Data transmission method and device of unmanned vehicle, electronic equipment and storage medium

Abstract

The invention provides a data transmission method and device of an unmanned vehicle, electronic equipment and a storage medium. The method comprises the following steps: the terminal equipment encapsulates unmanned vehicle data received through a CAN interface to obtain a first transmission message; the message transmission server receives the first transmission message and determines a corresponding subscription theme according to the first transmission message; the message transmission server sends the analyzed unmanned vehicle data contained in the first transmission message to the cloud server under the condition that the subscription theme is the theme corresponding to the first transmission message; the message transmission server receives a second transmission message of the cloud server, and determines a corresponding subscription theme according to the second message; and under the condition that the subscription theme is the theme corresponding to the second transmission message, the message transmission server sends the control message in the second transmission message to the terminal equipment. According to the method, the terminal equipment analyzes the unmanned vehicle data, so that the operation burden of the message transmission server is reduced.

Description

Technical Field

[0001] The present application relates to the field of data transmission, and in particular to a data transmission method, device, electronic device, and storage medium for an unmanned vehicle. Background Art

[0002] An unmanned vehicle is a vehicle that can navigate and operate autonomously without the intervention of a human driver. The data transmission of an unmanned vehicle during its operation is to ensure that the vehicle can obtain, process and share information in real time.

[0003] In the existing data transmission method of unmanned vehicles, a wireless network is formed with communication routers and base stations through wireless networking to realize data reporting.

[0004] However, in the existing data transmission method for unmanned vehicles, the server platform needs to spend extra time and resources to parse the data of the unmanned vehicles, which increases the pressure and operating burden of the server platform. Summary of the invention

[0005] The present application provides a data transmission method, device, electronic device, and storage medium for an unmanned vehicle, which are used to solve the technical problem of increased operating burden on a server platform during data transmission for an unmanned vehicle.

[0006] In a first aspect, the present application provides a data transmission method for an unmanned vehicle, applied to a terminal device, the method comprising:

[0007] Receiving unmanned vehicle data collected by at least one type of sensor via a CAN interface;

[0008] The unmanned vehicle data is encapsulated and processed according to the corresponding message transmission protocol to obtain a first transmission message, wherein the transmission message includes: the parsed unmanned vehicle data and a first subscription topic, the message transmission protocol is a message transmission protocol corresponding to the message transmission server, and the first subscription topic is a topic subscribed by the cloud server corresponding to the unmanned vehicle;

[0009] Sending the first transmission message to the message transmission server.

[0010] In a possible implementation, encapsulating the unmanned vehicle data according to a corresponding message transmission protocol to obtain a first transmission message includes:

[0011] Parsing the unmanned vehicle data to obtain corresponding CAN identifiers and data fields;

[0012] Based on the CAN identifier, performing data parsing processing on the data field to obtain parsed unmanned vehicle data;

[0013] The parsed unmanned vehicle data and the first subscription topic are encapsulated according to the message transmission protocol to obtain the first transmission message.

[0014] In a possible implementation, performing data parsing processing on the data field based on the CAN identifier to obtain parsed unmanned vehicle data includes:

[0015] Determine the data type of the data field according to the CAN identifier;

[0016] When the data type of the data field is the first data type, performing data parsing processing on the data field based on the data field and the reference dictionary table to obtain parsed unmanned vehicle data;

[0017] When the data type of the data field is the second data type, a preset number of bytes at a preset position in the data field are used as parsed unmanned vehicle data.

[0018] In a possible implementation, before receiving the unmanned vehicle data collected by at least one type of sensor through the CAN interface, the method further includes:

[0019] Sending a connection request to the message transmission server, the connection request including: identity information and authorization information of the terminal device;

[0020] Receiving connection feedback information sent by the message transmission server;

[0021] When the connection feedback information indicates that the terminal device verification is successful, a communication connection is established with the message transmission server.

[0022] In a second aspect, the present application provides a data transmission method for an unmanned vehicle, which is applied to a message transmission server, and the method includes:

[0023] Acquire a transmission message sent by the terminal device or the cloud server, where the transmission message is used to indicate unmanned vehicle data or a control message of the corresponding unmanned vehicle;

[0024] Determining a subscription topic corresponding to the transmission message, wherein the topics subscribed to by the terminal device and the cloud server are different;

[0025] In a case where the subscription topic is a first subscription topic, the parsed unmanned vehicle data contained in the transmission message is sent to the cloud server, wherein the first subscription topic is a topic subscribed by the cloud server corresponding to the unmanned vehicle;

[0026] In the case where the subscription topic is the second subscription topic, the control message contained in the transmission message is sent to the terminal device corresponding to the unmanned vehicle, wherein the second subscription topic is the topic subscribed by the terminal device.

