through the first private controller area network; or, after generating the data association result, determining whether a trigger signal transmitted by a public controller area network is received, and after receiving the trigger signal transmitted by the public controller area network, transmitting the data association result to the cloud through the first private controller area network; wherein the first private controller area network includes a private controller area network in the vehicle controller. It can be seen that for vehicles that are not equipped with Ethernet interfaces, the vehicle data transmission scheme provided by this method directly connects the private controller area network in the vehicle controller to the private controller area network in the vehicle communication terminal, without affecting the network delay of the entire vehicle, and realizes the implementation scheme of the data backhaul function from scratch on the target vehicle, which has better compatibility; at the same time, when encountering special driving scenarios, special accidents, special working conditions, and special road sections, these vehicles can collect and transmit data effectively based on the controller area network for subsequent data iteration and model upgrade, etc., so as to better protect the safety of these vehicles. In addition, after the cloud receives the actual data of these vehicles, it can conduct in-depth mining and analysis of the actual data received, so that the design of subsequent related products is more targeted and more supported by theoretical data, thereby saving the cost of manpower research and reducing the deviation caused by personal subjective factors. Therefore, the assisted driving system designed based on the data transmission scheme of this method can be widely used in a variety of vehicles and communication equipment.

[0066] Figure 2 FIG. 1 shows a schematic diagram of the hardware structure of a vehicle data transmission system provided by an embodiment of the present application. Specifically, in an exemplary embodiment of the present application, Figure 2 As shown, this embodiment provides a vehicle data transmission system, the system comprising:

[0067] The data acquisition module is used to obtain vehicle data of the target vehicle collected in advance or in real time; the vehicle data includes: camera data, laser radar data, millimeter wave radar data, ultrasonic radar data, and inertial navigation data. In this embodiment or other embodiments, the target vehicle includes a vehicle configured with a controller area network communication architecture and not configured with an Ethernet communication architecture. As an example, the target vehicle in this embodiment can be a truck configured with a controller area network communication architecture and not configured with an Ethernet communication architecture, including a dump truck, a tractor truck, an off-road truck, and a vehicle manufactured for special needs, such as an airport shuttle, a fire truck, an ambulance, a tanker truck, a container tractor truck, etc. As another example, the target vehicle in this embodiment can also be a vehicle that lacks one or more of all the functions of the same type of commercial vehicle, and is configured with a controller area network communication architecture and not configured with an Ethernet communication architecture. As another example, the target vehicle in this embodiment can also be a truck configured with a controller area network communication architecture and not configured with an Ethernet communication architecture. In this embodiment or other embodiments, the vehicle data includes but is not limited to: camera data, laser radar data, millimeter wave radar data, ultrasonic radar data, etc. The camera data includes image data and / or video data captured by a camera on the vehicle. In this embodiment or other embodiments, the inertial navigation data includes but is not limited to: Yaw angle, Roll angle, Pitch angle, etc. Among them, Yaw angle: a form of Euler angle, often used to describe the direction or posture of an object in three-dimensional space. Vehicle heading angle, mainly describes the angle between the horizontal projection of the vehicle and the earth's axis. Roll angle: a form of Euler angle, often used to describe the direction or posture of an object in three-dimensional space. It is the angle of rotation of the object around the front and rear axis, also known as the roll angle. A more specific definition is that when the vehicle rolls to the right, the roll angle is positive, and vice versa. Pitch angle: a form of Euler angle, often used to describe the direction or posture of an object in three-dimensional space. When the vehicle raises its head, the pitch angle is positive. It can also be understood as the angle between the X-axis of the body coordinate system and the horizontal plane.

[0068] The perception module is used to perceive the vehicle data and obtain the perception results. In this embodiment or other embodiments, the process of perceiving the vehicle data can be determined based on the actual vehicle data, and this embodiment will not be repeated here. As an example, the process of perceiving and fusing the vehicle data in this embodiment may include: de-distorting, cropping, scaling, and other processing of the image data and / or video data collected by the camera, and point cloud filtering of the lidar data, millimeter-wave radar data, and ultrasonic radar data, and then using the processed camera data, the lidar data after point cloud filtering, the millimeter-wave radar data after point cloud filtering, and the ultrasonic radar data after point cloud filtering for perception fusion.

