Route switching method and device of unmanned vehicle, electronic equipment and storage medium

Abstract

The invention discloses a route switching method and device of an unmanned vehicle, electronic equipment and a storage medium. The method comprises the following steps: determining a current network state of a candidate route of an unmanned vehicle; the current network state is used for describing the congestion condition of the current network corresponding to the route of the unmanned vehicle; determining a first code rate adjustment mode of the candidate route according to the current network state, and determining a first code rate of the candidate route according to the first code rate adjustment mode; determining a packet loss rate of the candidate route in the current network state, determining a second code rate adjustment mode according to the packet loss rate, and determining a second code rate of the candidate route according to the second code rate adjustment mode; and determining a target code rate of the candidate routes according to the first code rate and the second code rate, and determining a target route when the unmanned vehicle performs data transmission according to the target code rate of each candidate route. According to the technical scheme of the invention, accurate determination of the route for data transmission in the unmanned vehicle is realized, and the adaptability of the data transmission process of the unmanned aerial vehicle to the environment is improved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a route switching method, device, electronic device and storage medium for an unmanned vehicle. Background Art

[0002] During the driving process of unmanned vehicles, there are high requirements for video fluency, that is, high requirements for network operation status. However, the differences in vehicle routes and urban network base station coverage result in the network not being able to maintain a stable state continuously. The parameters of the current method for predicting network bandwidth during unmanned vehicle driving are fixed, and the scene is adapted to a relatively stable network environment. It cannot guarantee the video fluency of the unmanned vehicle in an unstable network environment. Therefore, how to ensure the video fluency of the unmanned vehicle in an unstable network environment is very important. Summary of the Invention

[0003] The present invention provides a route switching method, device, electronic device and storage medium for an unmanned vehicle, so as to accurately determine the route for data transmission in the unmanned vehicle and improve the adaptability of the data transmission process of the unmanned vehicle to the environment.

[0004] According to one aspect of the present invention, a route switching method for an unmanned vehicle is provided, wherein the unmanned vehicle uses at least two routes to transmit data, and the method includes:

[0005] Determine the current network status of the candidate route of the unmanned vehicle; the current network status is used to describe the congestion of the current network corresponding to the route of the unmanned vehicle;

[0006] determining a first bit rate adjustment mode for the candidate route according to the current network state, and determining a first bit rate for the candidate route according to the first bit rate adjustment mode;

[0007] Determining a packet loss rate of the candidate route under the current network state, determining a second bit rate adjustment method according to the packet loss rate, and determining a second bit rate for the candidate route according to the second bit rate adjustment method;

[0008] The target bit rate of the candidate routes is determined according to the first bit rate and the second bit rate, and the target route for the unmanned vehicle to transmit data is determined according to the target bit rate of each candidate route.

[0009] According to another aspect of the present invention, a route switching device for an unmanned vehicle is provided, wherein the unmanned vehicle uses at least two routes to transmit data, and the device includes:

[0010] A network status determination module is used to determine the current network status of the candidate route of the unmanned vehicle; the current network status is used to describe the congestion of the current network corresponding to the route of the unmanned vehicle;

[0011] a first bit rate determination module, configured to determine a first bit rate adjustment mode for the candidate route according to the current network state, and determine a first bit rate for the candidate route according to the first bit rate adjustment mode;

[0012] a second bit rate determination module, configured to determine a packet loss rate of the candidate route under the current network state, determine a second bit rate adjustment method according to the packet loss rate, and determine a second bit rate of the candidate route according to the second bit rate adjustment method;

[0013] The route determination module is used to determine the target bit rate of the candidate route according to the first bit rate and the second bit rate, and determine the target route when the unmanned vehicle performs data transmission according to the target bit rate of each candidate route.

[0014] According to another aspect of the present invention, an electronic device is provided, comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the route switching method for the unmanned vehicle described in any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the route switching method for an unmanned vehicle according to any embodiment of the present invention when executed.

[0019] According to the technical solution of an embodiment of the present invention, an unmanned vehicle uses at least two routes to transmit data. The current network status of the candidate routes of the unmanned vehicle is determined to better reflect the congestion of the current network corresponding to the route of the unmanned vehicle, so that a first code rate adjustment method of the candidate route can be accurately determined according to the current network status. The first code rate of the candidate route is further determined according to the first code rate adjustment method to achieve accurate determination of the first code rate. In order to more accurately determine the target code rate of the candidate route, the packet loss rate of the current candidate route is introduced, that is, the packet loss rate of the candidate route under the current network status is determined, and a second code rate adjustment method is determined according to the packet loss rate to accurately determine the second code rate of the candidate route according to the second code rate adjustment method. The target code rate of the candidate route is accurately determined by combining the first code rate and the second code rate, avoiding code rate determination errors caused by a single code rate determination method, thereby affecting route switching. The target route of the unmanned vehicle when performing data transmission is further determined by comparing the target code rate of each candidate route, thereby achieving accurate determination of the route for data transmission in the unmanned vehicle and improving the adaptability of the data transmission process of the drone to the environment.

