Method and device for switching between single-machine simulator training and remote control of a vehicle

Abstract

The application relates to a mode switching method and device based on single-machine simulator training and remote vehicle control. The method comprises the following steps: acquiring a current mode state of a simulator system and a target mode, the target mode being a mode to which the simulator system needs to be switched; based on the current mode state and the target mode, generating a target command parameter, collecting the addresses of various switching client programs, generating a switching command based on the command parameter of the target mode, and sending the switching command to a switching client system to enable the switching client system to perform mode switching processing and obtain a switching completion command; receiving the switching completion command and determining the current mode of the simulator system; if the current mode is consistent with the target mode, outputting prompt information indicating that the switching is successful. By adopting the method, safe, fast and real-time switching between simulator driving training and remote control of an actual vehicle can be realized.

Description

Technical Field

[0001] This application relates to the field of railway train technology, and in particular to a mode switching method, apparatus, computer equipment, and computer-readable storage medium based on single-machine simulator training and remote train control. Background Technology

[0002] With the rapid development of the rail transit industry, train driving simulators have become a core tool for driver training, assessment, and selection. However, simulators in related technologies can only achieve single-machine simulation training. But the rail transit industry also needs simulators to participate in actual remote train control operations. Therefore, how to integrate train training and remote train control functions into a simulator is a pressing technical problem to be solved in the rail transit field. Summary of the Invention

[0003] Therefore, it is necessary to provide a method, apparatus, computer equipment, and computer-readable storage medium for mode switching based on single-machine simulator training and remote vehicle control, which can achieve safe, stable, and real-time switching of multiple modes, in response to the above-mentioned technical problems.

[0004] Firstly, this application provides a mode switching method based on single-machine simulator training and remote vehicle control, applied to a switching server in a simulator system. The simulator system further includes a switching client system, which comprises multiple switching client programs. The method includes:

[0005] Obtain the current mode state and target mode of the simulator system, wherein the target mode is the mode to which the simulator system needs to be switched;

[0006] Based on the current mode state and the target mode, target command parameters are generated, and the addresses of each switching client program are collected. A switching command is generated based on the command parameters of the target mode, and the switching command is sent to the switching client system so that the switching client system performs mode switching processing and obtains a switching completion command.

[0007] The system receives the switch completion command and determines the current mode of the simulator system based on the switch mode carried by the switch completion command. If the current mode is consistent with the target mode, a switch success message is output.

[0008] In one embodiment, the target command parameter is a command parameter of a second mode; the first mode differs from the second mode, and the first mode is either a simulated driving training mode or a remote driving control mode; generating the target command parameter based on the current mode state and the target mode includes:

[0009] If the current mode status is the first mode online state, and the target mode is the second mode, then a first mode exit command is generated and sent to the controller of the simulator system to cause the simulator system to exit the first mode; if the first mode exit is successful, then command parameters for the second mode are generated; or,

[0010] If the current mode state is the first mode idle state and the target mode is the second mode, then the command parameters for the second mode are generated.

[0011] In one embodiment, the method further includes:

[0012] Receive a response message from the controller of the simulator system that returns the first mode exit instruction;

[0013] If it is determined based on the response message that the exit from the first mode failed, a switching failure prompt message is output, which includes a failure message and a reason for failure.

[0014] In one embodiment, the step of generating a switching command based on command parameters of the target mode, and sending the switching command to the switching client system so that the switching client system performs mode switching processing and obtains a switching completion command, includes:

[0015] If it is determined that each of the addresses is not empty, a switching command is generated based on the command parameters of the target mode, and the switching command is sent to the switching client system, so that the switching client system starts each switching client program corresponding to the subsystem of the second mode, and / or closes each switching client program corresponding to the subsystem of the first mode, and generates a switching completion command.

[0016] In one embodiment, determining the current mode of the simulator system based on the switching mode carried by the switching completion command includes:

[0017] Based on the switching mode carried by the switching completion command, obtain the state array of the subsystem corresponding to the switching mode, and determine the running state of the subsystem based on the state array;

[0018] When all the subsystems are running online, the switching mode is determined to be the current mode of the simulator system.

[0019] Secondly, this application provides a mode switching method based on single-machine simulator training and remote vehicle control, applied to a switching client system in a simulator system. The switching client system includes multiple switching client programs; the simulator system also includes a switching server; the method includes:

[0020] The system receives a switching command sent by the switching server. The switching command is generated by the switching server based on the current mode state of the simulator system and the target mode, and is generated by the switching server based on the command parameters of the target mode after collecting the addresses of each switching client program. The target mode is the mode to which the simulator system needs to be switched.

[0021] Based on the switching command, a mode switching process is performed to obtain a switching completion command, and the switching command is sent to the switching server so that the switching server determines the current mode of the simulator system based on the switching mode carried by the switching completion command, and outputs a switching success prompt message if the current mode is consistent with the target mode.

[0022] In one embodiment, the current mode state is the state of a first mode; the target mode is a second mode; and the mode switching process based on the switching command to obtain a switching completion command includes:

[0023] Based on the switching command, the switching client programs corresponding to the subsystems of the second mode are started, and / or the switching client programs corresponding to the subsystems of the first mode are closed, and a switching completion command is generated; the switching command is generated by the switching server based on the command parameters of the second mode when it is determined that each of the addresses is not empty.

[0024] Thirdly, this application provides a mode switching device based on single-machine simulator training and remote vehicle control, applied to a switching server in a simulator system. The simulator system further includes a switching client system, which comprises multiple switching client programs. The device includes:

[0025] The first acquisition module is used to acquire the current mode state and target mode of the simulator system, wherein the target mode is the mode to which the simulator system needs to be switched.

[0026] The first generation module is used to generate target command parameters based on the current mode state and the target mode, collect the addresses of each switching client program, generate a switching command based on the command parameters of the target mode, and send the switching command to the switching client system so that the switching client system performs mode switching processing and obtains a switching completion command.

[0027] The first receiving module is used to receive the switching completion command, determine the current mode of the simulator system based on the switching mode carried by the switching completion command, and output a switching success prompt message if the current mode is consistent with the target mode.

