Apparatus and method for automatically correcting transmission time of vehicle positioning data, computer system and program product, storage medium

Abstract

The application discloses a period sending correction method for automatically correcting deviation of source data acquisition period, which comprises a positioning module, an SOC module and an MCU module, the positioning module acquires original positioning data observation, and the original positioning data observation is processed by the SOC module, a coordination waiting time period is added after the data is processed, and high-precision positioning data is obtained, and the high-precision positioning data is sent on CAN in a GNSS message format through the MCU module. The positioning data output by the application has reliability, integrity, continuity and effectiveness.

Description

Technical Field

[0001] This invention relates to the field of vehicle navigation and positioning technology, and in particular to a method, apparatus, and vehicle for automatically correcting the transmission time of vehicle positioning data. Background Technology

[0002] In vehicle navigation, high-precision positioning is a crucial function, requiring accurate and reliable output of this data via the CAN bus. Typically, the positioning module receives the positioning data, processes it through a series of steps, and then outputs it from the CAN bus. However, due to time discrepancies between each step in this process, and the fact that GNSS messages on the CAN bus have a fixed cycle with an error margin of ±10%, and the inconsistent processing times of each node, invalid positioning data frames frequently appear on the CAN bus. This interferes with the normal operation of modules that require high-precision positioning data. This is an area that this application aims to address. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an apparatus and method, computer system and program product, and storage medium for automatically correcting the transmission time of vehicle positioning data, wherein the output positioning data has reliability, integrity, continuity and effectiveness.

[0004] To address the above technical problems, this invention provides a device for automatically correcting the transmission time of vehicle positioning data, comprising a positioning module, a SOC module, and an MCU module, wherein:

[0005] The positioning module receives raw observation data via an antenna, at a predetermined first interval T. g Send raw observation data to the SOC module;

[0006] SOC module, with the first time period T s1 The system receives raw observation data from the positioning module and differential / ephemeris data from the MCU module; the SOC module receives data in the second time period T. s2 After analyzing and processing the data, a coordination waiting period T is added. sd , with the third time period T s3 The fused high-precision positioning data is sent to the MCU module.

[0007] Among them, the coordination waiting time period T sd Equal to a pre-given fixed value T sg Compared with the first time period T s1 Second time period T s2 difference;

[0008] The MCU module receives differential / ephemeris data from the CAN bus and sends it to the SOC module. At time point mr, it receives the high-precision positioning data from the SOC module. After analyzing and processing the high-precision positioning data, the MCU module outputs the data at a predetermined second interval T. mg Send high-precision positioning data to the CAN bus, where the second interval time T mg Equal to the first interval time T g .

[0009] Optionally, at the second interval T mg If a first time point m1 is pre-defined, and time point mr is before the pre-defined first time point m1, then the second interval time T will be... mg Adjusted to the first interval time T g With the pre-given adjustment amount T md difference.

[0010] In the second interval T mg If a second time point m2 is pre-defined, and m2 is greater than the first time point m1, and time point mr is after the pre-defined second time point m2, then the second interval time T will be... mg Adjusted to the first interval time T g With the pre-given adjustment amount T md The sum of.

[0011] This invention also provides a method for automatically correcting the transmission time of vehicle positioning data, comprising a positioning module, a SOC module, and an MCU module. The positioning module acquires raw positioning data observations, which are processed by the SOC module to obtain high-precision positioning data. The high-precision positioning data is then transmitted on the CAN bus in GNSS message format via the MCU module.

[0012] a) The positioning module operates at a pre-given first interval T. g Send raw observation data to the SOC module;

[0013] b) The SOC module uses the first time period T s1 Receive raw observation data from the positioning module;

[0014] c) The SOC module uses the second time period T s2 Processing data;

[0015] d) After the SOC module finishes processing the data, it adds a coordination waiting period T. sd Among them, the coordination waiting time period T sd Equal to a pre-given fixed value T sg Compared with the first time period T s1 Second time period T s2 difference;

[0016] e) The SOC module uses the third time period T s3 Send high-precision positioning data to the MCU module;

[0017] f) The MCU module receives the high-precision positioning data from the SOC module at time point mr;

[0018] g) The MCU module operates at a pre-given second interval T. mg Send high-precision positioning data to the CAN bus, where the second interval time T mg Equal to the first interval time T g .