[0069] The fusion module is used to fuse the perception results to obtain a perception fusion result. In this embodiment or other embodiments, the process of fusing the vehicle data can be determined according to the actual vehicle data, and this embodiment will not be repeated here.

[0070] The path planning module is used to perform vehicle path planning based on the perception fusion results to obtain the vehicle path planning results. This embodiment can identify events such as lane deviation, obstacle approaching, and airbag deployment through the perception fusion results, and can also use the perception fusion results to perform vehicle path planning, so that the target vehicle can avoid obstacles or pedestrians, so that the target vehicle can drive normally.

[0071] A control module, used to generate a vehicle control signal according to the vehicle path planning result, and control the driving of the target vehicle according to the vehicle control signal;

[0072] A data recording module is used to associate inertial navigation data, perception fusion results, vehicle path planning results and vehicle control signals to obtain data association results; and transmit the data association results to the cloud through a first private controller area network; including: after generating the data association results, directly and in real time transmitting the data association results to the cloud through the first private controller area network; or, after generating the data association results, determining whether a trigger signal transmitted by a public controller area network is received, and after receiving the trigger signal transmitted by the public controller area network, transmitting the data association results to the cloud through the first private controller area network; wherein the first private controller area network includes a private controller area network in a vehicle controller.

[0073] It can be seen that for vehicles that are not equipped with Ethernet interfaces, the vehicle data transmission solution provided by this embodiment has better compatibility; at the same time, when encountering special driving scenarios, special accidents, special working conditions, and special road sections, these vehicles can perform effective data collection and transmission based on the controller area network for subsequent data iteration and model upgrades, etc., so as to better protect the safety of these vehicles. At the same time, this embodiment can use two methods to transmit the data association results to the cloud through the first private controller area network. One method is to directly transmit the data association results to the cloud in real time through the first private controller area network after generating them; the other method is to transmit the data association results to the cloud through the first private controller area network after receiving the trigger signal transmitted by the public controller area network.

[0074] According to the above records, in an exemplary embodiment, before the public controller area network transmits the trigger signal, it can also include: monitoring the target vehicle, including: monitoring the working status of the airbag inside the target vehicle through camera data; and, monitoring the lane line information of the target vehicle in the current driving state through camera data; and, constructing a driving environment model of the target vehicle in the current driving state through lidar data, and monitoring whether there are obstacles in the driving environment model that affect the normal driving of the target vehicle; and, monitoring the collision probability of the target vehicle with surrounding objects in the current driving state through millimeter wave radar data and ultrasonic radar data, and when the collision probability is greater than the preset probability, marking the obstacle approaching and issuing a vehicle warning sound prompt; after a preset event occurs in the target vehicle, a trigger signal is generated through the chassis of the target vehicle; wherein the preset events include but are not limited to: airbag pop-up, vehicle warning sound prompt, lane line deviation, and obstacle approaching.

[0075] According to the above records, in an exemplary embodiment, the process in which the data recording module transmits the data association result to the cloud through the first private controller area network also includes: transmitting the data association result to the second private controller area network through the first private controller area network; wherein the second private controller area network includes the private controller area network in the vehicle communication terminal; parsing the data association result through the vehicle communication terminal to obtain the payload data body; combining the payload data body, and calling the mobile network communication component in the vehicle communication terminal to transmit the combined payload data body to the cloud. It can be seen that this embodiment directly connects the private controller area network in the vehicle controller to the private controller area network in the vehicle communication terminal. When the vehicle communication terminal receives the data association result sent by the private controller area network in the vehicle controller, it parses out the payload data part body, and packages the data body as a whole and then forwards it to the internal 4G / 5G communication module, and the 4G / 5G communication module calls the mobile network communication component to realize communication with the cloud, and uploads the data association result to the specified cloud address. After the cloud receives the actual data of these vehicles, it can conduct in-depth mining and analysis of the actual data received, such as decryption, storage, training and testing, etc., so that the design of subsequent related products is more targeted and more supported by theoretical data, thereby saving manpower research costs and reducing deviations caused by personal subjective factors.