[0028] Fourthly, this application also provides a mode switching device based on single-machine simulator training and remote vehicle control, applied to a switching client system in a simulator system. The switching client system includes multiple switching client programs; the simulator system also includes a switching server; the device includes:

[0029] The second receiving module is used to receive the switching command sent by the switching server. The switching command is generated by the switching server based on the current mode state of the simulator system and the target mode, and is generated by the switching server based on the command parameters of the target mode after collecting the addresses of each switching client program. The target mode is the mode to which the simulator system needs to be switched.

[0030] The second switching module is used to perform mode switching processing based on the switching command, obtain a switching completion command, and send the switching command to the switching server so that the switching server determines the current mode of the simulator system based on the switching mode carried by the switching completion command, and outputs a switching success prompt message if the current mode is consistent with the target mode.

[0031] Fifthly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in this embodiment.

[0032] Sixthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of this embodiment.

[0033] In a seventh aspect, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of this embodiment.

[0034] The aforementioned method, apparatus, computer device, and computer-readable storage medium for mode switching based on single-machine simulator training and remote vehicle control, wherein the method includes: acquiring the current mode state and target mode of the simulator system, wherein the target mode is the mode to which the simulator system needs to be switched; generating target command parameters based on the current mode state and target mode, collecting the addresses of each switching client program, generating a switching command based on the command parameters of the target mode, and sending the switching command to the switching client system to enable the switching client system to perform mode switching processing, obtaining a switching completion command; receiving the switching completion command, and determining the current mode of the simulator system based on the switching mode carried in the switching completion command; if the current mode is consistent with the target mode, outputting a switching success prompt message. By adopting this method, switching between simulated driving training and remote control of actual vehicles can be achieved on the original simulator architecture, supporting both mode driving training and remote vehicle control functions with relatively low modification costs, and ensuring safe, fast, and real-time switching between multiple modes. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is an application environment diagram of a mode switching method based on single-machine simulator training and remote vehicle control in one embodiment;

[0037] Figure 2 This is a flowchart illustrating a mode switching method based on single-machine simulator training and remote vehicle control in one embodiment.

[0038] Figure 3 This is a flowchart illustrating the steps for generating command parameters in one embodiment;

[0039] Figure 4 This is a flowchart illustrating the step of determining the current mode in one embodiment;

[0040] Figure 5 This is a flowchart illustrating the steps for outputting a prompt message in one embodiment;

[0041] Figure 6 This is a schematic diagram of the switching system corresponding to the mode switching method based on single-machine simulator training and remote vehicle control in one embodiment;

[0042] Figure 7This is a flowchart illustrating the mode switching method based on single-machine simulator training and remote vehicle control in another embodiment;

[0043] Figure 8 This is a structural block diagram of a mode switching device based on a single-machine simulator for training and remote vehicle control in one embodiment;

[0044] Figure 9 This is a structural block diagram of a mode switching device based on a single-machine simulator for training and remote vehicle control in one embodiment;

[0045] Figure 10 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0047] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0048] In the fields of train driving simulation training and remote control of rail transit trains, there is an urgent need for a method that can support the switching between stand-alone simulator training and remote train control. This is because, with the rapid development of the rail transit industry, train driving simulators have become a core tool for driver training, assessment, and selection.

[0049] However, traditional simulators can only perform stand-alone simulation training, offering limited functionality and failing to support the diverse needs of real-world rail transit scenarios, such as remote train control. Therefore, how to integrate train training and remote train control functions within a simulator is a pressing issue in the rail transit field. Specifically, to meet the training demands arising from new line openings, railway companies have procured numerous simulators. In special scenarios such as shunting, some simulators need to function as remote control consoles to operate actual trains over long distances. The simulator provided in this embodiment can achieve remote train control, simultaneously meeting the dual needs of "daily training" and "remote train control," and enabling rapid, safe, and real-time switching between simulated driving training mode and remote train control mode.

[0050] In other words, the mode switching method based on single-machine simulator training and remote vehicle control provided in this embodiment is used to realize the switching between modes. This allows the train driving simulator used in this embodiment to be used for daily train driver training and to directly control different types of real trains through the simulated driving console in special operation scenarios, while ensuring safety and real-time performance when switching between the two modes.

[0051] The mode switching method based on single-machine simulator training and remote vehicle control provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, the mode switching method based on single-machine simulator training and remote vehicle control provided in this embodiment is applied to the switching server 100 (switching server device) in the switching system. This switching system is deployed in the simulator system, which includes multiple terminals, i.e., multiple computer devices. The switching system is a system that can support single-machine simulator training and remote vehicle control. The specific structure of this switching system (the switching device supporting single-machine simulator training and remote vehicle control) can be as follows: Figure 1 As shown, it includes a switching server 100 and a switching client system 200. The switching server device consists of a switching server software and a human-computer interaction device. The switching client system consists of multiple switching client programs. The specific number of switching client programs can be determined by the sum of the number of computers required to be deployed in the subsystem corresponding to the simulated driving training mode in the simulator system and the number of computers required to be deployed in the subsystem corresponding to the remote vehicle control mode.

[0052] That is, the specific number of client software programs to be switched is determined by the computer units deployed in each subsystem of the simulator device and remote vehicle control device that need to be switched. When the user issues a switch command for simulated driving or remote vehicle control through the human-machine interface, the server device performs mode switching control and sends it to the switching client system via network communication, and each switching client executes the specific switch.

[0053] In other words, the switching server is the switching server device, and the switching client system includes multiple switching client programs. Each switching client program is deployed on a terminal / computer device in a different simulator system, and each switching client is a terminal that has already deployed the switching client application / switching client software.

[0054] Optionally, the terminal may be, but is not limited to, various personal computers, laptops, smartphones, tablets, etc.; the server / server may be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services.

[0055] This embodiment provides a mode switching method based on single-machine simulator training and remote vehicle control. Taking a switching server 100 in a switching system as an example, the switching system includes a switching server 100 and a switching client system 200. The switching client system includes multiple switching client programs, and each switching client can be a terminal with switching client software / applications deployed (e.g., switching client software 1, switching client software 2, ..., switching client software N). This switching system is deployed within a simulator system, which includes a control system and multiple terminals / computers. The switching server can be deployed on the control system of the simulator system, and each switching client software in the switching client system can be deployed on a separate terminal. The simulator system's operating modes can include a first mode and a second mode.