[0020] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 This is a flow chart of a route switching method for an unmanned vehicle according to an embodiment of the present invention;

[0023] Figure 2 is a flow chart of another route switching method for an unmanned vehicle provided according to an embodiment of the present invention;

[0024] Figure 3 is a schematic diagram comparing a network congestion value applicable to an embodiment of the present invention and a preset congestion threshold range;

[0025] Figure 4 2 is a schematic structural diagram of a route switching device for an unmanned vehicle according to an embodiment of the present invention;

[0026] Figure 51 is a schematic diagram of the structure of an electronic device for implementing the route switching method of an unmanned vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", "third", "fourth", "candidate", "target", "reference", etc. in the description 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 numbers 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. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Example 1

[0030] Figure 1 This is a flow chart of a route switching method for an unmanned vehicle provided by an embodiment of the present invention. This embodiment is applicable to the case of reasonably switching the route for data transmission in an unmanned vehicle. The method can be executed by a route switching device for an unmanned vehicle. The route switching device for an unmanned vehicle can be implemented in the form of hardware and / or software. The route switching device for an unmanned vehicle can be configured in any electronic device with network communication function. Figure 1 As shown, the route switching method of the unmanned vehicle of the present invention includes the following process:

[0031] S110. Determine the current network status of the candidate route of the unmanned vehicle; the current network status is used to describe the congestion situation of the current network corresponding to the route of the unmanned vehicle.

[0032] The unmanned vehicle of the present invention uses at least two routes to transmit data. For example, the present invention can use dual SIM cards in the unmanned vehicle for data transmission. The candidate routes can be at least two routes configured on the unmanned vehicle.

[0033] Specifically, the transmission capacity of the entire link can be calculated by continuously detecting the minimum delay and maximum bandwidth of the sending network, and the current network status of the candidate route of the unmanned vehicle can be determined based on the first correspondence between the transmission capacity and the network status.

[0034] In addition, the network parameters include at least one of a delay gradient, a packet loss rate, and a receiving capability feedback of the receiving end, a second correspondence between the network parameters and the network status is established, the network parameters are obtained, and the current network status of each candidate route is determined through the network parameters and the second correspondence.

[0035] S120: Determine a first bit rate adjustment method for the candidate route according to the current network state, and determine a first bit rate for the candidate route according to the first bit rate adjustment method.

[0036] Specifically, the current network state can be understood as the smoothness of network operation during the data transmission process of the candidate route at the current moment. Different network states affect the smoothness of data transmission. Therefore, it is necessary to understand the adjustment strategy for the current bit rate under different network states to achieve smooth data transmission under different network states. Therefore, a first corresponding association relationship between different network states and the first bit rate adjustment method is established. After obtaining the current network state, the first bit rate adjustment method of the candidate route can be determined according to the current network state and the first corresponding association relationship, so that the current bit rate is adjusted according to the first bit rate adjustment method to obtain the first bit rate of the candidate route.

[0037] S130: Determine a packet loss rate of the candidate route under the current network state, determine a second bit rate adjustment method according to the packet loss rate, and determine a second bit rate of the candidate route according to the second bit rate adjustment method.

[0038] Among them, the packet loss rate can be understood as the ratio of the difference between the first number of first data packets that the data receiving end can actually receive and the second number of second data packets sent by the data sending end in the process of the data sending end sending data packets to the data receiving end, to the second number of second data packets sent by the data sending end.

[0039] For example, the data receiving end calculates the packet loss rate based on the maximum data packet sequence number carried by the second data packet (SR data packet) sent by the data sending end, and the sequence number of the first data packet (RR data packet) received by the data receiving end, and writes it into the first data packet and feeds it back to the data sending end for calculating the packet loss rate.

[0040] The second number of second data packets currently sent by the data sending end=the maximum sequence number of the second data packets currently received by the data sending end-the maximum sequence number of the second data packets received by the data sending end at the last sampling moment.

[0041] The first number of first data packets actually received by the current data receiving end=the maximum sequence number of the first data packets received by the current data receiving end-the maximum sequence number of the first data packets received by the data receiving end at the last sampling moment.

[0042] Packet loss rate = (second number - first number) / second number.

[0043] Furthermore, different packet loss rates affect the smoothness of data transmission. Therefore, it is necessary to understand the adjustment strategy for the current bit rate under different packet loss rates to achieve smooth data transmission under different packet loss rates. Therefore, a second corresponding relationship between different packet loss rates and the second bit rate adjustment method is established. After obtaining the packet loss rate, the second bit rate adjustment method of the candidate route can be determined according to the packet loss rate and the second corresponding relationship, and the current bit rate is adjusted according to the second bit rate adjustment method to obtain the second bit rate of the candidate route.

[0044] In this embodiment, optionally, determining the second code rate adjustment mode according to the packet loss rate, and determining the second code rate of the candidate route according to the second code rate adjustment mode may include steps A1-A3:

[0045] Step A1: When the packet loss rate is less than a first preset threshold, a third rate adjustment parameter is determined, and a second rate for the candidate route is determined based on the reference rate and the third rate adjustment parameter; the reference rate is the lowest rate value within a target time period, and the target time period is a time period preset from the current moment.

[0046] Specifically, the third rate adjustment parameter can be understood as a percentage value added to the reference rate. That is, the reference rate multiplied by the third rate adjustment parameter plus the reference rate is used as the second rate for the candidate route. The third rate adjustment parameter can be set based on actual needs. For example, if the third rate adjustment parameter is 8%, then the second rate = reference rate * 1.08.