[0019] Optionally, the SOC module adds a forced transmission command to the high-precision positioning data sent to the MCU module. When the MCU module receives the forced transmission command, it immediately sends the high-precision positioning data received from the SOC module to the CAN bus in step g).

[0020] Optionally, at the second interval T mg A first time point m1 is pre-defined, wherein when time point mr is before the pre-defined first time point m1, the second interval time T is set in step g). mg Adjusted to the first interval time T g With the pre-given adjustment amount T md difference.

[0021] Optionally, at the second interval T mg A second time m2 is pre-given, where the second time m2 is greater than the first time m1. When time point mr is after the pre-given second time m2, the second interval T is set in step g). mg Adjusted to the first interval time T g With the pre-given adjustment amount T md The sum of.

[0022] Optionally, when time point mr is within a pre-given time interval T defined by a pre-given first time point m1 and a pre-given second time point m2... m During step g), the second interval T is maintained. mg Equal to the first interval time T g .

[0023] The present invention provides a vehicle including a device for automatically correcting the transmission time of vehicle positioning data.

[0024] The present invention also provides a computer system, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of a method for automatically correcting the transmission time of vehicle positioning data.

[0025] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a method for automatically correcting the transmission time of vehicle positioning data.

[0026] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of a method for automatically correcting the transmission time of vehicle positioning data.

[0027] The superior effect of this invention is that it corrects the transmission conflict caused by the variable data source period but the fixed final output, and ensures the reliability, integrity, continuity and effectiveness of the output data. Attached Figure Description

[0028] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0029] Figure 1 This is a principle block diagram of high-precision positioning data transmission for vehicle navigation according to a specific embodiment of the present invention;

[0030] Figure 2 This is a normal data transmission diagram before the modification of a specific embodiment of the present invention;

[0031] Figure 3 This is a diagram showing abnormal data transmission before correction in a specific embodiment of the present invention;

[0032] Figure 4 This is a diagram showing normal data transmission after the SOC module is corrected in a specific embodiment of the present invention;

[0033] Figure 5 This is a diagram showing the abnormal data transmission after the SOC module was corrected in a specific embodiment of the present invention;

[0034] Figure 6 This is a distribution diagram of the periodic intervals of GNSS messages on the CAN terminal of the MCU module in a specific embodiment of the present invention;

[0035] Figure 7 This is one of the data correction diagrams for the high-precision positioning data packet transmission end time point of the SOC module in a specific embodiment of the present invention not falling within the Tm interval;

[0036] Figure 8 This is the second data correction diagram for the SOC module's high-precision positioning data packet transmission end time point not falling within the Tm interval in a specific embodiment of the present invention;

[0037] Figure 9This is a modified data flow diagram of a specific embodiment of the present invention;

[0038] Explanation of the labels in the diagram:

[0039] 1—Positioning module; 2—SOC module;

[0040] 3—MCU module; 4—CAN. Detailed Implementation

[0041] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0042] like Figure 1 As shown, the present invention provides an apparatus for automatically correcting the transmission time of vehicle positioning data, comprising:

[0043] Positioning module 1 receives raw observation data via an antenna, at a predetermined first interval T. g The raw observation data is sent to SOC module 2 via serial port in RTCM mode;

[0044] SOC module 2 includes processing unit A, a serial port, and an SPI interface. SOC module 2 communicates via the serial port in the first time period T. s1 The system receives raw observation data from the positioning module and differential / ephemeris data from MCU module 3 via another serial port. Processing unit A then processes the data in the second time period T. s2 After analyzing and processing the data, a coordination waiting period T is added. sd The SOC module uses the third time period T s3 The fused high-precision positioning data is sent to the MCU module via the SPI interface;

[0045] Among them, the coordination waiting time period T sd Equal to a pre-given fixed value T sg Compared with the first time period T s1 Second time period T s2 difference.