[0027] In a possible implementation manner, before obtaining the transmission message sent by the terminal device or the cloud server, the method further includes:

[0028] Receiving a connection request sent by the terminal device or the cloud server, the connection request including: identity information of the terminal device or the cloud server and corresponding authorization information;

[0029] Performing identity verification processing on the identity information, and generating and sending first connection feedback information if the identity verification passes and the authorization list contains corresponding authorization information, wherein the first connection feedback information is used to indicate that the terminal device or the cloud server has been successfully verified;

[0030] When the identity verification fails and / or the authorization list does not contain the corresponding authorization information, second connection feedback information is generated and sent, and the second connection feedback information is used to indicate that the terminal device or the cloud server verification has failed.

[0031] In a third aspect, the present application provides a data transmission device for an unmanned vehicle, applied to a terminal device, the device comprising:

[0032] A receiving module, configured to receive the unmanned vehicle data control module collected by at least one type of sensor through the CAN interface;

[0033] A processing module, configured to encapsulate the unmanned vehicle data according to a corresponding message transmission protocol to obtain a first transmission message, wherein the transmission message includes: the parsed unmanned vehicle data and a first subscription topic, the message transmission protocol is a message transmission protocol corresponding to a message transmission server, and the first subscription topic is a topic subscribed by a cloud server corresponding to the unmanned vehicle;

[0034] A sending module is used to send the first transmission message to the message transmission server.

[0035] In one possible implementation, the processing module is also used to parse the unmanned vehicle data to obtain the corresponding CAN identifier and data field; based on the CAN identifier, perform data parsing on the data field to obtain parsed unmanned vehicle data; and encapsulate the parsed unmanned vehicle data and the first subscription topic according to the message transmission protocol to obtain the first transmission message.

[0036] In one possible implementation, the processing module is also used to determine the data type of the data field based on the CAN identifier; when the data type of the data field is a first data type, perform data parsing on the data field based on the data field and a reference dictionary table to obtain parsed unmanned vehicle data; when the data type of the data field is a second data type, use a preset number of bytes at a preset position in the data field as parsed unmanned vehicle data.

[0037] In a possible implementation, the sending module is further used to send a connection request to the message transmission server, the connection request including: identity information and authorization information of the terminal device;

[0038] The receiving module is further used to receive connection feedback information sent by the message transmission server;

[0039] The processing module is further configured to establish a communication connection with the message transmission server when the connection feedback information indicates that the terminal device has been successfully authenticated.

[0040] In a fourth aspect, the present application provides a data transmission method for an unmanned vehicle, which is applied to a message transmission server, and the device includes:

[0041] A receiving module, used to obtain a transmission message sent by the terminal device or the cloud server, wherein the transmission message is used to indicate unmanned vehicle data or a control message of the corresponding unmanned vehicle;

[0042] A processing module, configured to determine a subscription topic corresponding to the transmission message, wherein the topics subscribed to by the terminal device and the cloud server are different;

[0043] A sending module, configured to send the parsed unmanned vehicle data contained in the transmission message to the cloud server when the subscription topic is a first subscription topic, wherein the first subscription topic is a topic subscribed by the cloud server corresponding to the unmanned vehicle;

[0044] The sending module is also used to send the control message contained in the transmission message to the terminal device corresponding to the unmanned vehicle when the subscription topic is a second subscription topic, wherein the second subscription topic is the topic subscribed by the terminal device.

[0045] In a possible implementation, the receiving module is further configured to receive a connection request sent by the terminal device or the cloud server, wherein the connection request includes: identity information of the terminal device or the cloud server and corresponding authorization information;

[0046] The processing module is also used to perform identity verification on the identity information, and if the identity verification passes and the authorization list contains the corresponding authorization information, generate and send first connection feedback information, the first connection feedback information is used to indicate that the terminal device or the cloud server has been successfully verified; if the identity verification fails and / or the authorization list does not contain the corresponding authorization information, generate and send second connection feedback information, the second connection feedback information is used to indicate that the terminal device or the cloud server has failed verification.

[0047] In a fifth aspect, the present application provides a data transmission device for an unmanned vehicle, the device comprising:

[0048] A processor, and a memory communicatively connected to the processor;

[0049] The memory stores computer-executable instructions;

[0050] The processor executes the computer-executable instructions stored in the memory to implement the data transmission method of the unmanned vehicle in any one of the first aspect or any one of the second aspect.

[0051] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement a data transmission method for an unmanned vehicle in any one of the first aspect or any one of the second aspect.

[0052] In a seventh aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the data transmission method of an unmanned vehicle as described in any one of the first aspect or any one of the second aspect.