[0047] To further ensure the accuracy of the second bitrate, a floating threshold for the second bitrate can be set. The calculated second bitrate is then added to the floating threshold to obtain the final second bitrate. For example, if the floating threshold is 0.5 and the third bitrate adjustment parameter is 8%, then the second bitrate = reference bitrate * 1.08 + 0.5.

[0048] In this embodiment, the packet loss rate is less than the first preset threshold, which means that the packet loss rate is very low and the resulting network delay is very small. The bit rate can be appropriately increased.

[0049] Step A2: When the packet loss rate is greater than the second preset threshold, a fourth rate adjustment parameter is determined, and a second rate of the candidate route is determined based on the fourth rate adjustment parameter and the first rate.

[0050] The fourth bit rate adjustment parameter may be understood as a preset ratio for reducing the packet loss rate, and may be set according to actual needs. For example, the fourth bit rate adjustment parameter may be set to 0.5.

[0051] Specifically, the product of the fourth rate adjustment parameter and the packet loss rate can be subtracted from one to obtain the adjustment coefficient, and the product of the adjustment coefficient and the first rate can be used as the second rate of the candidate route. For example, when the fourth rate adjustment parameter is 0.5, the second rate = first rate * (1 - 0.5 * fourth rate adjustment parameter).

[0052] In this embodiment, the packet loss rate is greater than the second preset threshold, which indicates that the packet loss rate is serious and may cause serious network delay, so the bit rate needs to be reduced.

[0053] Step A3: When the packet loss rate is greater than or equal to the first preset threshold and less than or equal to the second preset threshold, the second code rate of the candidate route is the current code rate.

[0054] Specifically, when the packet loss rate is greater than or equal to the first preset threshold and less than or equal to the second preset threshold, it indicates that the packet loss rate is within a normal range and the current bit rate does not need to be adjusted. The second bit rate of the candidate route is the current bit rate.

[0055] It should be noted that the first preset threshold is smaller than the second preset threshold, and the first preset threshold and the second preset threshold can be set according to actual conditions. In the example, the first preset threshold can be set to 2%, and the second preset threshold can be set to 10%.

[0056] The technical solution of this embodiment compares the packet loss rate with the first preset threshold and the second preset threshold, thereby accurately determining the second bit rate adjustment method according to the packet loss rate, thereby achieving accurate determination of the second bit rate.

[0057] S140 , determining a target code rate for the candidate routes according to the first code rate and the second code rate, and determining a target route for the unmanned vehicle to transmit data according to the target code rate of each candidate route.

[0058] Specifically, the minimum of the first and second code rates is used as the target code rate of the candidate route, or the weighted average of the first and second code rates is used as the target code rate of the candidate route. The target route for the unmanned vehicle to transmit data is determined by further comparing the target code rates of each candidate route.

[0059] As an optional but non-limiting embodiment, taking the candidate routes including the first candidate route and the second candidate route as an example, determining the target route for data transmission by the unmanned vehicle according to the target bit rate of each candidate route includes steps B1-B4:

[0060] Step B1: taking the difference between the target bit rate of the first candidate route and the target bit rate of the second candidate route as a reference bit rate difference.

[0061] Step B2: If the reference bit rate difference is less than the first preset bit rate difference, both the first candidate route and the second candidate route are used as target routes.

[0062] Step B3: If the reference bit rate difference is greater than the first preset bit rate difference and less than the second preset bit rate difference, the candidate route with the larger target bit rate between the first candidate route and the second candidate route is used as the target route.

[0063] Step B4: If the reference bit rate difference is greater than the second preset bit rate difference, and there is a downward trend in the historical bit rate of the candidate route, the candidate route with the smaller target bit rate between the first candidate route and the second candidate route is used as the target route.

[0064] The first preset bit rate difference is smaller than the second preset bit rate difference, which can be determined based on actual conditions. For example, the first preset bit rate difference may be 2M, and the second preset bit rate difference may be 5M.

[0065] Specifically, if the reference bit rate difference is less than the first preset bit rate difference, it means that the data reception and transmission capabilities of the first candidate route and the second candidate route are both very good at this time, so the first candidate route and the second candidate route can be used as the target route. If the reference bit rate difference is greater than the first preset bit rate difference and less than the second preset bit rate difference, it means that the candidate route with a larger target bit rate has better performance at this time, so the candidate route with a larger target bit rate of the first candidate route and the second candidate route is used as the target route. If the reference bit rate difference is greater than the second preset bit rate difference, and the historical bit rate of the candidate route shows a downward trend, it means that the performance of the first candidate route and the second candidate route are both weakening, so the candidate route with a smaller target bit rate of the first candidate route and the second candidate route is used as the target route to ensure the smoothness of the data transmission process.

[0066] In this embodiment, the difference between the target bit rate of the first candidate route and the target bit rate of the second candidate route is used as a reference bit rate difference, and the reference bit rate difference is compared with the first preset bit rate difference, the second preset bit rate difference and the historical bit rate change trend of the candidate route to achieve accurate switching of the route and improve the adaptability of the data transmission process of the drone to the environment.