[0046] MCU module 3 includes processing unit B, a CAN transceiver, a serial port, and an SPI interface. MCU module 3 receives differential / ephemeris data from the CAN transceiver and transmits it to SOC module 2 via the serial port. MCU module 3 receives high-precision positioning data from the SOC module at time point mr. Processing unit B analyzes and processes the high-precision positioning data, and MCU module 3 then transmits the data at a predetermined second interval T. mg High-precision positioning data is transmitted to the CAN bus via a CAN transceiver, wherein the second interval time T mg Equal to the first interval time T g .

[0047] The present invention provides a vehicle including the aforementioned device for automatically correcting the transmission time of vehicle positioning data.

[0048] like Figure 2 As shown, this is a normal data transmission diagram of positioning module 1, SOC module 2, and MCU module 3 before correction. The positioning module transmits data at a predetermined first interval T. g The raw observation data is sent to the SOC module, and the SOC module uses the first time period T. s1 Receive raw observation data from the positioning module, in the second time period T s2 Process the data and use the third time period T s3 High-precision positioning data is sent to the MCU module, and the MCU module responds at a predetermined second interval T. mg Send high-precision positioning data to the CAN bus, where the second interval time T mg Equal to the first interval time T g .in:

[0049] SOC Module 2:

[0050] s0: The time point at which the SOC module begins receiving raw observation data;

[0051] s1: The time point at which the SOC module finishes receiving the raw observation data;

[0052] s2: The time point at which the SOC processing unit finishes analyzing and processing the data and obtains the high-precision positioning data;

[0053] s3: The time point when the SOC module finishes sending high-precision positioning data;

[0054] T s1 The SOC module receives the first time period used to obtain the raw observations.

[0055] T s2 The second time period used by the SOC processing unit to process data;

[0056] T s3 The third time period used by the SOC module to send high-precision positioning data to the MCU;

[0057] Tg: The first interval for transmitting raw observation data;

[0058] MCU Module 3:

[0059] mr: The time point at which the high-precision positioning data is received, i.e., the time point s3 at which the SOC finishes sending the high-precision positioning data;

[0060] Tg: The first interval for transmitting raw observation data = the interval for the SOC to transmit positioning data to the MCU = the interval for the MCU to send positioning data to the CAN bus.

[0061] Based on different engineering requirements, T g The value range may be from tens of milliseconds to several seconds. For different data transmission periods, the first time period T... s1 The second time period T s2 and the third time period T s3 It is not fixed. Specifically, the first time period T... s1 In 0~T g Fluctuations within a certain range, the first time period T s1 The size of Ts1 is mainly related to the amount of data transmitted. The larger the amount of data transmitted, the larger the first time period Ts1 will be. The second time period Ts1 will be larger. s2 In 0~T g Fluctuating within a certain range, the second time period T s2 The size of the second time period T is mainly related to the data complexity. The greater the data complexity, the larger the second time period T will be. s2 The larger. The third time period T. s3 The size is mainly related to the period during which the MCU module sends a data request to the SOC module. If the period during which the MCU module sends a data request to the SOC module is 1 / n*T g If n is usually a natural number greater than 1, then the third time period T s3 In the range of 0 to 1 / n*T g It fluctuates within a certain range.

[0062] Because for different data transmission cycles, the first time period T s1 The second time period T s2 and the third time period T s3 It is not fixed, so T s1 +T s2 +T s3 It is not fixed, therefore the interval between two adjacent data transmission cycles, mr, is not fixed and is not always equal to T. g This results in the interval between the MCU module receiving the high-precision positioning data and the second interval T between the MCU module sending the high-precision positioning data. mg Mismatch. When the interval of mr is less than T. g At that time, it might be in a T mg The presence of two MRs (Morphological Ranges) means that the MCU module receives two sets of valid high-precision positioning data within one cycle. The first set of valid high-precision positioning data is overwritten by the second set, so only the second set is transmitted via CAN, resulting in data loss. When the interval between MRs is greater than T...g At that time, it might be in a T mg The absence of MR (Morphological Positioning) data means that the MCU module did not receive valid high-precision positioning data within one cycle and did not send valid high-precision positioning data via CAN. This leads to data anomalies, such as... Figure 3 The present invention corrects the anomaly by sending a first periodic transmission, as follows:

