Remote vehicle control instruction processing method and apparatus, device, and medium

Abstract

The present application provides a remote vehicle control instruction processing method and apparatus, a device, and a medium. The method comprises: receiving a control instruction sent by a cloud, and translating the control instruction to obtain chassis control information, wherein the control instruction comprises a speed, a steering angle and parameters corresponding to on / off states of components of a vehicle; interpreting the chassis control information to obtain a target control instruction, processing the target control instruction by means of a predefined algorithm to obtain key control information, verifying the key control information by means of a security verification algorithm, and when the verification result is Pass, classifying the key control information and packaging same on the basis of a chassis control protocol; and sending a packaged vehicle body control instruction and / or chassis control instruction to a chassis control domain at a preset sending period by means of a CAN translation layer. In this way, remote driving can be controlled on the basis of instructions simplified by a cloud. Moreover, by verifying key control information, the driving safety can be ensured.

Description

Remote vehicle control command processing method, device, equipment and medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 22, 2023, with application number 202311572627.X and application name “Remote vehicle control command processing method, device, equipment and medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of remote driving technology, and in particular to a method, device, equipment and medium for processing remote vehicle control instructions. Background Art

[0003] With the popularization of vehicles, driving modes such as autonomous driving vehicles and remote driving vehicles have emerged one after another. In mainstream remote driving technology solutions, when the user turns on the autonomous driving mode or remote driving mode, the cloud will directly issue control instructions to the vehicle in that mode.

[0004] In the existing technology, the autonomous driving system has only one communication link connected to the chassis, and all control instructions are sent to the chassis through this communication link to control the vehicle's movements; specifically, when the cloud sends the control instructions to the vehicle side, the vehicle-side program translates the cloud instructions into control messages that can be understood by the vehicle model and executes them. That is, the vehicle side parses and executes the pre-packaged chassis control instructions according to the specified protocol.

[0005] However, in the above process, the parameters corresponding to the chassis control instructions are too complicated and require a lot of development. Moreover, when an error occurs in the value range of a certain parameter, it is easy to cause a major safety hazard.

[0006] Summary of the Invention

[0007] The present application provides a remote vehicle control command processing method, device, equipment and medium, which are used to solve the problem that the parameters corresponding to the existing operating chassis control commands are too complicated, the development volume is large, and when the value range of a certain parameter is incorrect, it is easy to cause major safety hazards.

[0008] In a first aspect, the present application provides a method for processing remote vehicle control instructions, the method comprising:

[0009] Receive control instructions sent from the cloud and translate the control instructions to obtain chassis control information; the control instructions are instructions set by the cloud based on a predefined data exchange protocol; the control instructions include parameters corresponding to speed, steering angle, and the on / off status of various vehicle components;

[0010] Interpreting the chassis control information to obtain a target control instruction, processing the target control instruction using a predefined algorithm to obtain key control information, and verifying the key control information using a safety verification algorithm to obtain a verification result;

[0011] When the verification result is passed, classifying the key control information to obtain body control instructions and / or chassis control instructions, and encapsulating the body control instructions and / or chassis control instructions based on a chassis control protocol;

[0012] The encapsulated body control instructions and / or chassis control instructions are sent to the chassis control domain based on the controller area network (CAN) translation layer at a preset sending cycle.

[0013] Optionally, the vehicle body control instruction and the chassis control instruction have corresponding sending cycles that are different.

[0014] Optionally, the encapsulated body control instruction and / or chassis control instruction is sent to the chassis control domain based on a controller area network (CAN) translation layer at a preset sending cycle, including:

[0015] The encapsulated body control command is sent to the chassis control domain based on the CAN translation layer every 100 milliseconds of the sending cycle;

[0016] And / or, the encapsulated chassis control instruction is sent to the chassis control domain based on the CAN translation layer every 20 milliseconds of the sending cycle.

[0017] Optionally, the control instruction is modified based on the vehicle type; each vehicle type corresponds to a CAN message; and the encapsulated body control instruction and / or chassis control instruction is sent to the chassis control domain based on a controller area network (CAN) translation layer at a preset sending cycle, including:

[0018] Acquire a vehicle type, and based on the vehicle type, generate a first CAN message and / or a second CAN message from the encapsulated body control instruction and / or the chassis control instruction based on a controller area network (CAN) translation layer;

[0019] The first CAN message is sent to the chassis control domain at a sending period of every 100 milliseconds, and / or the second CAN message is sent to the chassis control domain at a sending period of every 20 milliseconds.

[0020] Optionally, the processing the target control instruction using a predefined algorithm to obtain key control information includes:

[0021] Deserialization is performed on the target control instructions, and the deserialized target control instructions are deduplicated and filtered to obtain key control information.