[0056] Correspondingly, in the simulator system, the operation of the first mode requires multiple first subsystems, each of which can be deployed on one or more terminals. The operation of the second mode also requires multiple second subsystems, each of which can also be deployed on one or more terminals. The first subsystems are used to support the simulator system in operating the first mode, which can be a simulated driving training mode. The first subsystem includes one or more of the following: a main control subsystem, an equipment sampling control subsystem, a ground environment simulation subsystem, an instructor subsystem, a virtual visual scene subsystem, and a sound subsystem. The second subsystems of the second mode can include the main control subsystem, the equipment sampling control subsystem, the instructor subsystem, the real-world visual scene subsystem, and the sound subsystem. The first mode can be a simulated driving training mode, where the simulator system is used as a virtual train for train drivers to conduct simulated driving training. The second mode can be a remote control mode, where the simulator system is used as a remote control console (remote controller), allowing train drivers to remotely control one or more real trains.

[0057] In one exemplary embodiment, such as Figure 2 As shown, the switching server applied in the switching system provides a mode switching method based on single-machine simulator training and remote vehicle control, including:

[0058] Step 202: Obtain the current mode status and target mode of the simulator system.

[0059] The target mode is the mode to which the simulator system needs to be switched. The current mode state of the simulator system can refer to the current mode in which the simulator system is operating at the current moment, or the current function of the simulator system. This current mode state includes idle state and online state, such as idle driving simulation training mode, online driving simulation training mode (i.e., in simulation training), idle remote vehicle control mode, online remote vehicle control mode (i.e., in remote vehicle control mode), and so on.

[0060] Specifically, the switching server may include a server application and an interactive device. The server application can determine the mode selected by the user through a user's trigger operation on the interactive device, i.e., the mode to which the simulator system needs to be switched. The interactive device may display a mode selection interface, which may display label information for multiple modes. In response to the user's selection operation on any one of the label information for multiple modes displayed on the interactive device's mode selection interface, the mode corresponding to the label information triggered by that selection operation can be determined as the target mode.

[0061] Step 204: Based on the current mode state and the target mode, generate target command parameters, collect the addresses of each switching client program, generate a switching command based on the command parameters of the target mode, and send the switching command to the switching client system so that the switching client system can perform mode switching processing and obtain a switching completion command.

[0062] The target command parameters are configuration parameters used to switch the simulator system to the target mode, or system operating parameters used to switch the simulator system to the target mode, etc. That is, the target command parameters are the command parameters for the target mode. The switching client system includes multiple switching client programs, which can be switching client software. Each switching client software can be deployed on each terminal device included in the simulator system, and there is a one-to-one correspondence between the switching client software and the terminal device. The address of the switching client software can be the network communication address of the terminal device where the switching client software is deployed. This network communication address is used for communication and data interaction between other communication devices and the switching client. The switching command can be an instruction message used to instruct each switching client to perform a mode switch. The switching completion command can be generated by the switching client system. For example, the switching client system can generate a switching completion command when it determines that the switching is complete after performing switching processing on each switching client software based on the switching command. This switching completion command can be a response message to the switching command.

[0063] Specifically, the switching server can make a judgment based on the obtained current mode status and target mode, obtain a judgment result, and generate target command parameters based on the judgment result. In this way, the switching server can collect the addresses of each switching client program contained in the switching client system, and send the switching command to the switching client system if it confirms that each address meets the preset address validity conditions. The switching client system can receive the switching command and, based on the target command parameters carried in the switching command, perform switching processing on each subsystem. For example, it can perform mode switching processing on the subsystems corresponding to different modes based on the mode switching execution module contained in the switching client system. After confirming that the switching is complete, it generates a response message for the switching command, i.e., generates a switching completion command. The switching client system can return the switching completion command to the switching server, completing the entire message interaction process, and also enabling the switching server to understand the execution status of the switching command.

[0064] Optionally, when the switching client system receives a switching command, it can use the mode switching execution module deployed in the switching client system to switch the various switching client software corresponding to the subsystems of different modes based on the switching instruction.

[0065] Step 206: Receive the switch completion command and determine the current mode of the simulator system based on the switch mode carried in the switch completion command. If the current mode is consistent with the target mode, output a message indicating that the switch was successful.

[0066] The switching mode carried in the switching completion command can be the mode after the client system has switched various subsystems, which is the mode the simulator system is currently in. A successful switching message can be displayed on the interactive device of the switching server.

[0067] Specifically, the switching server can receive a switching completion command returned by the switching client system and determine the switching mode based on the data carried in the command. Then, it can obtain the online status of the subsystems corresponding to the switching mode. If all subsystems corresponding to the switching mode are online, the switching mode can be determined as the current mode of the simulator system. The switching server can then determine the consistency between the current mode and the target mode. If the current mode matches the target mode, it generates a successful switching message, such as a text message. The switching server can then output this successful switching message on its interactive device.

[0068] The above-described mode switching method based on single-machine simulator training and remote vehicle control involves: acquiring the current mode state and target mode of the simulator system; obtaining the target mode as the mode to which the simulator system needs to be switched; generating target command parameters based on the current mode state and target mode; collecting the addresses of each switching client program; generating a switching command based on the command parameters of the target mode; sending the switching command to the switching client system to enable the switching client system to perform mode switching processing and obtain a switching completion command; receiving the switching completion command and determining the current mode of the simulator system based on the switching mode carried in the switching completion command; if the current mode matches the target mode, outputting a switching success message. By adopting this method, switching between simulated driving training and remote control of actual vehicles can be achieved on the original simulator architecture, supporting both mode driving training and remote vehicle control functions with relatively low modification costs, and ensuring safe, fast, and real-time switching between multiple modes.