[0076] According to the above records, in an exemplary embodiment, the process of the path planning module performing vehicle path planning based on the perception fusion result includes: sensing the road information of the target vehicle in the current driving state through camera data, and the road information includes: lane line information, road signs and traffic signs; and sensing the driving environment model of the target vehicle in the current driving state through laser radar data; and sensing the collision probability of the target vehicle with surrounding objects in the current driving state through millimeter wave radar data and ultrasonic radar data; fusing the road information, driving environment model and collision probability to obtain the perception fusion result of the vehicle data, and performing vehicle path planning based on the perception fusion result. In this embodiment or other embodiments, the selection of perception and fusion algorithms may depend on the specific application scenarios and requirements, for example, weighted average method, Kalman filtering, Bayesian estimation, fuzzy logic, neural network and other methods may be selected. At the same time, the specific process of vehicle path planning based on perception fusion results can be determined according to actual vehicle data. For example, if the perception fusion results show that the target vehicle has deviated from the lane line, the path planning can be carried out by revising the current lane line deviation direction and distance when performing vehicle path planning, so that the target vehicle can overcome the lane line deviation and drive normally when driving along the planned path. The specific planning process will not be repeated in this embodiment.

[0077] According to the above records, in an exemplary embodiment, the control module generates a vehicle control signal based on the vehicle path planning result, and the process of controlling the target vehicle to drive according to the vehicle control signal includes: taking one or more driving paths generated by vehicle path planning based on the perception fusion result as the vehicle path planning result; calling the on-board display screen of the target vehicle based on the vehicle path planning result, and displaying the vehicle path planning result on the display screen according to preset conditions; wherein the preset conditions include: shortest time, shortest distance, least cost, and no contact with surrounding objects; receiving the driving path selected by the target person on the on-board display screen, recording it as the target path; and controlling the target vehicle to drive according to the target path; if the on-board display screen does not receive the driving path selection signal within the preset time, the first driving path displayed on the on-board display screen is used as the target path; wherein the target person includes the driver of the target vehicle; generating a vehicle control signal based on the target path, and controlling the target vehicle to drive according to the vehicle control signal, so that the target vehicle drives according to the target path. As an example, for example, this embodiment uses the perception fusion results to obtain that there are surrounding objects such as pedestrians, animals, and other obstacles around the target vehicle that affect the normal driving of the target vehicle, which may cause the target vehicle to collide with these pedestrians, animals, and obstacles. The preset condition at this time may be no contact with the surrounding objects, so that one or more driving paths that do not contact the surrounding objects are displayed on the on-board display screen. After the target person selects or the target person does not select but the time automatically reaches the preset time period set in advance, the target vehicle can be controlled to drive according to the corresponding target path, thereby ensuring that the target vehicle will not contact and collide with surrounding objects after driving along the target path.

[0078] According to the above records, in an exemplary embodiment, the process of the data recording module associating the inertial navigation data, the perception fusion result, the vehicle path planning result and the vehicle control signal includes: encapsulating the inertial navigation data, the perception fusion result, the vehicle path planning result and the vehicle control signal according to the unified diagnostic service protocol format; and encrypting the data encapsulation result to obtain the data association result. Among them, the UDS (Unified Diagnostic Services, referred to as UDS) protocol: is based on the ISO 14229 standard, provides a standardized diagnostic service and communication mechanism, and is mainly used for diagnosis and communication between automotive electronic control units ECU. The functions it supports include fault code reading, reading real-time data, ECU programming, secure access, etc. It can be seen that this embodiment designs the data transmission method (using the UDS protocol to privately access the CAN channel) and the data packet processing method (packaging in the UDS protocol mode). When the data association result is directly connected from the private CAN in the vehicle controller to the private CAN of the vehicle communication terminal TBOX, without affecting the vehicle network delay, the data backhaul function is realized from scratch on low-end vehicles, vans, trucks and other target vehicles.