[0053] The data transmission method, device, electronic device, and storage medium of the unmanned vehicle provided by the present application are as follows: the terminal device encapsulates and processes the unmanned vehicle data received through the CAN interface to obtain a first transmission message; the message transmission server receives the first transmission message and determines the corresponding subscription topic according to the first transmission message; the message transmission server sends the parsed unmanned vehicle data contained in the first transmission message to the cloud server when the subscription topic is the topic corresponding to the first transmission message; the message transmission server receives the second transmission message of the cloud server and determines the corresponding subscription topic according to the message; and when the subscription topic is the topic corresponding to the second transmission message, the message transmission server sends the control message in the second transmission message to the terminal device. This method reduces the operating burden of the message transmission server because the unmanned vehicle data is parsed at the terminal device. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0055] Figure 1 Schematic diagram of an application scenario of a data transmission method for an unmanned vehicle provided by the present invention Figure 1 ;

[0056] Figure 2 Schematic diagram of an application scenario of a data transmission method for an unmanned vehicle provided by the present invention Figure 2 ;

[0057] Figure 3 An interactive diagram of a data transmission method for an unmanned vehicle provided by the present invention Figure 1 ;

[0058] Figure 4 An interactive diagram of a data transmission method for an unmanned vehicle provided by the present invention Figure 2 ;

[0059] Figure 5 A schematic diagram of a flow chart of a data transmission method for an unmanned vehicle provided by the present invention;

[0060] Figure 6 A schematic diagram of the structure of a data transmission device for an unmanned vehicle provided in this application Figure 1 ;

[0061] Figure 7 A schematic diagram of the structure of a data transmission device for an unmanned vehicle provided in this application Figure 2 ;

[0062] Figure 8 A schematic diagram of the structure of a data transmission device for an unmanned vehicle provided in this application.

[0063] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0064] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims, rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0065] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, products or devices.

[0066] In the embodiments of the present application, the words "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0067] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0068] An unmanned vehicle is a vehicle that can navigate and operate autonomously without external intervention. The data transmission of unmanned vehicles is to ensure that the vehicle can obtain, process and share information in real time during the operation of the unmanned vehicle.

[0069] The current data transmission method for unmanned vehicles is to use external sensors to collect data, and then use wireless networking to form a wireless network using 5G (5th Generation Mobile Communication Technology, fifth generation mobile communication technology, referred to as 5G) routers and base stations, and use the operation and maintenance monitoring platform to realize the command control and data reporting of the unmanned vehicle.

[0070] However, in the field of unmanned operations, unmanned vehicles are required to automatically complete operations along designated routes, and they also need to be able to monitor the health status of the unmanned vehicle itself and the surrounding environment in real time, so that they can better understand the current conditions of a certain road section and data such as the internal maneuvering parameters of the unmanned vehicle, thereby requiring the data of the unmanned vehicle to be transmitted in real time.

[0071] However, in the existing data transmission method of unmanned vehicles, the server platform is required to parse the acquired data of the unmanned vehicles, which increases the operating burden of the server platform and affects the real-time transmission of the data.

[0072] In response to the above problems, the present application provides a data transmission method for an unmanned vehicle, which establishes a communication connection between a terminal device and a cloud server and a message transmission server, and after the terminal device parses and encapsulates the acquired unmanned vehicle data, uploads it to the message transmission server, and then transmits the parsed unmanned vehicle data to the cloud server. Since the terminal device parses the unmanned vehicle data and uploads it to the cloud server, the processing pressure and operating burden of the cloud server are reduced, and the real-time transmission of the unmanned vehicle data is guaranteed.

[0073] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0074] Figure 1 Scenario diagram of a data transmission method for an unmanned vehicle provided in an embodiment of the present application Figure 1 . Figure 2 Scenario diagram of a data transmission method for an unmanned vehicle provided in an embodiment of the present application Figure 2 .like Figure 1 and 2 As shown, the scenario includes: cloud server 1, message transmission server 2, N terminal devices, N unmanned vehicles and M sensors.

[0075] Among them, the M sensors include sensors of various types, and the M sensors are connected to the corresponding terminal devices through the CAN interface of the terminal devices, and are used to collect the unmanned vehicle data of the corresponding unmanned vehicle. The sensors may include, for example: climate monitoring sensors, environment monitoring sensors, path navigation sensors, position positioning sensors, instrument management sensors, etc.

[0076] N terminal devices are respectively deployed on the corresponding N unmanned vehicles, and the terminal devices are connected to the corresponding unmanned vehicles by wire or wirelessly. For example: terminal device 31 is connected to unmanned vehicle 41 by wire or wirelessly, and sensors 1-sensors M / N are connected to terminal device 31 through the CAN interface of terminal device 31 to collect the unmanned vehicle data of the corresponding unmanned vehicle 41. Among them, since the number and type of sensors connected to each terminal are the same, when there are N terminals and M sensors, the number of sensors connected to each terminal device is M / N.

[0077] N terminal devices are connected to the message transmission server through communication. After the terminal device parses and processes the unmanned vehicle data, the parsed unmanned vehicle data is uploaded to the corresponding subscription topic of the message transmission server.

[0078] The message transmission server is connected to the cloud server through communication. The control information of the cloud server transmits the message transmission server to the relevant subscription topic, and the control information is sent to the terminal device through the message transmission server.