[0069] In one embodiment, the first mode differs from the second mode; the first mode is either a simulated driving training mode or a remote driving control mode. One possible implementation could be illustrated by using the target command parameter as the command parameter for the second mode. For example... Figure 3 As shown, the specific processing steps of the step "Generate target command parameters based on the current mode state and the target mode" include:

[0070] Step 302: If the current mode status is online in the first mode and the target mode is the second mode, then generate a first mode exit command and send it to the simulator system's controller to cause the simulator system to exit the first mode. If the first mode exit is successful, generate the command parameters for the second mode. Alternatively,

[0071] The controller of the simulator system can include the main control subsystem corresponding to each mode. The exit command for each mode needs to be sent to the main control subsystem corresponding to that mode. For example, the exit command for the first mode needs to be sent to the main control subsystem corresponding to the first mode.

[0072] Specifically, the switching server determines the current mode status and target mode of the simulator system. If it determines that the current mode status of the simulator system is the first mode, and it is online (e.g., the simulator system is in simulation training, or it could be in remote vehicle control mode), and the target mode is the second mode, then the switching server can generate a first mode exit command. The first mode status can include online and idle states. The online status can include preparing, running, and exiting mode states. It can also include monitoring preparation, monitoring, and monitoring exit states, etc. Correspondingly, when the first mode is simulated driving mode, the online status includes simulated driving training, training preparation, and training completion. When the first mode is remote vehicle control mode, the corresponding online status can include remote driving, remote driving preparation, remote driving exit, remote monitoring preparation, remote monitoring, and remote monitoring exit.

[0073] Based on this, the first mode exit command is used to instruct the simulator system to exit the first mode. The switching server can send this first mode exit command to the simulator system's controller, i.e., the main control subsystem of the first mode. Upon receiving the first mode exit command, the main control subsystem of the first mode can perform the exit operation, thereby generating an exit response message, which will then return the exit response message to the switching server. The exit operation of the first mode can involve the main control subsystem of the first mode sending shutdown / offline commands to each subsystem corresponding to the first mode, etc.

[0074] The switching server can receive this exit response message. If it is determined that the exit response message indicates that the first mode has exited successfully, then it can be determined that the first mode of the simulator system has exited successfully. In this way, the command parameters of the second mode can be determined as the target command parameters.

[0075] Step 304: If the current mode state is the first mode idle state and the target mode is the second mode, then generate the command parameters for the second mode.

[0076] Specifically, the server switching process will determine the current mode status and target mode of the simulator system. If it is determined that the current mode status of the simulator system is the first mode and it is in the first mode idle state (simulation training idle state or remote vehicle control idle state), and the target mode is the second mode, then the server switching process can determine that the command parameters of the second mode can be set as the target command parameters.

[0077] It should be noted that this embodiment does not limit the order or scope of execution of the above steps 302 and 304. The terminal can execute the above steps 302 and 304 simultaneously, or execute steps 302 and 304 sequentially, or execute one or more of steps 302 and 304. Those skilled in the art can determine the specifics based on the actual application scenario.

[0078] In this embodiment, by comprehensively judging the current mode of the simulator system and the mode to be switched to, the mode switching can be avoided when the simulator system is in simulation training or remote vehicle control, thus ensuring the safety, stability and reliability of the simulator system.

[0079] In one embodiment, the mode switching method based on stand-alone simulator training and remote vehicle control further includes:

[0080] Receive a response message from the simulator system's controller indicating a first-mode exit command. If the response message indicates that the first-mode exit failed, output a message indicating a switching failure.

[0081] The failure message includes the failure message and the reason for the failure.

[0082] Specifically, the switching server can receive a response message from the main control subsystem of the first mode, indicating a first mode exit command. If the identification message carried in the response message indicates exit failure, it can be determined that the simulator system's first mode exit has failed. The correspondence between the identification information and successful / failed switching can be pre-configured; for example, a first identification corresponds to a failed switch, and a second identification corresponds to a successful switch. When the first identification carried in the response message of the first mode exit command is determined, it can be determined that the first mode exit has failed. Thus, the switching server can generate a failure message and a reason for failure, and obtain a failure message based on the failure message and reason. For example, the failure message and reason for failure can also be displayed through the switching server's interactive device.

[0083] In this embodiment, by promptly outputting prompts and reasons for switching failures, the device's problem-finding capabilities are improved, facilitating subsequent device maintenance.

[0084] In one embodiment, the specific process of "generating a switching command based on the command parameters of the target mode, and sending the switching command to the switching client system so that the switching client system performs mode switching processing and obtains a switching completion command" includes:

[0085] If all addresses are confirmed to be non-empty, a switching command is generated based on the command parameters of the target mode, and the switching command is sent to the switching client system to enable the switching client system to start the switching client programs corresponding to the subsystems of the second mode, and / or close the switching client programs corresponding to the subsystems of the first mode, and generate a switching completion command.

[0086] The address of the client program to be switched can be the network communication address of the terminal on which the client program is deployed, and the preset valid condition can be that the address is not empty.

[0087] Specifically, the switching server can obtain the current mode state of the simulator system and the target mode triggered by the user. Based on this, the switching server can make a judgment and generate target command parameters. The switching server can also collect the addresses of each switching client program contained in the switching client system and, if the addresses meet preset address validity conditions, send the switching command to the switching client system. The switching client system can then send start commands to the subsystems corresponding to the target mode and stop commands to the subsystems not in the target mode. This embodiment illustrates the case where the simulator system has a first mode and a second mode, and the target mode is the second mode. The switching client system can send start commands to the subsystems corresponding to the second mode to start them and put them online; and it can also send stop commands to the subsystems in the first mode to shut them down and put them offline. Based on this, the switching client system can generate a switching completion command, i.e., generate a response message corresponding to the switching command.

[0088] Optionally, after receiving a start or stop command, each subsystem performs the corresponding operation and obtains a command response message, as well as the command response message returned by each switching client system; the switching client system can generate a switch completion command after receiving the command response messages from each subsystem, that is, generate a response message corresponding to the switching command.

[0089] In this embodiment, by sending a switching command, the simulator system can safely, quickly, and accurately switch between multiple modes. Furthermore, since the switching command is sent between the switching server and the switching client system, communication efficiency is high, and the simulator system's response speed to the switching command is also high, enabling real-time switching between various modes.