[0067] According to the technical solution of an embodiment of the present invention, an unmanned vehicle uses at least two routes to transmit data. The current network status of the candidate routes of the unmanned vehicle is determined to better reflect the congestion of the current network corresponding to the route of the unmanned vehicle, so that a first code rate adjustment method of the candidate route can be accurately determined according to the current network status. The first code rate of the candidate route is further determined according to the first code rate adjustment method to achieve accurate determination of the first code rate. In order to more accurately determine the target code rate of the candidate route, the packet loss rate of the current candidate route is introduced, that is, the packet loss rate of the candidate route under the current network status is determined, and a second code rate adjustment method is determined according to the packet loss rate to accurately determine the second code rate of the candidate route according to the second code rate adjustment method. The target code rate of the candidate route is accurately determined by combining the first code rate and the second code rate, avoiding code rate determination errors caused by a single code rate determination method, thereby affecting route switching. The target route of the unmanned vehicle when performing data transmission is further determined by comparing the target code rate of each candidate route, thereby achieving accurate determination of the route for data transmission in the unmanned vehicle and improving the adaptability of the data transmission process of the drone to the environment.

[0068] Example 2

[0069] Figure 2 This is a flow chart of another route switching method for an unmanned vehicle provided by an embodiment of the present invention. The technical solution of this embodiment further optimizes the process of S110 in the above embodiment on the basis of the above embodiment. This embodiment can be combined with various optional solutions in one or more of the above embodiments. Figure 2 As shown, the route switching method of the unmanned vehicle of the present invention includes the following process:

[0070] S210 , obtaining delay gradients at different sampling moments of a target time period of the candidate route; the target time period is a time period preset from the current moment.

[0071] The target time period is determined based on the number of samples taken before the current sampling point. Specifically, the target time period is the period between sampling points that are equal to the current sampling point. The number of samples is set to no more than a preset number, for example, 60. Setting the target time period ensures that the network states corresponding to the delay gradients are substantially consistent, ensuring accurate network status positioning.

[0072] Round-Trip Time (RTT) is the time it takes for a signal to travel from the data transmitter to the data receiver and back to the data receiver. It is an important metric for measuring network latency.

[0073] Specifically, if the data transmitter sends an SR packet at time T0, the SR packet contains the send_time_ntp information. The data receiver receives the SR packet at time t0 and replies with a RR packet at time t1. The RR packet contains the send_time_ntp information obtained from the SR packet. The time interval between the reply RR packet and the receipt of the SR packet is delay = t1 - t0. When the data transmitter receives the reply RR packet at time T1, the delay gradient RTT = T1 - T0 - (t1 - t0).

[0074] S220 , performing linear fitting on the delay gradients at different sampling moments in the target time phase to obtain a fitting straight line of the candidate route, and using the slope of the fitting straight line as a congestion parameter; the congestion parameter is used to reflect the changing trend of the delay gradient.

[0075] Specifically, the delay gradient at different sampling moments in the target time phase is obtained, and the slope of the fitting line is calculated by the least squares method to obtain the accurate congestion parameter.

[0076] S230 , obtaining the number of samples in the target time period, determining the network congestion value of the candidate route based on the congestion parameter and the number of samples; and determining the current network status of the candidate route based on the network congestion value and a preset congestion threshold range.

[0077] Specifically, the product of the congestion parameter and the sampling number is used as the network congestion value of the candidate route, that is, network congestion value = sampling number * congestion parameter.

[0078] Furthermore, different network congestion values ​​reflect different network states, and a division relationship between the comparison result of the network congestion value and the preset congestion threshold range and different network states is established, so that after obtaining the network congestion value, the network congestion value is compared with the preset congestion threshold range to obtain a target comparison result, and the current network state of the candidate route is determined according to the target comparison result and the division relationship.

[0079] In this embodiment, the current network state of the candidate route is optionally determined based on the network congestion value and a preset congestion threshold range, including: if the network congestion value is within the preset congestion threshold range, the current network state is a first network state; the first network state is used to describe that the current bandwidth of the candidate route is in a stable phase. If the network congestion value is greater than the maximum value of the preset congestion threshold range, the current network state is a second network state; the second network state is used to describe that the current bandwidth is overloaded and the network is congested. If the network congestion value is less than the minimum value of the preset congestion threshold range, the current network state is a third network state; the third network state is used to describe that the current bandwidth is not fully utilized.

[0080] For example, Figure 3For example, the red line in the figure is the preset congestion threshold range, and the dark blue line is the network congestion value. The current network status of the candidate route can be accurately determined by the network congestion value and the preset congestion threshold range.

[0081] This embodiment compares the network congestion value with a preset congestion threshold range to accurately determine the current network status of the candidate route, thereby avoiding affecting the adjustment of the bit rate due to an erroneous determination of the network status.

[0082] As an optional embodiment, after determining the current network status of the candidate route based on the network congestion value and the preset congestion threshold range, the method further includes adjusting the preset congestion threshold range. The specific process includes steps C1-C3:

[0083] Step C1: Determine a first adjustment parameter of a preset congestion threshold. The first adjustment parameter is determined based on a comparison result between an absolute value of the congestion parameter and a preset congestion threshold.