[0022] Optionally, the method further includes:

[0023] When the verification result is failed, a prompt message is generated based on the control instruction, and the prompt message is sent to the cloud, so that the cloud can correct the control instruction.

[0024] Optionally, the method further includes:

[0025] The vehicle's operating status information is obtained, and based on the operating status information and the type of the key control information, a preset algorithm is used to calculate the safety level of the control instruction, and a risk assessment is performed on the vehicle based on the safety level.

[0026] In a second aspect, the present application further provides a remote vehicle control instruction processing device, the device comprising:

[0027] A receiving module is configured to receive control instructions sent from the cloud and translate the control instructions to obtain chassis control information; the control instructions are instructions set by the cloud based on a predefined data exchange protocol; the control instructions include parameters corresponding to speed, steering angle, and the on / off status of various vehicle components;

[0028] a processing module, configured to interpret the chassis control information to obtain a target control instruction, process the target control instruction using a predefined algorithm to obtain key control information, and verify the key control information using a safety verification algorithm to obtain a verification result;

[0029] a packaging module, configured to, when the verification result is passed, classify the key control information to obtain body control instructions and / or chassis control instructions, and package the body control instructions and / or chassis control instructions based on a chassis control protocol;

[0030] The sending module is used to send the encapsulated body control instructions and / or chassis control instructions to the chassis control domain based on the controller area network (CAN) translation layer at a preset sending cycle.

[0031] In a third aspect, the present application further provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0032] The memory stores computer-executable instructions;

[0033] The processor executes the computer-executable instructions stored in the memory to implement the method as described in any one of the first aspects.

[0034] In a fourth aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions, when executed by a processor, are used to implement the method as described in any one of the first aspects.

[0035] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method as described in any one of the first aspects.

[0036] In summary, the present application provides a remote vehicle control instruction processing method, device, equipment and medium. Specifically, the cloud sets a control instruction based on a predefined data exchange protocol and sends the control instruction to the vehicle end; wherein, the control instruction only includes parameters corresponding to the speed, steering angle and switch status of each body component; further, after the vehicle end interprets the control instruction, it extracts key control information from it and performs a security check on the key control information. After the check is completed, the key control information can be classified to obtain body control instructions and / or chassis control instructions. Further, according to the chassis control protocol, the body control instructions and / or chassis control instructions are encapsulated into serialized instructions and sent to the CAN translation layer, so that the CAN translation layer sends them to the chassis control domain based on a preset sending cycle to complete the entire control process; in this way, by streamlining the interactive information between the cloud and the vehicle end during remote driving, the cloud only needs to send the parameters abstracted from the chassis control, namely the speed, steering angle, and switch status of each body component, to normally control the unmanned vehicle to complete remote driving; and based on the above-mentioned simplified instructions, the driving safety is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0038] FIG1 is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0039] FIG2 is a flow chart of a method for processing remote vehicle control instructions according to an embodiment of the present application;

[0040] FIG3 is a flow chart of a specific method for processing remote vehicle control instructions provided in an embodiment of the present application;

[0041] FIG4 is a schematic structural diagram of a remote vehicle control instruction processing device provided in an embodiment of the present application;

[0042] FIG5 is a schematic structural diagram of an electronic device provided in an embodiment of the present application.

[0043] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0044] To facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. For example, the first device and the second device are merely used to distinguish between different devices and do not limit their order. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity or execution order, and words such as "first" and "second" do not necessarily mean that they are different.

[0045] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0046] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0047] With the popularization of vehicles, driving modes such as autonomous driving vehicles and remote driving vehicles have emerged one after another. In mainstream remote driving technology solutions, when the user turns on the autonomous driving mode or remote driving mode, the cloud will directly issue control instructions to the vehicle in that mode.

[0048] In one possible implementation, the autonomous driving system is connected to the chassis through only one communication link, and all control instructions are sent to the chassis via this communication link to control the vehicle's movements. Specifically, when the cloud sends control instructions to the vehicle, the vehicle's internal program translates the cloud instructions into control messages that the vehicle model can understand and executes them. That is, the vehicle parses and executes the pre-packaged chassis control instructions according to the specified protocol.

[0049] Due to the abstract nature of chassis control instructions, cloud personnel often package some key instructions and send them to the vehicle side, which then parses and executes them according to the prescribed protocol. In the above process, key instructions usually contain a large number of detailed parameters related to the chassis, such as motor speed, throttle opening, brake opening, etc. Although instruction translation is used to simplify such key instructions into data that can be intuitively operated on the cloud, for cloud users, operating the parameters corresponding to the chassis control instructions is too cumbersome, and when an error occurs in the value range of a parameter, or the control parameters of a certain model are slightly different from those of other models, it is easy to cause major safety hazards.