[0090] In one embodiment, such as Figure 4As shown, the specific processing steps of the step "determine the current mode of the simulator system based on the switching mode carried by the switching completion command" include:

[0091] Step 402: Based on the switching mode carried by the switching completion command, obtain the state array of the subsystem corresponding to the switching mode, and determine the running state of the subsystem based on the state array.

[0092] Step 404: If all subsystems are running online, determine the switching mode to be the current mode of the simulator system.

[0093] Specifically, the switching server can obtain the status array of each subsystem corresponding to the switching mode according to the switching mode carried in the switching completion command. Based on the obtained subsystem status array, it can determine the current running status of the switching mode. If the switching server determines that the main control subsystem corresponding to the switching mode is offline, or the main control subsystem does not return a status array, then it can be determined that all other subsystems in the switching mode are also offline.

[0094] Optionally, the switching server can obtain online status data of each subsystem in the switching mode via network communication. This online status data can include whether the subsystem is online or offline. The switching server can label multiple subsystems corresponding to each mode and generate status array acquisition requests based on multiple labels. The status array acquisition requests carry labels of multiple subsystems for which the switching server wants to collect status array data. In this way, the switching server can send corresponding status array acquisition requests to the master control subsystem corresponding to the switching mode and receive data response messages returned by the master control subsystem. These data response messages carry multiple labels and the status arrays corresponding to each label.

[0095] That is, by enumerating the subsystem numbers in the database subsystem configuration, a subsystem status request is sent to the main control subsystem in the simulator device (the main control subsystem corresponding to the simulated driving training mode) or the main control subsystem in the remote vehicle control device (the main control subsystem corresponding to the remote vehicle control mode) using the number as the key, and the feedback is obtained to obtain the online status of the subsystem corresponding to the enumerated sub-number. If the main control subsystem in the simulator device is offline or there is no feedback, it is determined that all subsystems corresponding to the simulated driving training mode are offline. Similarly, if the main control subsystem of the remote vehicle control device is offline or there is no feedback, all subsystems corresponding to the remote vehicle control mode are set to offline.

[0096] Based on this, the switching server can obtain multiple labels and the corresponding state arrays in the received data response message. Then, when it is determined that the state arrays of each subsystem represent the online status, the switching mode is set to the current mode of the simulator system.

[0097] In this embodiment, by determining whether the subsystem is online, the execution result of the switching command can be determined more accurately, further improving the reliability of mode switching.

[0098] In one exemplary embodiment, such as Figure 5 As shown, a mode switching method based on single-machine simulator training and remote vehicle control is provided, applied to a switching client system within a switching system. The switching client system includes multiple switching client programs. The switching system also includes a switching server, which comprises multiple terminals. This method is applied to... Figure 1 Taking the switching client system 200 as an example, the process includes steps 502 to 504. Wherein:

[0099] Step 502: Receive the switching command sent by the switching server.

[0100] The switching command is generated by the switching server based on the current mode state of the simulator system and the target mode, and then based on the command parameters of the target mode after collecting the addresses of each switching client program. The target mode is the mode to which the simulator system needs to be switched.

[0101] Step 504: Perform mode switching processing based on the switching command to obtain a switching completion command, and send the switching command to the switching server so that the switching server can determine the current mode of the simulator system based on the switching mode carried by the switching completion command, and output a switching success prompt message if the current mode is consistent with the target mode.

[0102] In one embodiment, the current mode state is the first mode state. The target mode is the second mode. The specific processing procedure for the step "perform mode switching processing based on the switching command to obtain the switching completion command" includes:

[0103] Based on the switching command, the switching client programs corresponding to the subsystems in the second mode are started, and / or the switching client programs corresponding to the subsystems in the first mode are closed, and a switching completion command is generated. The switching command is generated by the switching server based on the command parameters of the second mode, assuming that each address is not empty.

[0104] Specifically, the process of switching client systems is similar to that of switching server systems, and will not be described in detail here.

[0105] The following describes in detail the specific implementation steps of the above-mentioned mode switching method based on single-machine simulator training and remote vehicle control, with reference to a specific embodiment:

[0106] like Figure 6 The diagram shows a structural schematic of a switching device that supports single-machine simulator training and remote vehicle control. This switching device is the switching system described in the above embodiment. This switching system enables rapid, safe, and real-time switching between the same simulator platform (the same simulator system) for both daily simulated driving training and remote vehicle control. The switching system includes a switching server device and a switching client system. The switching server device includes switching server software and a human-computer interaction device. The switching server software includes a database configuration management module, a subsystem online management module, a system operation management module, and a mode switching control and calculation module. The switching client system includes a database configuration management module and a mode switching execution module. It should be noted that the database configuration management module is shared with the switching server. Wherein:

[0107] The database configuration management module retrieves configuration data for all subsystems of the remote vehicle control device and the simulator device by reading from the database. Specifically, the database used is PolarDB-X, and two tables are created within this database: a simulator subsystem configuration table and a remote vehicle control device configuration table. These tables include fields such as computer ID, computer IP address, program location, subsystem name, subsystem ID, and type. The data configured in the simulator subsystem configuration table includes data for the main control subsystem, equipment sampling control subsystem, ground environment simulation subsystem, instructor subsystem, virtual scene subsystem, and sound subsystem. Similarly, the data configured in the remote vehicle control device table includes data for the main control subsystem, equipment sampling control subsystem, instructor subsystem, real-scene visual subsystem, and sound subsystem.

[0108] The subsystem online management module, combining the configuration data of all subsystems of the remote vehicle control device and the simulator device, uses network communication to obtain the online status data of each subsystem of the remote vehicle control device and the simulator device from the configuration data. Specifically, the network communication uses the HTTP protocol to obtain the online and offline data of the subsystems of the simulator and the remote vehicle control device.

[0109] The system operation management module, combining the configuration data of all subsystems of the remote vehicle control device and the simulator device, extracts the configuration information of the main control subsystem in both devices. It then uses network communication to obtain the vehicle control status data of the remote vehicle control device and the training status data of the simulator device from the main control subsystem, and calculates the system's operational status data using data mapping. Specifically, the network communication uses the HTTP protocol to obtain simulator status data including "training preparation," "training," "training completion," and "idle." The module also obtains remote vehicle control device status data including "remote driving preparation," "remote driving," "remote driving exit," "remote monitoring preparation," "remote monitoring," "remote monitoring exit," and "idle."