[0084] The preset congestion threshold may be the absolute value of the maximum value within the preset congestion threshold range, and the absolute value of the maximum value and the absolute value of the minimum value within the preset congestion threshold range are the same. For example, if the preset congestion threshold is a positive number a, then the preset congestion threshold range is -a to a. The first adjustment parameter can be understood as an adjustment coefficient used to describe adjusting the preset congestion threshold.

[0085] Specifically, determining the first adjustment parameter for the preset congestion threshold includes: if the absolute value of the congestion parameter is less than the preset congestion threshold, the first adjustment parameter is a first coefficient; if the absolute value of the congestion parameter is greater than the preset congestion threshold, the first adjustment parameter is a second coefficient. The first coefficient and the second coefficient can be set according to actual conditions. For example, the first coefficient can be 0.039 and the second coefficient can be 0.0087.

[0086] Step C2: Determine a threshold adjustment parameter of the preset congestion threshold according to the first adjustment parameter, the target time interval, the absolute value of the congestion parameter, and the preset congestion threshold; the target time interval is the difference between the current moment and the previous sampling moment.

[0087] The target time interval is not less than a preset value. That is, if the difference between the current time and the previous sampling time is less than or equal to the preset value, the target time interval is the preset value. If the difference between the current time and the previous sampling time is greater than the preset value, the target time interval is the difference between the current time and the previous sampling time. The preset value can be 100ms.

[0088] Specifically, the threshold adjustment parameter K can be expressed as: K=K1*(│b│-a)*c; wherein b is the congestion parameter, a is the preset congestion threshold, K1 is the first adjustment parameter, and c is the target time interval.

[0089] Step C3: The sum of the threshold adjustment parameter and the preset congestion threshold is used as the updated preset congestion threshold, and the positive and negative values ​​of the updated preset congestion threshold are used as the upper and lower limits of the updated preset congestion threshold range, so that the preset congestion threshold range is used as the preset congestion threshold range for the next sampling.

[0090] Specifically, the sum of the threshold adjustment parameter and the preset congestion threshold is used as the updated preset congestion threshold. As congestion increases, the target time interval becomes longer, and the updated preset congestion threshold becomes larger. As congestion decreases, the updated preset congestion threshold decreases more rapidly. A larger updated preset congestion threshold helps maintain the current state and prevent rapid deterioration. A smaller updated preset congestion threshold helps more sensitively perceive changes in link state.

[0091] In the technical solution of this embodiment, the congestion parameter can reflect the congestion situation of the network. Therefore, the preset congestion threshold is continuously updated through the congestion parameter and the target time interval, and the preset congestion threshold range is used as the preset congestion threshold range for the next sampling, ensuring that the network congestion value and the preset congestion threshold range are accurately compared, thereby improving the accurate judgment of the current network status of the candidate route.

[0092] S240: Determine a first bit rate adjustment method for the candidate route according to the current network state, and determine a first bit rate for the candidate route according to the first bit rate adjustment method.

[0093] Specifically, determining a first code rate adjustment mode for a candidate route according to a current network state, and determining a first code rate for the candidate route according to the first code rate adjustment mode may include steps D1-D3:

[0094] Step D1: If the current network state is the first network state, the first bit rate is the current bit rate.

[0095] Specifically, if the current network state is the first network state, it indicates that the current bandwidth of the candidate route is in a stable phase, and the current bit rate can be maintained, that is, the first bit rate is used as the current bit rate. Alternatively, the bit rate can be increased slightly, that is, a preset value is added to the current bit rate as the first bit rate.

[0096] Step D2: If the current network state is the second network state, determine a first rate adjustment parameter, and determine a first rate of the candidate route according to the first rate adjustment parameter; the first rate adjustment parameter is used to reduce the maximum rate of the candidate route within the target time period.

[0097] Specifically, if the current network state is the second network state, it indicates that the current bandwidth is overloaded and the network is congested. Therefore, the current bitrate needs to be reduced. The first bitrate adjustment parameter is used to reduce the maximum bitrate of the candidate route within the target time period. That is, the first bitrate = the first bitrate adjustment parameter multiplied by the maximum bitrate G within the target time period. For example, the first bitrate adjustment parameter can be set to 0.85, so the first bitrate = 0.8*G.

[0098] Step D3: If the current network state is the third network state, determine a second rate adjustment parameter, and determine the first rate of the candidate route according to the second rate adjustment parameter; the second rate adjustment parameter is used to increase the current rate of the candidate route.

[0099] Specifically, when the communication session time is less than the preset time, the second bitrate adjustment parameter is a dynamic coefficient, and the first bitrate is the second bitrate adjustment parameter multiplied by the current bitrate. The dynamic coefficient is greater than 1 and is matched according to the current bitrate.

[0100] If the communication session time is greater than the preset time, the data rate that can be transmitted by the current bit rate within an RTT time period is used as the second bit rate adjustment parameter, and the value of the second bit rate adjustment parameter and the current bit rate is used as the first bit rate of the candidate route.

[0101] This embodiment's technical solution uses different bitrate adjustment parameters for different network conditions, adapting to the context of the unmanned vehicle's deployment and prioritizing smoothness over clarity. The bitrate adjustment range varies across different environments. Specifically, when the network is poor, the bitrate is rapidly reduced to ensure smoothness, and when the network recovers, the bitrate is quickly restored to improve clarity.