[0079] Figure 3 An interactive diagram of a data transmission method for an unmanned vehicle provided in an embodiment of the present application Figure 1 .like Figure 3 As shown, the interactive schematic diagram of the data transmission method of the unmanned vehicle provided in this embodiment is executed by the terminal device, the message transmission server, and the cloud server. Figure 3 As shown, the method of this embodiment includes:

[0080] S301: The terminal device receives unmanned vehicle data collected by at least one type of sensor through a CAN interface.

[0081] Among them, the terminal device refers to the device responsible for processing, storing or transmitting data, such as an electronic control unit, a central controller, a communication gateway, a diagnostic device or an auxiliary control unit. The CAN interface is a serial communication protocol used in vehicles and industrial automation systems to achieve efficient communication between internal control units. In one possible implementation, the terminal device can be, for example, a terminal system with an embedded positioning module and a communication module, and an industrial CAN port for connecting multiple types of sensors. It is deployed on an unmanned vehicle and uses CAN bus communication to obtain real-time measurement data from sensors such as the vehicle's engine data, battery parameters, and surface distance.

[0082] Among them, CAN bus communication is a multi-master bus that allows multiple nodes to communicate on the same bus, and each sensor and terminal device is a node on the CAN bus.

[0083] S302: The terminal device encapsulates and processes the unmanned vehicle data according to the corresponding message transmission protocol to obtain a first transmission message, wherein the first transmission message includes: the parsed unmanned vehicle data and a first subscription topic, the message transmission protocol is the message transmission protocol corresponding to the message transmission server, and the first subscription topic is the topic subscribed by the cloud server corresponding to the unmanned vehicle.

[0084] Among them, the message transmission protocol refers to a protocol used to define the message format, transmission rules and processing methods in a computer network or communication system. Encapsulating the unmanned vehicle data in accordance with the corresponding message transmission protocol ensures the validity and integrity of the data, improves the efficiency of data transmission, and enables it to be easily parsed and processed at the receiving end, and can provide timely feedback. The message transmission server is a high-performance computer or server system that is used to receive, store, forward and process message data, and distribute the data to other systems or devices as needed, and is a specific carrier for the implementation of the message transmission protocol. Transmission messages refer to data packets or information units transmitted on the network.

[0085] In one possible implementation, the message transmission protocol adopts the MQTT (Message Queuing Telemetry Transport) protocol, that is, the corresponding message transmission server is an MQTT server, and the unmanned vehicle data and the first subscription topic are formatted and packaged according to the MQTT protocol to obtain the first transmission message.

[0086] S303: The terminal device sends the first transmission message to the message transmission server.

[0087] Wherein, a communication connection is established between the terminal device and the message transmission server, and the first transmission message is sent to the message transmission server using the communication link.

[0088] In one possible implementation, the message transmission server and the terminal device establish a communication connection using a 5G network to receive message messages sent by the terminal device.

[0089] S304: The message transmission server determines a subscription topic corresponding to the first transmission message.

[0090] S305: When the subscription topic is the first subscription topic, the message transmission server sends the parsed unmanned vehicle data contained in the transmission message to the cloud server.

[0091] Cloud server is a simple, efficient, safe, reliable and scalable computing service. It uses virtualization technology to divide the resources of physical servers (such as CPU, memory, storage, etc.) and allocate them to users on demand, providing a stable, efficient and secure platform.

[0092] In one possible implementation, the operation and maintenance monitoring platform can be deployed on a cloud server or used to monitor a cloud server, for example, to receive parsed unmanned vehicle data or monitor the performance and status of the cloud server, thereby realizing real-time monitoring of the data.

[0093] S306: The cloud server sends a second transmission message, where the second transmission message is used to indicate the corresponding control message of the unmanned vehicle and a second subscription topic, where the second subscription topic is the topic subscribed by the terminal device.

[0094] A communication connection is established between the cloud server and the message transmission server. The corresponding control message of the unmanned vehicle may include, for example, a collection instruction, which includes corresponding sensor information, so that the corresponding sensor performs data collection.

[0095] S307: The message transmission server determines the subscription topic corresponding to the second transmission message.

[0096] S308: When the subscription topic is the second subscription topic, the message transmission server sends the control message included in the second transmission message to the terminal device corresponding to the unmanned vehicle.