[0110] The mode switching control and calculation module calculates the current operating mode based on the aforementioned operating status data using a data mapping method. Based on the current mode and the mode selected by the user, it sends a command to end remote vehicle control or simulated driving to the main control subsystem of the remote vehicle control device or simulator device. Upon successful receipt, it controls the switching client to execute the switch between remote vehicle control and simulated driving modes. Specifically, it sends a command to end remote vehicle control to the main control subsystem of the remote vehicle control device or simulator device via HTTP, and controls the switching client to execute the switch between remote vehicle control and simulated driving modes via TCP data transmission. The specific process of mode switching control will be described in detail in the following embodiments.

[0111] The human-computer interaction device is used to visually monitor the current system mode, subsystem online status, and system operating status data, and to provide human-computer interaction for mode switching. Specifically, it uses a touch screen to display the current system mode, subsystem online status, and system operating status data, and allows mode switching operations via touch. It can also display prompts for switching failures, successful switching, and exit failures, etc.

[0112] The database configuration management module, shared with the switching server device, involves retrieving configuration data for all subsystems in the remote vehicle control device and control configuration data for all subsystems in the simulator device using a database. This provides switching data support for the mode switching execution module described below. Specifically, the database uses PolarDB-X, and simulator subsystem configuration tables and remote vehicle control device configuration tables are created within this database. These tables include fields such as computer ID, computer IP, program location, subsystem name, subsystem ID, and type. The data configured in the simulator subsystem configuration table includes data for the main control subsystem, equipment sampling control subsystem, ground environment simulation subsystem, instructor subsystem, virtual visual scene subsystem, and sound subsystem. The data configured in the remote vehicle control device table includes data for the main control subsystem, equipment sampling control subsystem, instructor subsystem, real-world visual scene subsystem, and sound subsystem.

[0113] The mode switching execution module, based on database configuration data, executes the shutdown and startup of various subsystems of the remote vehicle control device and simulator device according to the mode switching commands from the server, thereby realizing the switching between remote vehicle control and simulated driving modes. Specifically, it obtains the processes to be shut down through the operating system API and shuts them down using the operating system API, and starts the programs to be started through the paths configured in PolarDB-X. It also receives mode switching instructions sent by the server via TCP and feeds back the switching execution results to the switching server software via TCP.

[0114] Specifically, the remote vehicle control device can be a remote vehicle control mode in a simulator system. The configuration data of each subsystem corresponding to this remote vehicle control mode includes the computer number, computer IP, program location, subsystem name, subsystem number, and type of each subsystem deployed in this remote vehicle control mode. The simulator device can be a simulated driving training mode. The configuration data of all subsystems corresponding to this simulated driving training mode includes the computer number, computer IP, program location, subsystem name, subsystem number, and type of each subsystem deployed in the simulator device. Furthermore, the subsystems in the simulator device include a main control subsystem, an equipment sampling control subsystem, a ground environment simulation subsystem, an instructor subsystem, a virtual visual scene subsystem, and a sound subsystem. The subsystems in the remote vehicle control device include a main control subsystem, an equipment sampling control subsystem, an instructor subsystem, a real-scene visual scene subsystem, and a sound subsystem.

[0115] In one example, the switching server can use network communication to obtain the online status data of each subsystem in the remote vehicle control device and the simulator device. These statuses include whether the subsystem is online or offline. By enumerating the subsystem numbers in the database subsystem configuration, and sending subsystem status requests to the main control subsystem in the simulator device and the main control subsystem in the remote vehicle control device using the number as the key, and obtaining their feedback, the online status of the subsystem corresponding to the enumerated subsystem number can be obtained. If the main control subsystem in the simulator device is offline or has no feedback, then it can be determined that all subsystems in the simulator device are offline. Similarly, if the main control subsystem in the remote vehicle control device is offline or has no feedback, it can be determined that all subsystems in the remote vehicle control device are offline.

[0116] In one example, the switching server can acquire vehicle control status data from the remote vehicle control device via network communication. This status data includes "Remote driving preparation," "Remote driving in progress," "Remote driving exit in progress," "Remote monitoring preparation," "Remote monitoring in progress," "Remote monitoring exit in progress," and "Idle." Correspondingly, the training status data of the simulator device, acquired via network communication, includes "Training preparation," "Training in progress," "Training completed in progress," and "Idle." Furthermore, the system's operational status data can be calculated using a data mapping method, including "Simulation training in progress," "Remote vehicle control in progress," "Simulator idle," and "Remote vehicle control idle." These data are generated by mapping the status data of the remote vehicle control device and the simulator device to a many-to-one relationship. The switching modes include "Remote vehicle control mode" and "Simulated driving mode," generated based on the system status. The online status of the subsystems is a necessary condition for the switching server to safely and in real-time switch between the simulator device and the remote vehicle control device.

[0117] like Figure 7 As shown, this can be a specific implementation of the mode switching method provided in this embodiment: The mode switching control method is as follows:

[0118] S1. The switching server device obtains the current system status and the mode that the user needs to switch to (current mode status and target mode), and then jumps to S2.

[0119] S2. The server device checks whether the current system status is "simulator idle" and whether the mode the user needs to switch to is "remote vehicle control mode". If so, it jumps to S10; otherwise, it jumps to S3. Taking the first mode as simulated driving training mode and the second mode as remote vehicle control mode as an example, "simulator idle" refers to the idle state of the first mode.

[0120] S3. The server device checks whether the current system status is "simulation training" and whether the mode the user needs to switch to is "remote vehicle control mode". If so, it jumps to S6; otherwise, it jumps to S4.

[0121] S4. The server device checks whether the current system status is "remotely controlling the vehicle" and whether the mode the user needs to switch to is "simulated driving mode". If so, it jumps to S7; otherwise, it jumps to S5.

[0122] S5. The server device checks whether the current system status is "remote vehicle control is idle" and whether the mode to be switched to is "simulated driving mode". If so, it jumps to S11; otherwise, it jumps to S31.