[0102] S250: Determine a packet loss rate of the candidate route under the current network state, determine a second bit rate adjustment method according to the packet loss rate, and determine a second bit rate of the candidate route according to the second bit rate adjustment method.

[0103] In this embodiment, while determining the first and second code rates for the candidate route, a third code rate fed back by the data receiver is obtained to determine the target code rate for the candidate route based on the first, second, and third code rates. For example, the minimum of the first, second, and third code rates can be used as the target code rate for the candidate route, or the weighted average of the first, second, and third code rates can be used as the target code rate for the candidate route. The inclusion of the third code rate fed back by the data receiver can more accurately reflect the data transmission capabilities of the current candidate route.

[0104] S260: Determine a target code rate for the candidate routes based on the first code rate and the second code rate, and determine a target route for the unmanned vehicle to transmit data based on the target code rate of each candidate route.

[0105] In this embodiment, after determining the target bit rate of the candidate routes, the predicted bit rate of each candidate route can be predicted by the machine learning network based on GPS positioning, and the predicted bit rate and the target bit rate are weighted averaged to update the target bit rate of each candidate route, so as to determine the target route for the unmanned vehicle when transmitting data based on the updated target bit rate of each candidate route.

[0106] In an embodiment of the present invention, a linear fit is performed on the delay gradients at different sampling times during a target time period of a candidate route to obtain a fitted straight line for the candidate route. The slope of the fitted straight line is used as a congestion parameter. Because the congestion parameter reflects the changing trend of the delay gradient, the network congestion value of the candidate route is determined based on the congestion parameter and the number of samples, achieving accurate determination of the network congestion value. Furthermore, the current network status of the candidate route is determined based on the network congestion value and a preset congestion threshold range. This accurately determines the current network status of the candidate route, avoiding the impact of incorrect network status determination on bitrate adjustment. A first bitrate adjustment method is then determined for the candidate route based on the current network status. A first bitrate for the candidate route is determined based on the first bitrate adjustment method. A second bitrate adjustment method is determined based on the packet loss rate. A second bitrate adjustment method is determined based on the second bitrate adjustment method. A target bitrate for the candidate route is determined based on the first and second bitrates. Finally, a target route for data transmission by the unmanned vehicle is determined based on the target bitrate of each candidate route. This accurately determines the route for data transmission in the unmanned vehicle and improves the adaptability of the data transmission process of the unmanned vehicle to the environment.

[0107] Example 3

[0108] Figure 4 This is a schematic diagram of the structure of a route switching device for an unmanned vehicle provided by an embodiment of the present invention. This embodiment is applicable to the situation where the route for data transmission in an unmanned vehicle is reasonably switched. The route switching device for the unmanned vehicle can be implemented in the form of hardware and / or software. The route switching device for the unmanned vehicle can be configured in any electronic device with network communication function. The unmanned vehicle uses at least two routes to transmit data. Figure 4 As shown, the route switching device of the unmanned vehicle of the present invention includes:

[0109] The network status determination module 310 is used to determine the current network status of the candidate route of the unmanned vehicle; the current network status is used to describe the congestion of the current network corresponding to the route of the unmanned vehicle;

[0110] A first code rate determining module 320 is configured to determine a first code rate adjustment mode for the candidate route according to the current network state, and determine a first code rate for the candidate route according to the first code rate adjustment mode;

[0111] A second bitrate determination module 330 is configured to determine a packet loss rate of the candidate route under the current network state, determine a second bitrate adjustment method based on the packet loss rate, and determine a second bitrate for the candidate route based on the second bitrate adjustment method;

[0112] The route determination module 340 is configured to determine a target bit rate for the candidate routes based on the first bit rate and the second bit rate, and determine a target route for the unmanned vehicle when performing data transmission based on the target bit rate of each candidate route.

[0113] Based on the above embodiment, optionally, the network status determination module includes a delay gradient determination unit, a fitting unit, a network congestion value determination unit and a network status determination unit; the delay gradient determination unit is used to obtain the delay gradients at different sampling moments of the target time period of the candidate route; the target time period is a time period preset from the current moment; the fitting unit is used to perform linear fitting on the delay gradients at different sampling moments of the target time period to obtain a fitting straight line of the candidate route, and use the slope of the fitting straight line as a congestion parameter; the congestion parameter is used to reflect the changing trend of the delay gradient; the network congestion value determination unit is used to obtain the sampling number of the target time period, and determine the network congestion value of the candidate route based on the congestion parameter and the sampling number; the network status determination unit is used to determine the current network status of the candidate route according to the network congestion value and a preset congestion threshold range.

[0114] Based on the above embodiment, optionally, the network status determination unit is used to: if the network congestion value is within the preset congestion threshold range, the current network status is a first network status; the first network status is used to describe that the current bandwidth of the candidate route is in a stable stage; if the network congestion value is greater than the maximum value of the preset congestion threshold range, the current network status is a second network status; the second network status is used to describe that the current bandwidth is overloaded and the network is congested; if the network congestion value is less than the minimum value of the preset congestion threshold range, the current network status is a third network status; the third network status is used to describe that the current bandwidth is not fully utilized.