[0097] The present embodiment provides a data transmission method for an unmanned vehicle, wherein a terminal device receives unmanned vehicle data collected by at least one type of sensor through a CAN interface; the terminal device encapsulates and processes the unmanned vehicle data according to a corresponding message transmission protocol to obtain a first transmission message, wherein the first transmission message includes: parsed unmanned vehicle data and a first subscription topic, the message transmission protocol is a message transmission protocol corresponding to a message transmission server, and the first subscription topic is a topic subscribed to by a cloud server corresponding to the unmanned vehicle; the terminal device sends the first transmission message to the message transmission server; the message transmission server determines the subscription topic corresponding to the first transmission message; when the subscription topic is the first subscription topic, the message transmission server sends the parsed unmanned vehicle data contained in the transmission message to the cloud server; the cloud server sends a second transmission message, the second transmission message is used to indicate a control message of the corresponding unmanned vehicle and a second subscription topic, the second subscription topic is a topic subscribed by the terminal device; the message transmission server determines the subscription topic corresponding to the second transmission message; when the subscription topic is the second subscription topic, the message transmission server sends the control message contained in the second transmission message to the terminal device corresponding to the unmanned vehicle. In this method, the terminal device or cloud server realizes data interaction through the message transmission server, ensuring the real-time nature of the data; and completes the analysis of the unmanned vehicle data on the terminal device, reducing the processing pressure and operating burden of the message transmission server.

[0098] Figure 4 An interactive diagram of a data transmission method for an unmanned vehicle provided in an embodiment of the present application Figure 2 This embodiment is in Figure 3 Based on the above, a supplementary explanation is given on the establishment of a connection between the terminal device or cloud server and the message transmission server in the data transmission method of the unmanned vehicle. Figure 4 As shown, the method includes:

[0099] S401: The terminal device sends a connection request to the message transmission server, where the first connection request includes: identity information and authorization information of the terminal device.

[0100] The authorization information includes the user name and password of the authorized user.

[0101] S402: The message transmission server performs identity verification processing on the identity information, and generates first connection feedback information if the identity verification passes and the authorization list contains corresponding authorization information, where the first connection feedback information is used to indicate that the terminal device verification is successful.

[0102] It can be understood that the authorization list of the message transmission server contains information of all authorized users, and after the identity information is verified, the received authorization information is traversed and confirmed to verify whether the authorization information is included in the authorization list.

[0103] S403: The message transmission server sends first connection feedback information.

[0104] S404: When the first connection feedback information indicates that the terminal device is successfully authenticated, the terminal device establishes a communication connection with the message transmission server.

[0105] S405: The cloud server sends a second connection request, where the second connection request includes: identity information of the cloud server and corresponding authorization information.

[0106] S406: The message transmission server performs identity verification on the identity information, and generates second connection feedback information if the identity verification passes and the authorization list contains corresponding authorization information. The second connection feedback information is used to indicate that the cloud server verification is successful.

[0107] S407: The message transmission server sends second connection feedback information.

[0108] S408: When the second connection feedback information indicates that the terminal device verification is successful, the cloud server establishes a communication connection with the message transmission server.

[0109] In one possible implementation, when the identity verification fails and / or the authorization list does not contain the corresponding authorization information, the message transmission server generates and sends third connection feedback information, and the third connection feedback information is used to indicate that the verification of the terminal device or the cloud server has failed.

[0110] The present embodiment provides a data transmission method for an unmanned vehicle, wherein a terminal device sends a connection request to the message transmission server, wherein the first connection request includes: identity information and authorization information of the terminal device; the message transmission server performs identity verification processing on the identity information, and generates first connection feedback information when the identity verification passes and the authorization list contains corresponding authorization information, wherein the first connection feedback information is used to indicate that the terminal device is successfully verified; the message transmission server sends the first connection feedback information; when the first connection feedback information indicates that the terminal device is successfully verified, the terminal device establishes a communication connection with the message transmission server; the cloud server sends a second connection request, wherein the second connection request includes: identity information and corresponding authorization information of the cloud server; the message transmission server performs identity verification processing on the identity information, and generates second connection feedback information when the identity verification passes and the authorization list contains corresponding authorization information, wherein the second connection feedback information is used to indicate that the cloud server is successfully verified; the message transmission server sends the second connection feedback information; when the second connection feedback information indicates that the terminal device is successfully verified, the cloud server establishes a communication connection with the message transmission server. In this method, a communication connection is established between the terminal device or cloud server and the message transmission server before message transmission, which reduces the confirmation time between the terminal device or cloud server and the message transmission server and improves the data transmission efficiency of the unmanned vehicle.

[0111] Figure 5 A flow chart of a data transmission method for an unmanned vehicle provided in an embodiment of the present application. Figure 3 Based on the embodiment, a possible implementation method of encapsulating the unmanned vehicle data according to the corresponding message transmission protocol to obtain the first transmission message is explained. Figure 5 As shown, the method includes:

[0112] S501: Analyze and process the unmanned vehicle data to obtain corresponding CAN identifiers and data fields.

[0113] Among them, the CAN identifier is a key element used to identify information and determine the message priority when using the CAN protocol to transmit sensor data. It can realize message priority processing, message filtering, and message type distinction, reducing unnecessary processing burden. The data field is a key part of the CAN message, which is used to store and transmit the actual data content and contains the actual transmitted data.