[0123] S6. The switching server device sends a request to exit the simulated driving to the main control subsystem of the simulator, obtains the request receipt, and jumps to S8.

[0124] S7. The switching server device sends a request to exit vehicle control to the main control subsystem of the remote vehicle control system, obtains the request receipt, and jumps to S9.

[0125] S8. Switch the server device to determine whether the exit from the simulator's main control subsystem has been successful. If so, jump to S10; otherwise, jump to S29.

[0126] S9. The server device checks whether the remote vehicle control exit from the main control subsystem has been successfully confirmed. If so, it jumps to S11; otherwise, it jumps to S29.

[0127] S10: The switching server generates the switching remote vehicle control command parameters and jumps to S12.

[0128] S11. The server-side device generates the command parameters for switching to simulated driving and then jumps to S12.

[0129] S12. Obtain the next client network address information from the database configuration and jump to S13.

[0130] S13. The switching server device checks whether the switching client and network address information are not empty. If so, it jumps to S14.

[0131] S14. The switching server device sends a switching command, which includes the command parameters generated in S10 or S11, and then jumps to S15 and S12.

[0132] S15. The client system receives the switching command (the switching instruction carrying the target command parameters) with the command parameters generated by S10 or S11, and jumps to S16.

[0133] S16. The client system checks whether the command parameter is the parameter for switching the simulated driving mode. If it is, it jumps to S17; otherwise, it jumps to S18.

[0134] S17. Switch client system: Close the remote driving subsystem, start the simulated driving subsystem, and jump to S19.

[0135] S18. Switch client system: shut down the simulated driving subsystem, start the remote driving subsystem, and jump to S19.

[0136] S19. The client system sends a handover completion command to the server device, which includes the command parameters generated in S10 or S11, and then jumps to S20.

[0137] S20, Switch the server device to receive mode switching receipt command and jump to S21.

[0138] S21. The server device checks whether the switching mode in the receipt is remote vehicle control mode. If so, proceed to S22; otherwise, proceed to S24.

[0139] S22. Switch the server device to obtain the remote vehicle control subsystem status array and jump to S23.

[0140] S23. Switch the server device to determine whether all remote driving subsystems are online. If so, proceed to S26; otherwise, proceed to S22.

[0141] S24. Switch the server device to obtain the state array of the simulated driving subsystem, and jump to S25.

[0142] S25. Switch the server device to determine whether all simulated driving subsystems are online. If so, proceed to S26; otherwise, proceed to S24.

[0143] S26. Switch the server device to obtain the current system mode and jump to S27.

[0144] S27. The switching server determines whether the current system mode is the mode that the user needs to switch to (whether the switching mode is consistent with the target being lost). If so, jump to S28; otherwise, jump to S27.

[0145] S28. The switching server outputs "Switching successful" through the human-computer interaction device and jumps to S30.

[0146] S29. The switching server device outputs the switching failure and the reason for the failure through the human-computer interaction device, and then jumps to S30;

[0147] S30, mode switching complete.

[0148] The mode switching method based on single-machine simulator training and remote vehicle control provided in this embodiment can fully utilize the simulator structure, satisfying both the needs of driving students for "daily training" using the simulator and the needs of drivers for "remote vehicle control" using the simulator. Furthermore, the two modes can be switched quickly, safely, and in real-time using this embodiment's method, without modifying the original simulator or remote driving functions, and therefore without changing the original simulated driving training and remote vehicle control functions. This greatly saves the development costs of simulator devices that simultaneously support remote vehicle control functions, and fully utilizes the resources of the simulator equipment.

[0149] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0150] Based on the same inventive concept, this application also provides a mode switching device for implementing the above-mentioned mode switching method based on single-machine simulator training and remote vehicle control. The solution provided by this device is similar to the implementation described in the above method. Therefore, the specific limitations of one or more mode switching device embodiments based on single-machine simulator training and remote vehicle control provided below can be found in the limitations of the mode switching method based on single-machine simulator training and remote vehicle control described above, and will not be repeated here.

[0151] In one exemplary embodiment, such as Figure 8 As shown, a mode switching device 800 based on a standalone simulator training and remote vehicle control is provided. It is applied to the switching server in a simulator system. The simulator system also includes a switching client system, which comprises multiple switching client programs. The device includes:

[0152] The first acquisition module 802 is used to acquire the current mode status and target mode of the simulator system, where the target mode is the mode to which the simulator system needs to be switched.

[0153] The first generation module 804 is used to generate target command parameters based on the current mode state and the target mode, collect the addresses of each switching client program, generate a switching command based on the command parameters of the target mode, and send a switching command to the switching client system so that the switching client system can perform mode switching processing and obtain a switching completion command.

[0154] The first receiving module 806 is used to receive the switching completion command and determine the current mode of the simulator system based on the switching mode carried by the switching completion command. If the current mode is consistent with the target mode, a prompt message indicating successful switching is output.

[0155] In some embodiments, the target command parameter is the command parameter of the second mode; the first mode differs from the second mode, and the first mode is either a simulated driving training mode or a remote driving control mode; the first generation module is specifically used for:

[0156] If the current mode status is online in mode one, and the target mode is mode two, then a mode one exit command is generated and sent to the simulator system's controller to cause the simulator system to exit mode one; if the mode one exit is successful, then command parameters for mode two are generated; or...

[0157] If the current mode state is the first mode idle state and the target mode is the second mode, then generate the command parameters for the second mode.

[0158] In some embodiments, the apparatus further includes:

[0159] The third receiving module is used to receive the response message of the first mode exit command returned by the controller of the simulator system;

[0160] The first output module is used to output a switching failure prompt message if it is determined from the response message that the exit from the first mode has failed. The switching failure prompt message includes a failure message and a reason for failure.

[0161] In some embodiments, the first generation module is further specifically used for:

[0162] If all addresses are confirmed to be non-empty, a switching command is generated based on the command parameters of the target mode, and the switching command is sent to the switching client system to enable the switching client system to start the switching client programs corresponding to the subsystems of the second mode, and / or close the switching client programs corresponding to the subsystems of the first mode, and generate a switching completion command.