[0115] Based on the above embodiment, optionally, the first bit rate determination module is configured to: if the current network state is the first network state, set the first bit rate as the current bit rate; if the current network state is the second network state, determine a first bit rate adjustment parameter, and determine the first bit rate of the candidate route based on the first bit rate adjustment parameter; the first bit rate adjustment parameter is used to reduce the maximum bit rate of the candidate route within the target time period; if the current network state is the third network state, determine a second bit rate adjustment parameter, and determine the first bit rate of the candidate route based on the second bit rate adjustment parameter; the second bit rate adjustment parameter is used to increase the current bit rate of the candidate route.

[0116] Based on the above embodiment, optionally, the second bit rate determination module is configured to: when the packet loss rate is less than a first preset threshold, determine a third bit rate adjustment parameter, and determine the second bit rate of the candidate route based on a reference bit rate and the third bit rate adjustment parameter; the reference bit rate is a lowest bit rate value within a target time period, and the target time period is a time period preset from the current moment; when the packet loss rate is greater than a second preset threshold, determine a fourth bit rate adjustment parameter, and determine the second bit rate of the candidate route based on the fourth bit rate adjustment parameter and the first bit rate; when the packet loss rate is greater than or equal to the first preset threshold and less than or equal to the second preset threshold, the second bit rate of the candidate route is the current bit rate.

[0117] Based on the above embodiment, optionally, the candidate routes include a first candidate route and a second candidate route, and the route determination module includes a target route determination unit, which is configured to: use a difference between a target bit rate of the first candidate route and a target bit rate of the second candidate route as a reference bit rate difference; if the reference bit rate difference is less than a first preset bit rate difference, use both the first candidate route and the second candidate route as target routes; if the reference bit rate difference is greater than the first preset bit rate difference and less than a second preset bit rate difference, use the candidate route with a larger target bit rate between the first candidate route and the second candidate route as the target route; if the reference bit rate difference is greater than the second preset bit rate difference and there is a downward trend in the historical bit rates of the candidate routes, use the candidate route with a smaller target bit rate between the first candidate route and the second candidate route as the target route.

[0118] Based on the above embodiment, optionally, the network status determination unit further includes an updating subunit, which is configured to: determine a first adjustment parameter of a preset congestion threshold, where the first adjustment parameter is determined based on a comparison result between the absolute value of the congestion parameter and the preset congestion threshold; determine a threshold adjustment parameter of the preset congestion threshold based on the first adjustment parameter, a target time interval, the absolute value of the congestion parameter, and a preset congestion threshold; the target time interval is the difference between a current moment and a previous sampling moment, the preset congestion threshold is the absolute value of the maximum value in a preset congestion threshold range, and the absolute value of the maximum value and the absolute value of the minimum value in the preset congestion threshold range are the same; use the sum of the threshold adjustment parameter and the preset congestion threshold as the updated preset congestion threshold, and use the positive and negative values ​​of the updated preset congestion threshold as the upper and lower limits of the updated preset congestion threshold range, so that the preset congestion threshold range serves as the preset congestion threshold range for the next sampling.

[0119] Based on the above embodiment, optionally, the routing determination module further includes a target bit rate determination unit, which is used to obtain a third bit rate fed back by the data receiver, and determine the target bit rate of the candidate route according to the first bit rate, the second bit rate and the third bit rate.

[0120] The route switching device for an unmanned vehicle provided in an embodiment of the present invention can execute the route switching method for an unmanned vehicle provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0121] Example 4

[0122] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0123] Figure 5 A schematic diagram of the structure of an electronic device that can be used to implement the route switching method of an unmanned vehicle according to an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0124] like Figure 5As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0125] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0126] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the route switching method for the unmanned vehicle.

[0127] In some embodiments, the route switching method for the unmanned vehicle can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the route switching method for the unmanned vehicle described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the route switching method for the unmanned vehicle in any other appropriate manner (for example, by means of firmware).

[0128] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0129] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0130] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0131] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0132] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0133] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0134] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0135] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A route switching method for an unmanned vehicle, characterized in that: The unmanned vehicle uses at least two routes to transmit data, and the method includes: Determine the current network status of the candidate route of the unmanned vehicle; the current network status is used to describe the congestion of the current network corresponding to the route of the unmanned vehicle; Determine a first code rate adjustment method for the candidate route according to the current network state, and determine a first code rate for the candidate route according to the first code rate adjustment method; Determine a packet loss rate of the candidate route under the current network state, determine a second bit rate adjustment method according to the packet loss rate, and determine a second bit rate of the candidate route according to the second bit rate adjustment method; The target code rate of the candidate routes is determined according to the first code rate and the second code rate, and the target route of the unmanned vehicle when performing data transmission is determined according to the target code rate of each candidate route.

2. The method according to claim 1, characterized in that Determining the current network status of the candidate routes of the unmanned vehicle includes: Obtaining the delay gradient of different sampling moments of the target time period of the candidate route; the target time period is a time period preset from the current moment; Performing linear fitting on the delay gradients at different sampling moments of the target time phase to obtain a fitting straight line of the candidate route, and using the slope of the fitting straight line as a congestion parameter; the congestion parameter is used to reflect the change trend of the delay gradient; Acquire the sampling number of the target time period, and determine the network congestion value of the candidate route based on the congestion parameter and the sampling number; The current network status of the candidate route is determined according to the network congestion value and a preset congestion threshold range.