[0079] In summary, the present application provides a vehicle data transmission system, which obtains a perception fusion result by perceiving and fusing the vehicle data of a target vehicle; performs vehicle path planning based on the perception fusion result to obtain a vehicle path planning result; generates a vehicle control signal based on the vehicle path planning result, and controls the target vehicle in accordance with the vehicle control signal; then performs data association on the inertial navigation data, the perception fusion result, the vehicle path planning result and the vehicle control signal, and finally transmits the data association result to the cloud through a first private controller area network; including: after generating the data association result, directly and in real time transmitting the data association result to the cloud through the first private controller area network; or, after generating the data association result, determining whether a trigger signal transmitted by a public controller area network is received, and after receiving the trigger signal transmitted by the public controller area network, transmitting the data association result to the cloud through the first private controller area network; wherein the first private controller area network includes a private controller area network in a vehicle controller. It can be seen that for vehicles that are not equipped with Ethernet interfaces, the vehicle data transmission solution provided by this system directly connects the private controller area network in the vehicle controller to the private controller area network in the vehicle communication terminal, without affecting the network delay of the entire vehicle, and realizes the implementation of the data backhaul function on the target vehicle from scratch, with better compatibility; at the same time, when encountering special driving scenarios, special accidents, special working conditions, and special road sections, these vehicles can collect and transmit data effectively based on the controller area network for subsequent data iteration and model upgrades, etc., so as to better protect the safety of these vehicles. In addition, after the cloud receives the actual data of these vehicles, it can conduct in-depth mining and analysis of the actual data received, so that the design of subsequent related products is more targeted and more supported by theoretical data, thereby saving the cost of manpower research and reducing the deviation caused by personal subjective factors. Therefore, the assisted driving system designed based on the data transmission solution of this system can be widely used in a variety of vehicles and communication equipment.

[0080] It should be noted that the vehicle data transmission system provided in the above embodiment and the vehicle data transmission method provided in the above embodiment belong to the same concept, wherein the specific manner in which the vehicle data transmission method performs operations has been described in detail in the above method embodiment, and will not be repeated here. In practical applications, the vehicle data transmission system provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the vehicle data transmission system into different functional modules, and then implement all or part of the functions of the corresponding functional modules through the vehicle data transmission method described in the above embodiment, and this is not specifically limited here.

[0081] In another exemplary embodiment of the present application, the embodiment further provides a vehicle, the vehicle comprising a vehicle controller, the vehicle controller is used to perform the following steps:

[0082] Obtain vehicle data of the vehicle collected in advance or in real time; the vehicle data includes: camera data, laser radar data, millimeter wave radar data, ultrasonic radar data, and inertial navigation data. The vehicle provided in this embodiment includes a vehicle configured with a controller area network communication architecture and not configured with an Ethernet communication architecture. As an example, the vehicle in this embodiment can be a truck configured with a controller area network communication architecture and not configured with an Ethernet communication architecture, including a dump truck, a tractor truck, an off-road truck, and a vehicle manufactured for special needs, such as an airport shuttle, a fire truck, an ambulance, a tanker truck, a container tractor truck, etc. As another example, the vehicle in this embodiment can also be a vehicle that lacks one or more of all the functions of the same type of commercial vehicle, and is configured with a controller area network communication architecture and not configured with an Ethernet communication architecture. As another example, the vehicle in this embodiment can also be a truck configured with a controller area network communication architecture and not configured with an Ethernet communication architecture. In this embodiment or other embodiments, the vehicle data includes but is not limited to: camera data, laser radar data, millimeter wave radar data, ultrasonic radar data, etc. In this embodiment or other embodiments, the inertial navigation data includes but is not limited to: Yaw angle, Roll angle, Pitch angle, etc. Among them, Yaw angle: a form of Euler angle, often used to describe the direction or posture of an object in three-dimensional space. Vehicle heading angle, mainly describes the angle between the horizontal projection of the vehicle and the earth's axis. Roll angle: a form of Euler angle, often used to describe the direction or posture of an object in three-dimensional space. It is the angle of rotation of the object around the front and rear axis, also known as the roll angle. A more specific definition is that when the vehicle rolls to the right, the roll angle is positive, and vice versa. Pitch angle: a form of Euler angle, often used to describe the direction or posture of an object in three-dimensional space. When the vehicle raises its head, the pitch angle is positive. It can also be understood as the angle between the X-axis of the body coordinate system and the horizontal plane.