[0050] It should be noted that the process of converting cloud commands into control messages that can be understood by the vehicle model within the vehicle-side program is called command translation. This process is widely used in unmanned wire-controlled vehicles. The advantage of this solution is that it isolates cloud commands from the actual chassis control commands, and abstracts the chassis control commands into protocol content that can be intuitively expressed, such as speed, steering, etc., which makes it easier and faster for cloud personnel to design upper-level programs.

[0051] In response to the above problems, the present application provides a remote vehicle control instruction processing method. Specifically, the cloud sets a control instruction based on a predefined data exchange protocol and sends the control instruction to the vehicle side; wherein the control instruction only includes parameters corresponding to the speed, steering angle and switch status of each body component; further, after the vehicle side interprets the control instruction, it extracts key control information from it and performs a security check on the key control information. After the check is completed, the key control information can be classified to obtain body control instructions and / or chassis control instructions. Further, according to the chassis control protocol, the body control instructions and / or chassis control instructions are encapsulated into serialized instructions and sent to the CAN translation layer, so that the CAN translation layer sends them to the chassis control domain based on a preset sending cycle to complete the entire control process; in this way, by streamlining the interactive information between the cloud and the vehicle side during remote driving, the cloud side only needs to send the parameters abstracted from the chassis control, namely the speed, steering angle, and switch status of each body component, to normally control the unmanned vehicle to complete remote driving; and based on the above-mentioned simplified instructions, the driving safety is guaranteed.

[0052] For example, Figure 1 is a schematic diagram of an application scenario provided in an embodiment of the present application. As shown in Figure 1, the application scenario is suitable for chassis control software for remote driving. The application scenario includes: a cloud 101 and a car 102; wherein, the central processing unit (CPU) of the car 102 is deployed with an instruction translation layer, an instruction interpretation layer, a controller area network (CAN) translation layer and a chassis control domain.

[0053] Specifically, the cloud 101 can streamline the interactive information with the vehicle side and obtain control instructions. Further, the control instructions are sent to the CPU of the car 102. Further, the instruction translation layer translates the control instructions into source code of another programming language, that is, the chassis control information corresponding to the executable programmable program of the car 102. Further, based on the instruction interpretation layer, the chassis control information is converted into target control instructions that can be understood by the car 102. Further, based on the instruction interpretation layer, the key control information in the target control instructions is extracted and security verification is performed. After the verification is completed, the instruction interpretation layer can classify the key control information and encapsulate it into serialized instructions according to the chassis control protocol and send it to the CAN translation layer, so that the CAN translation layer sends it to the chassis control domain based on the pre-set sending cycle, thereby completing the entire remote driving chassis control process.

[0054] It should be noted that the cloud can simplify different control instructions for different models of automobile 102, but the control instructions have been highly abstracted, that is, they have been separated from the actual model. Therefore, the cloud program corresponding to the above processing process can be reused in multiple models, and the CAN translation layer can send corresponding instructions as required by different models. The embodiment of this application does not specifically limit the models and control instructions that do not correspond to the automobile 102.

[0055] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0056] FIG2 is a flow chart of a method for processing remote vehicle control commands provided in an embodiment of the present application. As shown in FIG2 , the execution subject of the method for processing remote vehicle control commands is the vehicle end, and the method for processing remote vehicle control commands includes the following steps:

[0057] S201. Receive control instructions sent from the cloud and translate the control instructions to obtain chassis control information; the control instructions are instructions set by the cloud based on a predefined data exchange protocol; the control instructions include parameters corresponding to the speed, steering angle, and switch status of various vehicle components.

[0058] In an embodiment of the present application, the predefined data exchange protocol may refer to the protobuf3 standard protocol, which is used to serialize structured data. The predefined data exchange protocol may also refer to other serialization protocols, which is not specifically limited in the embodiment of the present application.

[0059] In this step, the cloud can send control instructions to the vehicle side based on the communication protocol established by the protobuf3 standard; the control instructions are used to control the operating status of the vehicle, and the control instructions only include parameters corresponding to the speed, steering angle and the switch status of various body components, and the various body components include brakes, wipers, left and right turn signals and other automotive structural components; further, the instruction translation layer in the vehicle side CPU translates the control instructions into the corresponding executable programmable chassis control information of the vehicle side; the translation refers to the process of converting the source code of one programming language into the source code of another programming language.

[0060] Optionally, the cloud can control the sending cycle of the control instructions according to its own needs, and the embodiments of the present application do not specifically limit this.