3. The method according to claim 2, characterized in that Determining the current network state of the candidate route according to the network congestion value and a preset congestion threshold range includes: If the network congestion value is within the preset congestion threshold range, the current network state is a first network state; the first network state is used to describe that the current bandwidth of the candidate route belongs to a stable stage; If the network congestion value is greater than the maximum value of the preset congestion threshold range, the current network state is a second network state; the second network state is used to describe that the current bandwidth usage is overloaded and the network is congested; If the network congestion value is less than the minimum value of the preset congestion threshold range, the current network state is a third network state; the third network state is used to describe that the current bandwidth is not fully utilized.

4. The method according to claim 3, characterized in that Determining a first code rate adjustment method for the candidate route according to the current network state, and determining a first code rate for the candidate route according to the first code rate adjustment method, including: If the current network state is the first network state, the first bit rate is the current bit rate; If the current network state is the second network state, determining a first bit rate adjustment parameter, and determining a first bit rate of the candidate route according to the first bit rate adjustment parameter; the first bit rate adjustment parameter is used to reduce a maximum bit rate of the candidate route within the target time period; If the current network state is the third network state, a second bit rate adjustment parameter is determined, and the first bit rate of the candidate route is determined according to the second bit rate adjustment parameter; the second bit rate adjustment parameter is used to increase the current bit rate of the candidate route.

5. The method according to claim 1, characterized in that Determining a second code rate adjustment method according to the packet loss rate, and determining a second code rate of the candidate route according to the second code rate adjustment method, including: When the packet loss rate is less than a first preset threshold, a third code rate adjustment parameter is determined, and a second code rate of the candidate route is determined based on a reference code rate and the third code rate adjustment parameter; the reference code rate is a minimum code rate value within a target time period, and the target time period is a time period preset from the current moment; When the packet loss rate is greater than a second preset threshold, determining a fourth rate adjustment parameter, and determining a second rate of the candidate route based on the fourth rate adjustment parameter and the first rate; When the packet loss rate is greater than or equal to the first preset threshold and less than or equal to the second preset threshold, the second code rate of the candidate route is the current code rate.

6. The method according to claim 1, characterized in that The candidate routes include a first candidate route and a second candidate route, and determining the target route for the unmanned vehicle to transmit data according to the target bit rate of each candidate route includes: Taking the difference between the target bit rate of the first candidate route and the target bit rate of the second candidate route as a reference bit rate difference; If the reference bit rate difference is less than a first preset bit rate difference, both the first candidate route and the second candidate route are used as target routes; If the reference bit rate difference is greater than the first preset bit rate difference and less than the second preset bit rate difference, taking the candidate route with a larger target bit rate between the first candidate route and the second candidate route as the target route; If the reference bit rate difference is greater than the second preset bit rate difference, and the historical bit rate of the candidate route has a downward trend, the candidate route with a smaller target bit rate between the first candidate route and the second candidate route is used as the target route.

7. The method according to claim 2, characterized in that After determining the current network state of the candidate route according to the network congestion value and the preset congestion threshold range, the method further includes: Determine a first adjustment parameter of a preset congestion threshold, wherein the first adjustment parameter is determined according to a comparison result between an absolute value of the congestion parameter and the preset congestion threshold; Determine a threshold adjustment parameter of a preset congestion threshold according to the first adjustment parameter, the target time interval, the absolute value of the congestion parameter and the preset congestion threshold; the target time interval is the difference between the current moment and the previous sampling moment, the preset congestion threshold is the absolute value of the maximum value in the preset congestion threshold range, and the absolute value of the maximum value and the absolute value of the minimum value in the preset congestion threshold range are the same; The sum of the threshold adjustment parameter and the preset congestion threshold is used as the updated preset congestion threshold, and the positive and negative values ​​of the updated preset congestion threshold are used as the upper and lower limits of the updated preset congestion threshold range, so that the preset congestion threshold range is used as the preset congestion threshold range for the next sampling.

8. The method according to claim 1, characterized in that: The method further comprises: A third code rate fed back by a data receiver is obtained, and a target code rate of the candidate route is determined according to the first code rate, the second code rate, and the third code rate.

9. A route switching device for an unmanned vehicle, characterized in that: The unmanned vehicle uses at least two routes to transmit data, and the device includes: A network status determination module, used to determine the current network status of the candidate route of the unmanned vehicle; the current network status is used to describe the congestion of the current network corresponding to the route of the unmanned vehicle; A first code rate determination module, configured to determine a first code rate adjustment mode for the candidate route according to the current network state, and determine a first code rate for the candidate route according to the first code rate adjustment mode; A second code rate determination module, configured to determine a packet loss rate of the candidate route under the current network state, determine a second code rate adjustment method according to the packet loss rate, and determine a second code rate of the candidate route according to the second code rate adjustment method; The route determination module is used to determine the target code rate of the candidate route according to the first code rate and the second code rate, and determine the target route of the unmanned vehicle when transmitting data according to the target code rate of each candidate route.

10. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the route switching method for the unmanned vehicle according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the route switching method for an unmanned vehicle according to any one of claims 1 to 8 when executed.

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