[0083] The vehicle data is sensed and fused, and the vehicle path is planned based on the sensed fusion result; and a vehicle control signal is generated based on the vehicle path planning result, and the target vehicle is controlled to travel according to the vehicle control signal. In this embodiment or other embodiments, the process of sensing and fusing the vehicle data may include: sensing the vehicle data, obtaining the corresponding sensed result, and then fusing the sensed result to obtain the sensed fusion result. Among them, the process of sensing the vehicle data and fusing the sensed result can be determined according to the actual vehicle data, and this embodiment will not be repeated here. As an example, the process of sensing and fusing the vehicle data in this embodiment may include: de-distorting, cropping, scaling and other processing of the image data and / or video data collected by the camera, and point cloud filtering of the laser radar data, millimeter wave radar data, and ultrasonic radar data, and then using the processed camera data, the laser radar data after point cloud filtering, the millimeter wave radar data after point cloud filtering, and the ultrasonic radar data after point cloud filtering for sensing and fusion. Among them, this embodiment allows the vehicle to avoid obstacles or pedestrians by performing vehicle path planning according to the sensed fusion result, so that the target vehicle can travel normally.

[0084] Data association is performed on inertial navigation data, perception fusion results, vehicle path planning results and vehicle control signals, and the data association results are transmitted to the cloud through the first private controller area network; including: after generating the data association results, directly transmitting the data association results to the cloud through the first private controller area network in real time; or, after generating the data association results, determining whether a trigger signal transmitted by a public controller area network is received, and after receiving the trigger signal transmitted by the public controller area network, transmitting the data association results to the cloud through the first private controller area network; wherein the first private controller area network includes a private controller area network in the vehicle controller. Specifically, the process of transmitting the data association results to the cloud through the first private controller area network includes: after generating the data association results, transmitting the data association results to the cloud through the first private controller area network in real time; or, receiving a trigger signal transmitted by the public controller area network, transmitting the data association results to the cloud through the first private controller area network. In this embodiment or other embodiments, before the public controller area network transmits the trigger signal, it may also include: monitoring the target vehicle, and generating a trigger signal through the chassis of the target vehicle after a preset event occurs in the target vehicle; wherein the preset event includes but is not limited to: airbag deployment, vehicle warning sound prompt, lane line deviation, obstacle approaching, etc. It can be seen that this embodiment adopts two methods to transmit the data association result to the cloud through the first private controller area network, one of which is to directly transmit the data association result to the cloud in real time through the first private controller area network after generating it; the other method is to transmit the data association result to the cloud through the first private controller area network after receiving the trigger signal transmitted by the public controller area network.

[0085] According to the above records, in an exemplary embodiment, the vehicle may also include an on-board communication terminal, which is used to perform the following steps: receiving the data association result transmitted by the first private controller domain network through the private controller domain network in the on-board communication terminal; parsing the data association result to obtain the payload data body; combining the payload data body, and calling the mobile network communication component in the on-board communication terminal to transmit the combined payload data body to the cloud. It can be seen that this embodiment directly connects the private controller domain network in the vehicle controller to the private controller domain network in the on-board communication terminal. After receiving the data association result sent by the private controller domain network in the vehicle controller, the on-board communication terminal parses out the payload data part body, and packages the data body as a whole before forwarding it to the internal 4G / 5G communication module. The 4G / 5G communication module calls the mobile network communication component to achieve communication with the cloud and upload the data association result to the specified cloud address. After the cloud receives the actual data of these vehicles, it can conduct in-depth mining and analysis of the actual data received, such as decryption, storage, training and testing, etc., so that the design of subsequent related products is more targeted and more supported by theoretical data, thereby saving manpower research costs and reducing deviations caused by personal subjective factors.

[0086] According to the above records, in an exemplary embodiment, the schematic diagram of the structure of the vehicle when performing data transmission provided by the above embodiment is as follows: Figure 3 As shown. Figure 3 As shown, the vehicle controller includes: a perception module, a fusion module, a path planning module, a control module, a data recording module, a first private CAN and a public CAN; the vehicle communication terminal includes a second private CAN and a 4G / 5G communication module. In addition, the communication process diagram between the vehicle and the cloud provided in the above embodiment is as follows Figure 4 After receiving the actual data of the vehicle, the cloud can conduct in-depth mining and analysis on the received actual data, such as decryption, storage, training and testing, etc., so that the design of subsequent related products is more targeted and more supported by theoretical data, thereby saving manpower research costs and reducing the deviation caused by personal subjective factors.