[0061] S202: interpret the chassis control information to obtain a target control instruction, process the target control instruction using a predefined algorithm to obtain key control information, and verify the key control information using a security verification algorithm to obtain a verification result.

[0062] In the embodiments of the present application, the predefined algorithm refers to an algorithm for extracting key control information; the key control information is the target control instruction after deserialization, filtering and deduplication processing; the security verification algorithm can be a method of performing threshold comparison on parameters in the key control information, or it can refer to other security verification algorithms. The embodiments of the present application do not make specific limitations on this, and it can refer to the existing method for security verification of control instructions.

[0063] In this step, the instruction interpretation layer in the vehicle-side CPU interprets the chassis control information, that is, converts the chassis control information into target control instructions that can be understood and executed by the vehicle-side. Furthermore, the instruction interpretation layer deserializes the target control instructions, extracts key control information, and uses a security verification algorithm to perform a security verification to obtain a verification result.

[0064] S203: When the verification result is passed, classify the key control information to obtain body control instructions and / or chassis control instructions, and encapsulate the body control instructions and / or chassis control instructions based on a chassis control protocol.

[0065] In an embodiment of the present application, the method for classifying key control information is a method formulated in advance for distinguishing between body control instructions and chassis control instructions, and the embodiment of the present application does not limit the corresponding specific method; the body control instructions are instructions for controlling body parts such as internal and external lights, windows, keyless entry and starting systems, anti-theft alarms, wipers and washers, and are used to achieve control of one or more body parts; the chassis control instructions are control instructions for wire-controlled drive, wire-controlled steering, wire-controlled braking, and wire-controlled suspension, and are used to achieve steering, braking, driving, and other functions of the car. In remote driving of the car, the reception delay of the chassis control instructions must be lower than the reception delay of the body control instructions to improve the safety of the car operation.

[0066] In this step, after the instruction interpretation layer verification is completed, the key control information can be classified into instruction categories to obtain body control instructions and / or chassis control instructions. Furthermore, the body control instructions and / or chassis control instructions are encapsulated into serialized instructions according to the chassis control protocol and sent to the CAN translation layer.

[0067] S204 : Send the encapsulated vehicle body control instruction and / or chassis control instruction to the chassis control domain based on a controller area network (CAN) translation layer at a preset sending cycle.

[0068] In an embodiment of the present application, the CAN translation layer is used to convert one communication protocol into another communication protocol; the sending cycle may refer to a pre-set cycle for sending body control instructions and chassis control instructions.

[0069] In this step, the CAN translation layer inside the vehicle-side CPU can send the encapsulated body control instructions to the chassis control domain at a preset sending cycle, and / or send the encapsulated chassis control instructions to the chassis control domain at a preset sending cycle to complete the entire control process.

[0070] Among them, the sending cycle of the body control command and the chassis control command can be the same or different, and the embodiment of the present application does not make specific limitations on this.

[0071] Therefore, an embodiment of the present application provides a remote vehicle control command processing method, which highly abstracts the complex control commands of the chassis control, facilitates the reuse of multiple vehicle models on the cloud, and minimizes the workload of cloud development. When the control command arrives at the vehicle side, the command translation layer and the command interpretation layer can correctly send the command to the CAN translation layer on the basis of ensuring safety, and then send it to the chassis control domain to complete the entire remote driving chassis control process. Among them, the control command is streamlined to only the key data, and the cloud personnel do not need to pay attention to the details of the chassis to control it. By adding security verification to the command interpretation layer, even if the cloud command is sent incorrectly, this command can be directly filtered out to meet the safety requirements of remote driving.

[0072] Optionally, the vehicle body control instruction and the chassis control instruction have corresponding sending cycles that are different.

[0073] In an embodiment of the present application, efficient data transmission and communication to the chassis control domain is allowed with different sending cycles. The sending cycle of the body control instructions is higher than the sending cycle of the chassis control instructions. The sending cycles of the body control instructions and the chassis control instructions can be configured as needed. The embodiment of the present application does not make specific limitations on this. For example, the body control instructions correspond to a sending cycle of 100 milliseconds, and the chassis control instructions correspond to a sending cycle of 20 milliseconds.

[0074] For example, the CAN translation layer inside the vehicle-side CPU can send the encapsulated body control instructions to the chassis control domain with a sending cycle of 100 milliseconds, and / or send the encapsulated chassis control instructions to the chassis control domain with a sending cycle of 20 milliseconds to complete the entire control process.

[0075] Therefore, the embodiment of the present application can reduce the delay of control instructions while ensuring safety.