[0114] In a possible implementation, the analysis of the unmanned vehicle data can be performed, for example, by using the CANOpen protocol to perform data analysis, parse the data frame, and extract the CAN identifier and the data field. The identifier is frame parsed to obtain the function code and the data payload.

[0115] S502: Determine the data type of the data field according to the CAN identifier.

[0116] The data type of the data field includes a first data type and a second data type. Generally, the first data type is used for real-time data transmission and supports efficient and periodic data exchange; the second data type is used for non-real-time data transmission and is mainly used for reading and writing device parameters.

[0117] In a possible implementation, determining the data type of the data field according to the CAN identifier may be implemented, for example, in the following manner:

[0118] Method 1: Identify the data type of the data field according to the function code in the CAN identifier.

[0119] Method 2: Parse the data load and read the data load bytes in sequence. The first byte of the data load is the function code command symbol, which is used to determine the operation type; the second and third bytes of the data load are the function index code; and the fourth byte of the data load is the function code sub-index.

[0120] Query the data type corresponding to the data field through indexes and sub-indexes.

[0121] S503: When the data type of the data field is the first data type, based on the data field and the reference dictionary table, perform data parsing on the data field to obtain parsed unmanned vehicle data.

[0122] The reference dictionary table is a collection of all communication objects and related device parameters, which defines all parameters and functions of the device, making communication and configuration between devices standardized and simplified.

[0123] In a possible implementation, when the field number is the first type of data, the mapping area address is queried by referring to the dictionary table, and the data corresponding to the mapping area address is read out, thereby obtaining the parsed unmanned vehicle data.

[0124] S504: When the data type of the data field is the second data type, a preset number of bytes at a preset position in the data field are used as parsed unmanned vehicle data.

[0125] It can be understood that when the data type of the data field is the second data type, the preset number of bytes at the preset position in the data field is the actual data collection value, which can be directly used as the parsed unmanned vehicle data.

[0126] In a possible implementation, when the data type of the data field is the second data type, when the data payload is read by bytes, the last four bytes of the data payload are the actual data collection values.

[0127] S505: Encapsulate the parsed unmanned vehicle data and the first subscription topic according to the message transmission protocol to obtain the first transmission message.

[0128] This embodiment provides a data transmission method for an unmanned vehicle, which parses the unmanned vehicle data to obtain a corresponding CAN identifier and data field; determines the data type of the data field according to the CAN identifier; when the data type of the data field is a first data type, parses the data field based on the data field and a reference dictionary table to obtain parsed unmanned vehicle data; when the data type of the data field is a second data type, uses a preset number of bytes at a preset position in the data field as parsed unmanned vehicle data; and encapsulates the parsed unmanned vehicle data and the first subscription topic according to the message transmission protocol to obtain the first transmission message. Before the unmanned vehicle data is packaged and transmitted, the unmanned vehicle data is parsed on the terminal device, which greatly reduces the pressure on the server platform to centrally process data and also reduces the development cost of the message transmission server developers.

[0129] Figure 6 The data transmission device of an unmanned vehicle provided in the embodiment of the present application is applied to a terminal device. Figure 6 As shown, a data transmission device 600 for an unmanned vehicle provided in an embodiment of the present application includes:

[0130] A receiving module 601, configured to receive the unmanned vehicle data control module collected by at least one type of sensor through the CAN interface;

[0131] The processing module 602 is used to encapsulate the unmanned vehicle data according to the corresponding message transmission protocol to obtain a first transmission message, wherein the transmission message includes: the parsed unmanned vehicle data and a first subscription topic, the message transmission protocol is the message transmission protocol corresponding to the message transmission server, and the first subscription topic is the topic subscribed by the cloud server corresponding to the unmanned vehicle;

[0132] The sending module 603 is used to send the first transmission message to the message transmission server.

[0133] In one possible implementation, the processing module 602 is also used to parse the unmanned vehicle data to obtain the corresponding CAN identifier and data field; based on the CAN identifier, perform data parsing on the data field to obtain parsed unmanned vehicle data; and encapsulate the parsed unmanned vehicle data and the first subscription topic according to the message transmission protocol to obtain the first transmission message.

[0134] In one possible implementation, the processing module 602 is also used to determine the data type of the data field according to the CAN identifier; when the data type of the data field is the first data type, the data field is parsed based on the data field and the reference dictionary table to obtain parsed unmanned vehicle data; when the data type of the data field is the second data type, a preset number of bytes at a preset position in the data field are used as the parsed unmanned vehicle data.

[0135] In a possible implementation, the sending module 603 is further configured to send a connection request to the message transmission server, wherein the connection request includes: identity information and authorization information of the terminal device;

[0136] The receiving module 601 is further configured to receive connection feedback information sent by the message transmission server;

[0137] The processing module 602 is further configured to establish a communication connection with the message transmission server when the connection feedback information indicates that the terminal device has been successfully authenticated.