[0087] It should be noted that the vehicle provided in the above embodiment and the vehicle data transmission method and vehicle data transmission system provided in the above embodiment belong to the same concept, wherein the specific manner in which the vehicle data transmission method and the vehicle data transmission system perform operations have been described in detail in the above embodiment and will not be repeated here. In actual applications, the vehicle provided in the above embodiment can be assigned to different functional modules as needed, that is, the internal structure of the vehicle is divided into different functional modules, and then all or part of the functions of the corresponding functional modules are implemented through the vehicle data transmission method or vehicle data transmission system described in the above embodiment, and this is not specifically limited here.

[0088] It should be noted that the above embodiments collect, store, use, process, transmit, provide, disclose, delete, etc. related data (such as vehicle data, inertial navigation data, etc.) with or with the consent of the user. For example, vehicle data and inertial navigation data are authorized with the knowledge and consent of the user; or are actively provided by the user after reading the relevant instructions, or are actively authorized / provided / uploaded by the user when using some or all of the functions described in the above embodiments, or are obtained through other methods / channels with or with the consent of the user.

[0089] It should be understood that, although the terms first, second, etc. may be used to describe the controller area network, etc. in the embodiments of the present application, these terms are only used to distinguish the controller area network from each other. For example, without departing from the scope of the embodiments of the present application, the first controller area network may also be referred to as the second controller area network, and similarly, the second controller area network may also be referred to as the first controller area network.

[0090] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A vehicle data transmission method, characterized in that: The method comprises the following steps: Acquire vehicle data of the target vehicle collected in advance or in real time; the vehicle data includes: camera data, lidar data, millimeter wave radar data, ultrasonic radar data, and inertial navigation data; Performing perception fusion on the vehicle data, and performing vehicle path planning based on the perception fusion result; and generating a vehicle control signal based on the vehicle path planning result, and controlling the driving of the target vehicle according to the vehicle control signal; The inertial navigation data, the perception fusion result, the vehicle path planning result and the vehicle control signal are data-associated, and the data association result is transmitted to the cloud through the first private controller area network; including: after generating the data association result, directly and in real time transmitting the data association result to the cloud through the first private controller area network; or, after generating the data association result, determining whether a trigger signal transmitted by a public controller area network is received, and after receiving the trigger signal transmitted by the public controller area network, transmitting the data association result to the cloud through the first private controller area network; wherein the first private controller area network includes a private controller area network in the vehicle controller.

2. The vehicle data transmission method according to claim 1, characterized in that: The process of transmitting the data association result to the cloud through the first private controller area network also includes: Transmitting the data association result to the second private controller area network through the first private controller area network; wherein the second private controller area network includes a private controller area network in the vehicle communication terminal; Parsing the data association result through the vehicle-mounted communication terminal to obtain the payload data body; The payload data body is combined, and the mobile network communication component in the vehicle-mounted communication terminal is called to transmit the combined payload data body to the cloud.

3. The vehicle data transmission method according to claim 1, characterized in that: The process of performing perception fusion on the vehicle data and performing vehicle path planning based on the perception fusion result includes: The road information of the target vehicle in the current driving state is sensed by the camera data, wherein the road information includes: lane line information, road signs and traffic signs; and Perceiving a driving environment model of the target vehicle in a current driving state through the laser radar data; and The millimeter wave radar data and the ultrasonic radar data are used to sense the probability of the target vehicle colliding with surrounding objects in the current driving state; The road information, the driving environment model and the collision probability are fused to obtain a perception fusion result of the vehicle data, and a vehicle path planning is performed based on the perception fusion result.

4. The vehicle data transmission method according to claim 1, characterized in that: The process of generating a vehicle control signal based on the vehicle path planning result and controlling the target vehicle to travel according to the vehicle control signal includes: One or more driving paths generated by performing vehicle path planning based on the perception fusion result as the vehicle path planning result; Based on the vehicle path planning result, the vehicle display screen of the target vehicle is called, and the vehicle path planning result is displayed on the display screen according to preset conditions; wherein the preset conditions include: shortest time, shortest distance, least cost, and no contact with surrounding objects; receiving a driving path selected by a target person on the vehicle display screen, recording the path as the target path; and controlling the target vehicle to drive according to the target path; if the vehicle display screen does not receive a driving path selection signal within a preset time, taking the first driving path displayed on the vehicle display screen as the target path; wherein the target person includes the driver of the target vehicle; A vehicle control signal is generated based on the target path, and driving control of the target vehicle is performed according to the vehicle control signal, so that the target vehicle drives according to the target path.