[0063] After the processing unit of the SOC module finishes processing the data, it adds a coordination waiting period T. sd The timing of transmitting high-precision positioning data to the MCU module was delayed; after correction, it is as follows: Figure 4 As shown in the diagram: sd represents the time point when the SOC module waits to complete; Tsd represents the coordination waiting period of the current cycle at the SOC end, that is, the time period between the completion of SOC unit data processing and the start of sending positioning data to the MCU module. Figure 4 After the SOC module is corrected as shown, Tsg: the time from when the SOC module starts receiving the raw observations to when it starts sending high-precision positioning data to the MCU module, Tsg = Tg + 0.3*Tg.

[0064] T sd The existence of this ensures that the interval between when the SOC module is ready to send high-precision positioning data to the MCU module is always equal to T. g In other words, T sd The existence of the first time period T s1 Second time period T s2 The larger range of the interval between the MCU module receiving the high-precision positioning data and the second interval T between the MCU module sending the high-precision positioning data. mg The mismatch is completely eliminated. In this case, the interval between the MCU module receiving the high-precision positioning data and the second interval T between the MCU module sending the high-precision positioning data are... mg The mismatch is determined solely by the third time period T. s3 This is caused by a smaller range of factors. Therefore, this mismatch is greatly reduced, thus greatly reducing the probability of abnormal situations and greatly increasing the probability of normal situations, thereby greatly ensuring the reliability, integrity, continuity, and validity of the output data.

[0065] As mentioned above, T sd The existence only eliminates the effect of the first time period T s1 Second time period T s2 The larger range results in the interval between the MCU module receiving the high-precision positioning data and the second interval T between the MCU module sending the high-precision positioning data. mg The mismatch is caused by the third time period T. s3The smaller range results in the interval between the MCU module receiving the high-precision positioning data and the second interval T between the MCU module sending the high-precision positioning data. mg The mismatch still exists. Furthermore, since the SOC module and the MCU module are two independent modules, it means that the time point at which the SOC module finishes sending high-precision positioning data may occur during the second interval T when the MCU module sends high-precision positioning data to the CAN bus. mg At any point in time within, combined with T s3 Even with a relatively small-scale impact, there is still a very small probability that something like this will happen. Figure 5 The abnormal situation shown. Figure 5 The SOC module adds a forced transmission command to the high-precision positioning data sent to the MCU module. When the MCU module receives the forced transmission command, it immediately sends the high-precision positioning data received from the SOC module to the CAN bus.

[0066] As mentioned above, the third time period T s3 In the range of 0 to 1 / n*T g It fluctuates within a range, where n is usually a natural number greater than 1. Due to the third time period T... s3 The fluctuation, the second interval T mg Also in (1-1 / n)*T g ~(1+1 / n)*T g The fluctuation range is within ±10%. Considering that the period error of GNSS messages on CAN is within ±10%, the period for the MCU module to initiate a data request to the SOC module is 1 / n*T. g Where n is preferably a natural number greater than or equal to 10. The SOC module actively adjusts the second interval T between the MCU module sending high-precision positioning data by forcibly sending commands. mg This ensures that the interval between the MCU module receiving the high-precision positioning data and the second interval T between the MCU module sending the high-precision positioning data are equal. mg This better matches the data, thereby further reducing the probability of anomalies and ensuring the reliability, integrity, continuity, and effectiveness of the output data.