[0076] Optionally, the encapsulated body control instruction and / or chassis control instruction is sent to the chassis control domain based on a controller area network (CAN) translation layer at a preset sending cycle, including:

[0077] The encapsulated body control command is sent to the chassis control domain based on the CAN translation layer every 100 milliseconds of the sending cycle;

[0078] And / or, the encapsulated chassis control instruction is sent to the chassis control domain based on the CAN translation layer every 20 milliseconds of the sending cycle.

[0079] In the embodiments of the present application, a large number of experiments have shown that sending the encapsulated body control instructions to the chassis control domain based on the CAN translation layer with a sending cycle of every 100 milliseconds, and / or sending the encapsulated chassis control instructions to the chassis control domain based on the CAN translation layer with a sending cycle of every 20 milliseconds can achieve the best low-latency effect without causing problems caused by too short a control instruction cycle.

[0080] It should be noted that different sending cycles can be set for body control instructions and chassis control instructions according to different vehicle models or vehicle-side operating environments, and the embodiments of the present application do not make specific limitations on this.

[0081] Therefore, the embodiment of the present application separates the body control instructions and the chassis control instructions through the instruction translation layer and the instruction interpretation layer, thereby improving the safety of vehicle-side operation while ensuring low latency of chassis instructions.

[0082] Optionally, the control instruction is modified based on the vehicle type; each vehicle type corresponds to a CAN message; and the encapsulated body control instruction and / or chassis control instruction is sent to the chassis control domain based on a controller area network (CAN) translation layer at a preset sending cycle, including:

[0083] Acquire a vehicle type, and based on the vehicle type, generate a first CAN message and / or a second CAN message from the encapsulated body control instruction and / or the chassis control instruction based on a controller area network (CAN) translation layer;

[0084] The first CAN message is sent to the chassis control domain at a sending period of every 100 milliseconds, and / or the second CAN message is sent to the chassis control domain at a sending period of every 20 milliseconds.

[0085] In the embodiment of the present application, the vehicle type may refer to vehicle ends of different models and functions; for different vehicle models, the cloud may set corresponding control instructions based on a predefined data exchange protocol, and the control instructions are processed through the instruction translation layer, the instruction interpretation layer, and the CAN translation layer to obtain the CAN messages required by different vehicle models, and then send the CAN messages to the chassis control domain based on the CAN translation layer.

[0086] In this step, the vehicle type is obtained and sent to the cloud so that the cloud sets corresponding control instructions based on the vehicle type. After the vehicle side receives the control instructions, the first CAN message and / or the second CAN message can be generated based on the encapsulated body control instructions and / or chassis control instructions through transfer, interpretation, classification and packaging through the instruction translation layer, instruction interpretation layer and CAN translation layer; and then the vehicle-side CAN translation layer can send the first CAN message to the chassis control domain with a sending period of every 100 milliseconds and / or send the second CAN message to the chassis control domain with a sending period of every 20 milliseconds as required by different vehicle models.

[0087] It should be noted that since the parameters specified in the communication protocol involved in this application are highly abstract and have been separated from the actual vehicle model, the cloud program corresponding to the remote vehicle control command processing method provided in this application can be reused in multiple vehicle models.

[0088] Therefore, in the above process, the vehicle-side CAN translation layer can send corresponding CAN messages according to the requirements of different vehicle models, and the separation of the two instruction cycles brings a low-latency effect to the entire control process.

[0089] Optionally, the processing the target control instruction using a predefined algorithm to obtain key control information includes:

[0090] Deserialization is performed on the target control instructions, and the deserialized target control instructions are deduplicated and filtered to obtain key control information.

[0091] In the embodiment of the present application, since the control instructions are sent continuously, there may be parameters with repeated or interfering information in the sent control instructions. Therefore, the control instructions need to be deduplicated and filtered to improve the accuracy of subsequent vehicle-side execution of the control instructions.

[0092] In this step, since the cloud sends serialized control instructions to the vehicle side according to the predefined data exchange protocol, the vehicle side further translates the control instructions into the corresponding executable programmable chassis control information of the vehicle side, and interprets the chassis control information and converts it into target control instructions that the vehicle side can understand and execute. Then, the vehicle side deserializes the target control instructions, performs deduplication and filtering processing, and can extract key control information.

[0093] Therefore, the embodiment of the present application can process the target control instruction to improve the accuracy of obtaining key control information.

[0094] Optionally, the method further includes:

[0095] When the verification result is failed, a prompt message is generated based on the control instruction, and the prompt message is sent to the cloud, so that the cloud can correct the control instruction.