5. The vehicle data transmission method according to claim 1, characterized in that: Before the public controller area network transmits the trigger signal, the method further includes: Monitoring the target vehicle includes: monitoring the working state of the airbag inside the target vehicle through the camera data; and monitoring the lane line information of the target vehicle in the current driving state through the camera data; and constructing a driving environment model of the target vehicle in the current driving state through the laser radar data, and monitoring whether there are obstacles in the driving environment model that affect the normal driving of the target vehicle; and monitoring the collision probability of the target vehicle with surrounding objects in the current driving state through the millimeter wave radar data and the ultrasonic radar data, and when the collision probability is greater than a preset probability, marking the obstacle approaching and issuing a vehicle warning sound prompt; After a preset event occurs in the target vehicle, the trigger signal is generated through the chassis of the target vehicle; wherein the preset event includes at least one of the following: airbag popping out, vehicle warning sound prompt, lane line deviation, and obstacle approaching.

6. The vehicle data transmission method according to claim 1, characterized in that: The process of data-association of the inertial navigation data, the perception fusion result, the vehicle path planning result and the vehicle control signal comprises: Encapsulating the inertial navigation data, the perception fusion result, the vehicle path planning result and the vehicle control signal in accordance with a unified diagnostic service protocol format; and The data encapsulation result is encrypted to obtain the data association result.

7. The vehicle data transmission method according to any one of claims 1 to 6, characterized in that: The target vehicle includes a vehicle that is configured with a controller area network communication architecture and is not configured with an Ethernet communication architecture.

8. A vehicle data transmission system, characterized in that: The system comprises: A data acquisition module is used to obtain vehicle data of a target vehicle collected in advance or in real time; the vehicle data includes: camera data, lidar data, millimeter wave radar data, ultrasonic radar data, and inertial navigation data; A perception module, used to perceive the vehicle data and obtain a perception result; A fusion module, used to fuse the perception results to obtain a perception fusion result; A path planning module is used to perform vehicle path planning according to the perception fusion result to obtain a vehicle path planning result; A control module, used to generate a vehicle control signal according to the vehicle path planning result, and control the driving of the target vehicle according to the vehicle control signal; A data recording module is used to perform data association on the inertial navigation data, the perception fusion result, the vehicle path planning result and the vehicle control signal to obtain a data association result; and transmit the data association result to the cloud through a first private controller area network; including: after generating the data association result, directly and in real time transmitting the data association result to the cloud through the first private controller area network; or, after generating the data association result, determining whether a trigger signal transmitted by a public controller area network is received, and after receiving the trigger signal transmitted by the public controller area network, transmitting the data association result to the cloud through the first private controller area network; wherein the first private controller area network includes a private controller area network in a vehicle controller.

9. A vehicle, characterized in that: The vehicle includes a vehicle controller, and the vehicle controller is used to perform the following steps: Acquire vehicle data of the vehicle collected in advance or in real time; the vehicle data includes: camera data, laser radar data, millimeter wave radar data, ultrasonic radar data, and inertial navigation data; Performing perception fusion on the vehicle data, and performing vehicle path planning based on the perception fusion result; and generating a vehicle control signal based on the vehicle path planning result, and controlling the driving of the target vehicle according to the vehicle control signal; The inertial navigation data, the perception fusion result, the vehicle path planning result and the vehicle control signal are data-associated, and the data association result is transmitted to the cloud through the first private controller area network; including: after generating the data association result, directly and in real time transmitting the data association result to the cloud through the first private controller area network; or, after generating the data association result, determining whether a trigger signal transmitted by a public controller area network is received, and after receiving the trigger signal transmitted by the public controller area network, transmitting the data association result to the cloud through the first private controller area network; wherein the first private controller area network includes a private controller area network in the vehicle controller.

10. The vehicle according to claim 9, characterized in that The vehicle further includes an on-board communication terminal, which is used to perform the following steps: receiving, through the private controller area network in the vehicle communication terminal, a data association result transmitted by the first private controller area network; Parsing the data association result to obtain the payload data body; The payload data body is combined, and the mobile network communication component in the vehicle-mounted communication terminal is called to transmit the combined payload data body to the cloud.

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