[0138] The present embodiment provides a data transmission device for an unmanned vehicle, which can execute the data transmission method for an unmanned vehicle provided in the above method embodiment. Its implementation principle and technical effects are similar, and are not described in detail in this embodiment.

[0139] Figure 7 The data transmission device of an unmanned vehicle provided in the embodiment of the present application is applied to a message transmission server. Figure 7 As shown, the data transmission device 700 of the unmanned vehicle provided in the embodiment of the present application includes:

[0140] A receiving module 701 is used to obtain a transmission message sent by the terminal device or the cloud server, where the transmission message is used to indicate the unmanned vehicle data or control message of the corresponding unmanned vehicle;

[0141] The processing module 702 is used to determine the subscription topic corresponding to the transmission message, wherein the topics subscribed by the terminal device and the cloud server are different;

[0142] A sending module 703 is used to send the parsed unmanned vehicle data contained in the transmission message to the cloud server when the subscription topic is a first subscription topic, wherein the first subscription topic is a topic subscribed by the cloud server corresponding to the unmanned vehicle;

[0143] The sending module 703 is also used to send the control message contained in the transmission message to the terminal device corresponding to the unmanned vehicle when the subscription topic is a second subscription topic, wherein the second subscription topic is the topic subscribed by the terminal device.

[0144] In a possible implementation, the receiving module 701 is further configured to receive a connection request sent by the terminal device or the cloud server, wherein the connection request includes: identity information of the terminal device or the cloud server and corresponding authorization information;

[0145] The processing module 702 is also used to perform identity verification on the identity information, and if the identity verification passes and the corresponding authorization information is included in the authorization list, generate and send first connection feedback information, the first connection feedback information is used to indicate that the terminal device or the cloud server has been successfully verified; if the identity verification fails and / or the authorization list does not contain the corresponding authorization information, generate and send second connection feedback information, the second connection feedback information is used to indicate that the terminal device or the cloud server has failed verification.

[0146] The present embodiment provides a data transmission device for an unmanned vehicle, which can execute the data transmission method for an unmanned vehicle provided in the above method embodiment. Its implementation principle and technical effects are similar, and are not described in detail in this embodiment.

[0147] Figure 8 This is a schematic diagram of the structure of the data transmission equipment of the unmanned vehicle provided in this application. Figure 8 As shown, the data transmission device 800 of the unmanned vehicle provided in the present application includes: a receiver 801, a transmitter 802, a processor 803 and a memory 804.

[0148] Receiver 801, used for receiving instructions and data;

[0149] A transmitter 802, used for sending instructions and data;

[0150] Memory 804, used to store computer-executable instructions;

[0151] The processor 803 is used to execute the computer-executable instructions stored in the memory 804 to implement the various steps performed by the data transmission method of the unmanned vehicle in the above embodiment. For details, please refer to the relevant description of the above unmanned vehicle data transmission method embodiment.

[0152] Optionally, the memory 804 may be independent or integrated with the processor 803 .

[0153] When the memory 804 is independently provided, the electronic device further includes a bus for connecting the memory 804 and the processor 803 .

[0154] The present application also provides a computer-readable storage medium, in which computer execution instructions are stored. When a processor executes the computer execution instructions, the data transmission method of the unmanned vehicle executed by the data transmission device of the unmanned vehicle as mentioned above is implemented.

[0155] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps performed by the above-mentioned data transmission method for an unmanned vehicle. For details, please refer to the relevant description in the above-mentioned data transmission method embodiment for an unmanned vehicle.

[0156] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0157] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0158] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0159] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0160] If the integrated unit / module is implemented in the form of hardware, the hardware may be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes but is not limited to transistors, memristors, etc. If not specifically stated, the processor may be any appropriate hardware processor, such as a CPU, a GPU, an FPGA, a DSP, an ASIC, etc. If not specifically stated, the storage unit may be any appropriate magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory RRAM (Resistive Random Access Memory), a dynamic random access memory DRAM (Dynamic Random Access Memory), a static random access memory SRAM (Static Random-Access Memory), an enhanced dynamic random access memory EDRAM (Enhanced Dynamic Random Access Memory), a high-bandwidth memory HBM (High-Bandwidth Memory), a hybrid memory cube HMC (Hybrid Memory Cube), etc.

[0161] If the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, 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, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0162] In the above embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0163] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0164] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A data transmission method for an unmanned vehicle, characterized in that: Applied to a terminal device, the terminal device is deployed on a corresponding unmanned vehicle, the terminal device is connected to multiple types of sensors via a CAN interface, the multiple types of sensors are used to collect operating data of the unmanned vehicle, and the method includes: Receiving unmanned vehicle data collected by at least one type of sensor through the CAN interface; The unmanned vehicle data is encapsulated and processed according to the corresponding message transmission protocol to obtain a first transmission message, wherein the transmission message includes: the parsed unmanned vehicle data and a first subscription topic, the message transmission protocol is a message transmission protocol corresponding to the message transmission server, and the first subscription topic is a topic subscribed by the cloud server corresponding to the unmanned vehicle; Sending the first transmission message to the message transmission server.