[0067] like Figure 5 As shown, the MCU module sometimes fails to update all data before the scheduled transmission time, meaning either no data set is updated within a cycle, or two data sets are updated within a cycle. To address this anomaly, this application further corrects it as follows:

[0068] like Figure 6 As shown, the MCU's cycle Tmg is decomposed into three parts, where:

[0069] m0: The starting point after the MCU module finishes sending the previous frame of high-precision positioning data / CAN message;

[0070] m1: The pre-defined first moment;

[0071] m2: The pre-given second time point;

[0072] Tm: A pre-defined time interval defined by m1 and m2; where m0 < m1 < m2.

[0073] like Figure 6 As shown, when the MCU module finishes receiving the high-precision positioning data, the time point mr is within the pre-defined time interval T defined by the pre-defined first time point m1 and the pre-defined second time point m2. m During the second interval T, maintain the second interval. mg Equal to the first interval time T g .

[0074] like Figure 7 As shown, when time point mr is after the pre-given second time point m2, the second interval time T is... mg Make adjustments to T mg Revised to T mg =T g +T md After several cycles of adjustment, until MR is at T m Within the range.

[0075] like Figure 8 As shown, when time point mr is before the pre-given first time point m1, the second interval time T is... mg Make adjustments to T mg Revised to T mg =T g -T md Among them, T md For a pre-given fixed value, it is adjusted over several cycles until mr is at T. m Within the interval. Where 0 < T md ≤0.1*T g In other words, T md The value is in T mg Within the allowable error range.

[0076] As mentioned above, the third time period T s3 Typically, it ranges from 0 to 1 / n*T. g The values ​​of m1 and m2 fluctuate within a certain range, where n is usually a natural number greater than 1. The optimal values ​​for m1 and m2 are related to T. s3 The fluctuation range is 0 to 1 / n*T g Or, to put it another way, the period of the MCU module sending a data request to the SOC module is 1 / n*T. gRelatedly, specifically, m1 > m0 + 1 / n*T g m2 < m0 + (1 - 1 / n) * T g .

[0077] The principle described above is that when mr is before m1, it is necessary to prevent the interval between mr and the next mr from being less than T. g And possibly in a T mg The memory exhibits two abnormal conditions related to memory accessibility (MR), therefore, T is actively reduced. mg So that in a T mg The probability of an anomaly where there are two memory rangers is further reduced. When the memory ranger follows the second memory ranger, it is necessary to prevent the interval between the memory ranger and the next memory ranger from exceeding T. g And possibly in a T mg There are no abnormalities in MR within the system, therefore T is actively increased. mg So that in a T mg The probability of no abnormal situation where MR is not present is further reduced. In summary, by actively adjusting the second interval T between the MCU module sending high-precision positioning data... mg This ensures that the interval between the MCU module receiving the high-precision positioning data and the second interval T between the MCU module sending the high-precision positioning data are equal. mg This better matches the data, thereby further reducing the probability of anomalies and ensuring the reliability, integrity, continuity, and effectiveness of the output data.

[0078] After the above two corrections, the desired result is achieved. Figure 9 This represents a balance point where there are no conflicts in the transmission and processing of data at various time points between the SOC module and the MCU module, ensuring the reliability, integrity, continuity, and validity of the output data.

[0079] Figure 9 In the process, the SOC module starts receiving raw observations at s0; after receiving the data at s1, the SOC module begins processing; the processing unit of the SOC module finishes processing at s2 and calculates the high-precision positioning data, and calculates the Tsd for this period, Tsd = Tsg - Ts1 - Ts2; the SOC module waits for the coordination waiting period Tsd for this period at sd and starts sending the high-precision positioning data to the MCU module; the SOC module finishes sending the high-precision positioning data to the MCU at s3.

[0080] Figure 9 In this invention, the transmission cycle of the MCU module is modified as follows:

[0081] After the MCU module sends the previous Gnss message at m0, it starts waiting; at time point mr, it receives high-precision positioning data and determines whether mr is within the Tm interval, i.e., whether m1 < mr < m2. There are three possibilities:

[0082] 1) If m1 < mr < m2, then the transmission period T remains unchanged in this round. mg = Tg;

[0083] 2) If m1 > mr, then the transmission period T in this round is... mg = Tg - T md ;

[0084] 3) If mr > m2, then the transmission period T of this round is... mg = Tg + T md .