[0096] In this step, when the key control information verification fails, a prompt message can be generated based on the control instruction corresponding to the key control information, and then the prompt message can be sent to the corresponding display device on the cloud in the form of a message box to prompt the cloud personnel to correct the control instruction, and then send the corrected control instruction again, or directly filter it out and regenerate a new control instruction. The embodiment of the present application does not specifically limit the sending form and display content of the prompt message, and it can also be sent to the terminal device corresponding to the cloud personnel in the form of a text message.

[0097] It is understandable that if the control instructions sent from the cloud are incorrect, the incorrect control instructions can be filtered out during security verification by the instruction interpretation layer, and accordingly, a prompt message can be generated to remind cloud personnel that there is a problem with the control instruction, so that it can be corrected in time.

[0098] Therefore, the embodiment of the present application can correct problematic control instructions, thereby improving the accuracy of sending control instructions.

[0099] Optionally, the method further includes:

[0100] The vehicle's operating status information is obtained, and based on the operating status information and the type of the key control information, a preset algorithm is used to calculate the safety level of the control instruction, and a risk assessment is performed on the vehicle based on the safety level.

[0101] In an embodiment of the present application, the operating status information may include vehicle networking status information, vehicle system operating status information, vehicle hardware operating status information and vehicle driving environment status information. The vehicle driving environment status includes the distance between surrounding vehicles, the distance to surrounding obstacles, the driving section, etc.; the operating status information can be obtained based on communication with the vehicle network. The vehicle network stores vehicle driving environment information, vehicle network status information, etc. collected by devices such as cameras on the vehicle.

[0102] The preset algorithm may refer to a safety level quantification algorithm, in which the variables contained in the safety level quantification algorithm are type variables and state variables. Therefore, the type of key control information and the operating status information can be quantified into type variable values ​​and state variable values ​​respectively. The safety level of the vehicle control instruction is obtained by calculating the type variable values ​​and state variable values ​​according to the safety level quantification algorithm.

[0103] Optionally, the preset algorithm may also be a pre-trained neural network model, the input of which is the type of key control information and operating status information, and the output is the safety level of the vehicle control instruction. Therefore, the type of key control information and operating status information may be input into the preset neural network model to obtain the safety level output by the neural network model.

[0104] Among them, the safety level can be pre-calibrated identification information such as numbers, text, letters, etc. that can represent the level of safety. The embodiment of the present application does not make specific limitations on this. The type of the key control information is used to distinguish control instructions for different types of vehicles.

[0105] In this step, the type of key control information and operating status information are quantified based on a preset algorithm to calculate the safety level of the vehicle's control instructions. Furthermore, the risk assessment result of the vehicle's control instructions is determined based on the safety level. For example, when the safety level is high (level 1), the risk assessment result of the control instruction is determined to be an executable instruction; when the safety level is low (level 2), the risk assessment result of the control instruction is determined to be an executable instruction but requires an early warning; when the safety level is very low (level 3), the risk assessment result of the control instruction is determined to be an unexecutable instruction. In this way, after determining the risk assessment result of the vehicle, the vehicle's control instructions can be safely processed based on the risk assessment result.

[0106] Therefore, the embodiment of the present application can make risk assessments on control instructions based on the vehicle's operating status information, and promptly and safely process risky control instructions, thereby ensuring the safety of vehicle driving.

[0107] In combination with the above embodiments, FIG3 is a flowchart of a specific method for processing remote vehicle control instructions provided in an embodiment of the present application. As shown in FIG3 , the method for processing remote vehicle control instructions includes the following steps:

[0108] Step A: The cloud periodically sends control instructions to the vehicle; the period can be set as needed.

[0109] Step B: After receiving the control instruction, the vehicle-side instruction translation layer translates the control instruction to obtain chassis control information, which is simplified information. Furthermore, the instruction translation layer sends the chassis control information to the instruction interpretation layer for processing.

[0110] Step C: The instruction interpretation layer interprets the chassis control information to obtain the target control instruction, and extracts the key control information from the target control instruction. Further, the key control information is sent to the security verification layer for verification. After the verification is completed, the instruction interpretation layer classifies the key control information that has passed the verification to obtain the body control instruction and / or chassis control instruction. Further, the body control instruction and / or chassis control instruction is sent to the CAN translation layer.

[0111] It should be noted that the security verification layer can be a sublayer in the instruction interpretation layer or a separate layer, and the embodiments of the present application do not specifically limit this.

[0112] Step D: The CAN translation layer sends the body control instructions to the chassis control domain every 100 milliseconds, and / or the CAN translation layer sends the chassis control instructions to the chassis control domain every 20 milliseconds, completing the entire remote driving control process.

[0113] In this way, remote driving can be controlled by simplified cloud-based instructions; and while ensuring safety, the delay of control instructions can also be reduced.