[0163] In some embodiments, the first receiving module is specifically used for:

[0164] Based on the switching mode carried by the switching completion command, obtain the state array of the subsystem corresponding to the switching mode, and determine the running state of the subsystem based on the state array;

[0165] With all subsystems running online, the switching mode is determined to be the current mode of the simulator system.

[0166] In one exemplary embodiment, such as Figure 9 As shown, a mode switching device 900 based on single-machine simulator training and remote vehicle control is provided. It is applied to a switching client system within a simulator system, which includes multiple switching client programs. The simulator system also includes a switching server. The device includes:

[0167] The second receiving module 902 is used to receive the switching command sent by the switching server. The switching command is generated by the switching server based on the current mode state of the simulator system and the target mode, and is generated by the switching server based on the command parameters of the target mode after collecting the addresses of each switching client program. The target mode is the mode to which the simulator system needs to be switched.

[0168] The second switching module 904 is used to perform mode switching processing based on the switching command, obtain a switching completion command, and send a switching command to the switching server so that the switching server determines the current mode of the simulator system based on the switching mode carried by the switching completion command, and outputs a switching success prompt message if the current mode is consistent with the target mode.

[0169] In some embodiments, the current mode state is the state of the first mode; the target mode is the second mode; and the second switching module is specifically used for:

[0170] Based on the switching command, start each switching client program corresponding to the subsystem of the second mode, and / or close each switching client program corresponding to the subsystem of the first mode, and generate a switching completion command; the switching command is generated by the switching server based on the command parameters of the second mode, provided that each address is not empty.

[0171] The modules in the aforementioned mode switching device based on stand-alone simulator training and remote vehicle control can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0172] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 10As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a mode switching method based on a stand-alone simulator training and remote vehicle control. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0173] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0174] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0175] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0176] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0177] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0178] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0179] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0180] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A mode switching method based on single-machine simulator training and remote vehicle control, applied to a switching server in a switching system, wherein the switching system further includes a switching client system, the switching client system comprising multiple switching client programs; the switching system is deployed on a simulator system; characterized in that, The method includes: Obtain the current mode state and target mode of the simulator system, wherein the target mode is the mode to which the simulator system needs to be switched; Based on the current mode state and the target mode, target command parameters are generated, and the addresses of each switching client program are collected. A switching command is generated based on the command parameters of the target mode, and the switching command is sent to the switching client system so that the switching client system performs mode switching processing and obtains a switching completion command. The system receives the switch completion command and determines the current mode of the simulator system based on the switch mode carried by the switch completion command. If the current mode is consistent with the target mode, a switch success message is output.

2. The method according to claim 1, characterized in that, The target command parameters are the command parameters of the second mode; the first mode is different from the second mode, and the first mode is either the simulated driving training mode or the remote driving control mode; The step of generating target command parameters based on the current mode state and the target mode includes: If the current mode status is the first mode online status and the target mode is the second mode, then a first mode exit command is generated and sent to the controller of the simulator system to cause the simulator system to exit the first mode; if the first mode exit is successful, then command parameters for the second mode are generated. or, If the current mode state is the first mode idle state and the target mode is the second mode, then the command parameters for the second mode are generated.

3. The method according to claim 2, characterized in that, The method further includes: Receive a response message from the controller of the simulator system that returns the first mode exit instruction; If it is determined based on the response message that the exit from the first mode failed, a switching failure prompt message is output, which includes a failure message and a reason for failure.

4. The method according to claim 2, characterized in that, The process of generating a switching command based on the command parameters of the target mode, and sending the switching command to the switching client system so that the switching client system performs mode switching processing and obtains a switching completion command, includes: If it is determined that each of the addresses is not empty, a switching command is generated based on the command parameters of the target mode, and the switching command is sent to the switching client system, so that the switching client system starts each switching client program corresponding to the subsystem of the second mode, and / or closes each switching client program corresponding to the subsystem of the first mode, and generates a switching completion command.

5. The method according to claim 1, characterized in that, Determining the current mode of the simulator system based on the switching mode carried by the switching completion command includes: Based on the switching mode carried by the switching completion command, obtain the state array of the subsystem corresponding to the switching mode, and determine the running state of the subsystem based on the state array; When all the subsystems are running online, the switching mode is determined to be the current mode of the simulator system.

6. A mode switching method based on single-machine simulator training and remote vehicle control, applied to a switching client system in a simulator system, wherein the switching client system includes multiple switching client programs; the simulator system also includes a switching server; characterized in that, The method includes: The system receives a switching command sent by the switching server. The switching command is generated by the switching server based on the current mode state of the simulator system and the target mode, and is generated by the switching server based on the command parameters of the target mode after collecting the addresses of each switching client program. The target mode is the mode to which the simulator system needs to be switched. Based on the switching command, a mode switching process is performed to obtain a switching completion command, and the switching command is sent to the switching server so that the switching server determines the current mode of the simulator system based on the switching mode carried by the switching completion command, and outputs a switching success prompt message if the current mode is consistent with the target mode.

7. The method according to claim 6, characterized in that, The current mode state is the state of the first mode; The target mode is the second mode. The mode switching process based on the switching command to obtain the switching completion command includes: Based on the switching command, start each switching client program corresponding to the subsystem of the second mode, and / or close each switching client program corresponding to the subsystem of the first mode, and generate a switching completion command; The switching command is generated by the switching server based on the command parameters of the second mode, after determining that each of the addresses is not empty.

8. A mode switching device based on single-machine simulator training and remote vehicle control, applied to a switching server in a simulator system, wherein the simulator system further includes a switching client system, and the switching client system includes multiple switching client programs; characterized in that, The device includes: The first acquisition module is used to acquire the current mode state and target mode of the simulator system, wherein the target mode is the mode to which the simulator system needs to be switched. The first generation module is used to generate target command parameters based on the current mode state and the target mode, collect the addresses of each switching client program, generate a switching command based on the command parameters of the target mode, and send the switching command to the switching client system so that the switching client system performs mode switching processing and obtains a switching completion command. The first receiving module is used to receive the switching completion command, determine the current mode of the simulator system based on the switching mode carried by the switching completion command, and output a switching success prompt message if the current mode is consistent with the target mode.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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