[0085] This invention provides a method for automatically correcting periodic transmission errors caused by deviations in the source data acquisition cycle. One aspect involves adding a coordination waiting period T after the SOC module has finished processing the data. sd On the other hand, the second interval T between the MCU module sending high-precision positioning data to the CAN bus is actively adjusted. mg This ensures that the processing at each time point remains consistent, guaranteeing that the output high-precision positioning data is reliable, complete, continuous, and effective.

[0086] The present invention also provides a computer system, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of a method for automatically correcting the transmission time of vehicle positioning data.

[0087] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a method for automatically correcting the transmission time of vehicle positioning data.

[0088] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of a method for automatically correcting the transmission time of vehicle positioning data.

[0089] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for automatically correcting the transmission time of vehicle positioning data, comprising a positioning module (1), a SOC module (2), and an MCU module (3), wherein the positioning module (1) acquires raw positioning data observations, which are processed by the SOC module (2) to obtain high-precision positioning data, and the high-precision positioning data is transmitted via the MCU module (3) on the CAN (4) in GNSS message format; wherein: a) Positioning module (1) at a pre-given first interval T g Send the raw observation data to the SOC module (2); b) SOC module (2) in the first time period (T) s1 ) Receive raw observation data from the positioning module (1); c) SOC module (2) in the second time period (T) s2 Processing data; d) After processing the data, the SOC module (2) adds a coordination waiting period (T) sd The coordination waiting period (Tsd) is equal to a pre-given fixed value Tsg minus the sum of the first time period (Ts1) and the second time period (Ts2); Tsg = Tg + 0.3*Tg; e) SOC module (2) in the third time period (T) s3 Send high-precision positioning data to the MCU module (3); f) The MCU module (3) receives the high-precision positioning data from the SOC module (2) at time point (mr); g) MCU module (3) at a pre-given second interval time (T) mg ) Send high-precision positioning data to CAN (4), wherein the second interval time (T) mg ) equals the first interval time T g .

2. The method for automatically correcting the transmission time of vehicle positioning data according to claim 1, characterized in that: The SOC module (2) adds a forced transmission command to the high-precision positioning data sent to the MCU module (3). When the MCU module (3) receives the forced transmission command, it immediately sends the high-precision positioning data received from the SOC module (2) to the CAN (4) in step g).

3. The method for automatically correcting the transmission time of vehicle positioning data according to claim 1, characterized in that: In the second interval (T) mg Within a given first time point (m1), if the time point (mr) is before the given first time point (m1), then in step g), the second interval time (T) is... mg Adjusted to the first interval time T g With the pre-given adjustment amount (T) md ) difference.

4. The method for automatically correcting the transmission time of vehicle positioning data according to claim 3, characterized in that: In the second interval (T) mg A second time interval (m2) is pre-defined within a given time period (g), wherein the second time interval (m2) is greater than the first time interval (m1). When a time point (mr) is after the pre-defined second time interval (m2), the second interval time (T) is set in step g). mg Adjusted to the first interval time T g With the pre-given adjustment amount (T) md ) and .

5. The method for automatically correcting the transmission time of vehicle positioning data according to claim 4, characterized in that: When time point (mr) falls within a pre-defined time interval (T) defined by a pre-defined first time point (m1) and a pre-defined second time point (m2). m During step g), maintain the second interval time (T) mg ) equals the first interval time T g .

6. An apparatus for automatically correcting the transmission time of vehicle positioning data, the apparatus comprising a positioning module (1), a SOC module (2), and an MCU module (3), characterized in that: The apparatus is configured to implement the method according to any one of claims 1 to 5.

7. A vehicle, characterized in that, Includes the apparatus according to claim 6.

8. A computer system comprising a memory, a processor, and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1-5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When executed by a processor, the computer program implements the steps of the method described in any one of claims 1-5.

10. A computer program product, comprising a computer program, characterized in that: When the computer program is executed by a processor, it implements the steps of the method described in any one of claims 1-5.

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