[0114] In the aforementioned embodiments, the remote vehicle control command processing method provided by the embodiments of the present application has been introduced. In order to implement the various functions of the method provided by the embodiments of the present application, the electronic device serving as the execution subject may include a hardware structure and / or a software module, and the aforementioned functions may be implemented in the form of a hardware structure, a software module, or a combination of a hardware structure and a software module. Whether a particular function is implemented in the form of a hardware structure, a software module, or a combination of a hardware structure and a software module depends on the specific application and design constraints of the technical solution.

[0115] For example, FIG4 is a schematic diagram of the structure of a remote vehicle control command processing device provided in an embodiment of the present application. As shown in FIG4, the device 400 includes: a receiving module 401, a processing module 402, an encapsulation module 403, and a sending module 404; wherein the receiving module 401 is used to receive control commands sent by the cloud and translate the control commands to obtain chassis control information; the control commands are commands set by the cloud based on a predefined data exchange protocol; the control commands include parameters corresponding to the speed, steering angle, and the on / off status of various vehicle components;

[0116] The processing module 402 is configured to interpret the chassis control information to obtain a target control instruction, process the target control instruction using a predefined algorithm to obtain key control information, and verify the key control information using a security verification algorithm to obtain a verification result;

[0117] The encapsulation module 403 is configured to classify the key control information to obtain body control instructions and / or chassis control instructions when the verification result is passed, and encapsulate the body control instructions and / or chassis control instructions based on a chassis control protocol;

[0118] The sending module 404 is configured to send the encapsulated body control instructions and / or chassis control instructions to the chassis control domain based on a controller area network (CAN) translation layer at a preset sending cycle.

[0119] Optionally, the vehicle body control instruction and the chassis control instruction have corresponding sending cycles that are different.

[0120] Optionally, the sending module 404 is specifically configured to:

[0121] The encapsulated body control command is sent to the chassis control domain based on the CAN translation layer every 100 milliseconds of the sending cycle;

[0122] And / or, the encapsulated chassis control instruction is sent to the chassis control domain based on the CAN translation layer every 20 milliseconds of the sending cycle.

[0123] Optionally, the control instruction is modified based on the vehicle type; each vehicle type corresponds to a CAN message; the sending module 404 is specifically used to:

[0124] Acquire a vehicle type, and based on the vehicle type, generate a first CAN message and / or a second CAN message from the encapsulated body control instruction and / or the chassis control instruction based on a controller area network (CAN) translation layer;

[0125] The first CAN message is sent to the chassis control domain at a sending period of every 100 milliseconds, and / or the second CAN message is sent to the chassis control domain at a sending period of every 20 milliseconds.

[0126] Optionally, the processing module 402 is specifically configured to:

[0127] The control instructions are deserialized, and the deserialized control instructions are deduplicated and filtered to obtain key control information.

[0128] Optionally, the apparatus 400 further includes a correction module, wherein the correction module is configured to:

[0129] When the verification result is failed, a prompt message is generated based on the control instruction, and the prompt message is sent to the cloud, so that the cloud can correct the control instruction.

[0130] Optionally, the apparatus 400 further includes a risk assessment module, wherein the risk assessment module is configured to:

[0131] The vehicle's operating status information is obtained, and based on the operating status information and the type of the key control information, a preset algorithm is used to calculate the safety level of the control instruction, and a risk assessment is performed on the vehicle based on the safety level.

[0132] The specific implementation principles and effects of a remote vehicle control command processing device provided in an embodiment of the present application can be found in the relevant descriptions and effects corresponding to the above embodiments, and will not be elaborated here.

[0133] An embodiment of the present application also provides a structural diagram of an electronic device. Figure 5 is a structural diagram of an electronic device provided by an embodiment of the present application. As shown in Figure 5, the electronic device may include: a processor 501 and a memory 502 communicatively connected to the processor; the memory 502 stores a computer program; the processor 501 executes the computer program stored in the memory 502, so that the processor 501 executes the method described in any of the above embodiments.

[0134] The memory 502 and the processor 501 may be connected via a bus 503 .

[0135] An embodiment of the present application further provides a computer-readable storage medium, which stores computer program execution instructions. When the computer program execution instructions are executed by a processor, they are used to implement the method described in any of the aforementioned embodiments of the present application.

[0136] An embodiment of the present application further provides a chip for executing instructions, which is used to execute the method in any of the aforementioned embodiments as executed by an electronic device in any of the aforementioned embodiments of the present application.

[0137] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it can implement the method described in any of the aforementioned embodiments of the present application executed by an electronic device.

[0138] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0139] Modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, that is, they may be located in one place or distributed across multiple network elements. Some or all of these modules may be selected to implement the solution of this embodiment based on actual needs.