2. The method according to claim 1, characterized in that The step of encapsulating the unmanned vehicle data according to the corresponding message transmission protocol to obtain a first transmission message includes: Parsing the unmanned vehicle data to obtain corresponding CAN identifiers and data fields; Based on the CAN identifier, performing data parsing processing on the data field to obtain parsed unmanned vehicle data; The parsed unmanned vehicle data and the first subscription topic are encapsulated according to the message transmission protocol to obtain the first transmission message.

3. The method according to claim 2, characterized in that The data field is subjected to data parsing processing based on the CAN identifier to obtain parsed unmanned vehicle data, including: Determine the data type of the data field according to the CAN identifier; When the data type of the data field is the first data type, performing data parsing processing on the data field based on the data field and the reference dictionary table to obtain parsed unmanned vehicle data; When the data type of the data field is the second data type, a preset number of bytes at a preset position in the data field are used as parsed unmanned vehicle data.

4. The method according to claim 1, characterized in that: Before receiving the unmanned vehicle data collected by at least one type of sensor through the CAN interface, the method further includes: Sending a connection request to the message transmission server, the connection request including: identity information and authorization information of the terminal device; Receiving connection feedback information sent by the message transmission server; When the connection feedback information indicates that the terminal device verification is successful, a communication connection is established with the message transmission server.

5. A data transmission method for an unmanned vehicle, characterized in that: Applied to a message transmission server, the method comprises: Acquire a transmission message sent by the terminal device or the cloud server, where the transmission message is used to indicate unmanned vehicle data or a control message of the corresponding unmanned vehicle; Determining a subscription topic corresponding to the transmission message, wherein the topics subscribed to by the terminal device and the cloud server are different; In a case where the subscription topic is a first subscription topic, the parsed unmanned vehicle data contained in the transmission message is sent to the cloud server, wherein the first subscription topic is a topic subscribed by the cloud server corresponding to the unmanned vehicle; In the case where the subscription topic is the second subscription topic, the control message contained in the transmission message is sent to the terminal device corresponding to the unmanned vehicle, wherein the second subscription topic is the topic subscribed by the terminal device.

6. The method according to claim 5, characterized in that Before obtaining the transmission message sent by the terminal device or the cloud server, the method further includes: Receiving a connection request sent by the terminal device or the cloud server, the connection request including: identity information of the terminal device or the cloud server and corresponding authorization information; Performing identity verification processing on the identity information, and generating and sending first connection feedback information if the identity verification passes and the authorization list contains corresponding authorization information, wherein the first connection feedback information is used to indicate that the terminal device or the cloud server has been successfully verified; When the identity verification fails and / or the authorization list does not contain the corresponding authorization information, second connection feedback information is generated and sent, and the second connection feedback information is used to indicate that the terminal device or the cloud server verification has failed.

7. A data transmission device for an unmanned vehicle, characterized in that: Applied to a terminal device, the device comprises: A receiving module, configured to receive the unmanned vehicle data control module collected by at least one type of sensor through the CAN interface; A processing module, configured to encapsulate the unmanned vehicle data according to a corresponding message transmission protocol to obtain a first transmission message, wherein the transmission message includes: the parsed unmanned vehicle data and a first subscription topic, the message transmission protocol is a message transmission protocol corresponding to a message transmission server, and the first subscription topic is a topic subscribed by a cloud server corresponding to the unmanned vehicle; A sending module is used to send the first transmission message to the message transmission server.

8. A data transmission device for an unmanned vehicle, characterized in that: Applied to a message transmission server, the device comprises: A receiving module, used to obtain a transmission message sent by the terminal device or the cloud server, wherein the transmission message is used to indicate unmanned vehicle data or a control message of the corresponding unmanned vehicle; A processing module, configured to determine a subscription topic corresponding to the transmission message, wherein the topics subscribed to by the terminal device and the cloud server are different; A sending module, configured to send the parsed unmanned vehicle data contained in the transmission message to the cloud server when the subscription topic is a first subscription topic, wherein the first subscription topic is a topic subscribed by the cloud server corresponding to the unmanned vehicle; The sending module is also used to send the control message contained in the transmission message to the terminal device corresponding to the unmanned vehicle when the subscription topic is a second subscription topic, wherein the second subscription topic is the topic subscribed by the terminal device.

9. A data transmission device for an unmanned vehicle, characterized in that: The device comprises: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer execution instructions stored in the memory to implement the data transmission method of the unmanned vehicle as described in any one of claims 1-4 or 5-6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the data transmission method for an unmanned vehicle as described in any one of claims 1-4 or 5-6.

11. A computer program product, characterized in that It includes a computer program, which, when executed by a processor, implements the data transmission method of the unmanned vehicle as described in any one of claims 1-4 or 5-6.

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