[0140] In addition, the functional modules in the various embodiments of the present application may be integrated into a single processing unit, or each module may exist physically separately, or two or more modules may be integrated into a single unit. The above-mentioned modules may be implemented in the form of hardware or hardware plus software functional units.

[0141] The above-mentioned integrated module implemented in the form of a software functional module can be stored in a computer-readable storage medium. The above-mentioned software functional module is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present application.

[0142] It should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), or application-specific integrated circuits (ASICs). A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the application may be directly executed by a hardware processor or by a combination of hardware and software modules in the processor.

[0143] The memory may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk.

[0144] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0145] The storage medium may be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random-access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0146] An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a main control device.

[0147] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application.

[0148] It should be further noted that, although the various steps in the flowchart are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps may be performed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but may be performed at different times. The execution order of these sub-steps or stages is not necessarily to be performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0149] In the above embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a particular embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined in any way. To keep the description concise, 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 specification.

[0150] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered merely as exemplary, and the true scope and spirit of the present application are indicated by the claims.

[0151] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A remote vehicle control command processing method, characterized in that: The method comprises: Receive control instructions sent by the cloud, and translate the control instructions to obtain chassis control information; the control instructions are instructions set by the cloud based on a predefined data exchange protocol; the control instructions include speed, steering angle, and parameters corresponding to the switch status of various components of the vehicle; Interpreting the chassis control information to obtain a target control instruction, processing the target control instruction using a predefined algorithm to obtain key control information, and verifying the key control information using a safety verification algorithm to obtain a verification result; When the verification result is passed, the key control information is classified to obtain a body control instruction and / or a chassis control instruction, and the body control instruction and / or the chassis control instruction are packaged based on a chassis control protocol; The encapsulated body control instructions and / or chassis control instructions are sent to the chassis control domain at a preset sending cycle based on the controller area network (CAN) translation layer.

2. The method according to claim 1, characterized in that: The vehicle body control instruction and the chassis control instruction have corresponding sending cycles that are different.

3. The method according to claim 1 or 2, characterized in that: The encapsulated body control instruction and / or chassis control instruction is sent to the chassis control domain based on the controller area network (CAN) translation layer at a preset sending cycle, including: The encapsulated body control command is sent to the chassis control domain based on the CAN translation layer every 100 milliseconds of the sending cycle; And / or, the encapsulated chassis control instruction is sent to the chassis control domain based on the CAN translation layer every 20 milliseconds of the sending cycle.

4. The method according to any one of claims 1 to 3, characterized in that: The control instruction is modified based on the vehicle type; each vehicle type corresponds to a CAN message; the encapsulated body control instruction and / or chassis control instruction is sent to the chassis control domain based on the controller area network CAN translation layer at a preset sending cycle, including: Acquire a vehicle type, and based on the vehicle type, generate a first CAN message and / or a second CAN message from the packaged body control instruction and / or the chassis control instruction based on a controller area network (CAN) translation layer; The first CAN message is sent to the chassis control domain at a sending period of every 100 milliseconds, and / or the second CAN message is sent to the chassis control domain at a sending period of every 20 milliseconds.

5. The method according to any one of claims 1 to 4, characterized in that: The method of processing the target control instruction by using a predefined algorithm to obtain key control information includes: The target control instructions are deserialized, and the deserialized target control instructions are deduplicated and filtered to obtain key control information.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: When the verification result is failed, a prompt message is generated based on the control instruction, and the prompt message is sent to the cloud, so that the cloud can correct the control instruction.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: The operating status information of the vehicle is obtained, the safety level of the control instruction is calculated using a preset algorithm according to the operating status information and the type of the key control information, and a risk assessment is performed on the vehicle according to the safety level.

8. A remote vehicle control command processing device, characterized in that: The device comprises: The receiving module is used to receive the control instructions sent by the cloud and translate the control instructions to obtain the bottom The control instructions are instructions set by the cloud based on a predefined data exchange protocol; the control instructions include speed, steering angle, and parameters corresponding to the switch status of various components of the vehicle; A processing module, used to interpret the chassis control information to obtain a target control instruction, and process the target control instruction using a predefined algorithm to obtain key control information, and verify the key control information using a safety verification algorithm to obtain a verification result; a packaging module, configured to classify the key control information, obtain a body control instruction and / or a chassis control instruction, and package the body control instruction and / or the chassis control instruction based on a chassis control protocol when the verification result is passed; The sending module is used to send the packaged body control instruction and / or the chassis control instruction to the chassis control domain based on the controller area network (CAN) translation layer at a preset sending cycle.

9. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 7.

11. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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