CN117439941A - Multilink data transmission method and system oriented to unmanned vehicle - Google Patents
Multilink data transmission method and system oriented to unmanned vehicle Download PDFInfo
- Publication number
- CN117439941A CN117439941A CN202311753608.7A CN202311753608A CN117439941A CN 117439941 A CN117439941 A CN 117439941A CN 202311753608 A CN202311753608 A CN 202311753608A CN 117439941 A CN117439941 A CN 117439941A
- Authority
- CN
- China
- Prior art keywords
- data
- module
- unmanned vehicle
- link
- transmission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 94
- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000002159 abnormal effect Effects 0.000 claims abstract description 21
- 230000004927 fusion Effects 0.000 claims abstract description 20
- 238000012216 screening Methods 0.000 claims abstract description 15
- 238000012795 verification Methods 0.000 claims abstract description 14
- 238000001914 filtration Methods 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims description 24
- 238000007726 management method Methods 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 16
- 238000013500 data storage Methods 0.000 claims description 15
- 230000001502 supplementing effect Effects 0.000 claims description 6
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 2
- 238000013461 design Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L45/00—Routing or path finding of packets in data switching networks
- H04L45/24—Multipath
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/56—Provisioning of proxy services
- H04L67/568—Storing data temporarily at an intermediate stage, e.g. caching
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention provides a multilink data transmission method and system oriented to an unmanned vehicle, and belongs to the technical field of unmanned vehicles. When the unmanned vehicle side uploads data, the link state is monitored through a link verification module, and the available link is selected to upload data according to the weight value; when no available link exists, the transmitted data is stored in the unmanned vehicle end, the data is subjected to data retransmission when the available link exists by the retransmission module, and the locally stored data is deleted after the retransmission; and after the cloud service receives the data, firstly screening and filtering abnormal data, and then de-duplication and fusion. And the cloud server divides the issued data into data to be transmitted in real time and data to be transmitted in non-real time. And the transmission is immediately issued when the real-time transmission is needed. The non-real-time transmission is stored in the database, and the buffer memory module reads the data from the database and issues the data when an available link is available. And if no reply is received within the threshold of the number of times of delivery, the delivery fails. And finally deleting the cache, and updating the database to send the result. And after receiving the data, the unmanned vehicle end firstly screens and filters abnormal data, and then de-reunions and fuses the abnormal data.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a multilink data transmission method and system based on unmanned vehicles.
Background
With the development of unmanned devices (unmanned vehicles, etc.), unmanned vehicle technologies are being applied in various fields. For example, in the field of logistics, unmanned vehicles are used for package transportation and distribution. The unmanned vehicle keeps reliable communication with the cloud service end in operation, and the smooth progress of delivery service is concerned. How to maintain the reliability and quality of data transmission in unmanned vehicles becomes a problem to be solved.
Publication number CN100553189C discloses a method for implementing multi-link redundancy based on buffer management, which is based on a multi-task operating system to manage a plurality of link communications in a multi-task manner. The communication of each link is managed by independent tasks, and no association is established between link communication management tasks. And the link management task and the application task are interfaced through data buffering to manage data. The method is implemented completely in software, and based on a multitasking system, a standard operating system interface is used. The method does not need to add any hardware equipment such as input/output units and the like, and has extremely strong portability. In addition, the invention can be matched with redundancy of various isomorphic or heterogeneous links, and has flexible configuration and high practicability. However, in the unmanned vehicle distribution scene, the buffer management of the invention is adopted, if the buffer is in the buffer, the problems of insufficient memory of the vehicle-end equipment, loss of data of restarting the buffer after power failure and the like exist; if buffered in a file, there is a problem in that frequent manipulation of the file affects the lifetime of the device.
The publication number CN113220026A discloses a method, a control method, a system and a terminal for performing multi-link instruction de-duplication on an unmanned aerial vehicle group, wherein the method for performing multi-link instruction de-duplication on the unmanned aerial vehicle group comprises the following steps: the individual aircrafts in the fleet receive flight control instructions comprising flight instructions and utc time, and the flight instructions and the time stamps are put into a message queue in sequence; and extracting the instruction message and the corresponding timestamp from the message queue once, judging whether the instruction is a redundant instruction or not by comparing the time with the latest timestamp of the instruction backed up before, and screening the instruction based on the judging result. The invention aims at the unmanned plane scene, adopts the three links of 4G, wiFi and a radio station to transmit and receive instructions and screen, and adopts utc time stamps to remove the duplication of the instructions. However, in the unmanned vehicle distribution scene, there are problems that a link mode is not applicable, a data type is not only an instruction type, and direct duplicate removal by using a utc timestamp is too simple.
Disclosure of Invention
Aiming at an unmanned vehicle scene, the invention provides a multilink-based data reliability transmission method and system for the unmanned vehicle, which not only ensure the reliability of data transmission, but also ensure the quality of data transmission.
The invention adopts the following technical scheme:
the unmanned vehicle-oriented multilink data transmission method comprises an unmanned vehicle-end data uploading method and a cloud service-end data issuing method.
The unmanned vehicle end data uploading method comprises the following steps: a1, setting a weight value of each link according to the data of each service type; the link weight values are sequenced from big to small and grouped, and the weights are the same as one group; a2, when the automatic driving system has the requirement of uploading data, acquiring whether an available link exists currently or not through a link verification module, if the available link does not exist, storing the data locally, reading the data to be supplemented by a data supplementing module at intervals to carry out supplementing, and deleting the data to be supplemented stored locally after supplementing is finished; if the available links exist, the available links are obtained from the link verification module, are sequenced according to the weight values, are circulated in groups according to the weight values from large to small, are traversed in the groups to find the available links, and exit the circulation after the available links are used for uploading; and a3, the cloud server side receives data through the data receiving module, and transmits the data to the data screening module to filter abnormal data, the data storage module stores the filtered data, and the data fusion module performs data fusion and deduplication.
The method for transmitting data by the cloud service end comprises the following steps: b1, setting a weight value of each link according to the data of each service type; the link weight values are sequenced from big to small and grouped, and the weights are the same as one group; the cloud service end divides the data into a type needing to be transmitted in real time and a type needing not to be transmitted in real time according to whether the data need to be transmitted in real time, firstly, whether an available link exists at present or not is obtained through the communication management module, and if the available link does not exist, the issuing failure is directly replied; when an available link exists, the data sending module acquires the available link from the communication management module, sorts the available links according to the weight values, circulates the groups from large to small according to the weight values, traverses the groups to find the available link, and exits the circulation after the available link is used for transmitting data; for non-real-time transmission type data, the cloud server stores the data in a database through a data storage module, and a data caching module reads the data to be transmitted for transmission; and b3, receiving data by the unmanned vehicle end through the automatic driving system, filtering abnormal data, de-duplicating the filtered data, and finally performing service response.
The weight value ranges of the steps a1 and b1 are all between 0 and 1, and when the weight value is 0, the data are not transmitted through the link; when the weight value >0, and the larger the weight value, the higher the priority value of transmitting data through the link.
The cloud server caches the service type, the generation time and the data content of the data through the data caching module, and the sending time of the data is a time stamp mark of the data and is used for distinguishing the data.
Specifically, the flow of receiving data, filtering and deduplication by the cloud server in the step a3 is as follows: (1) Judging whether the data transmission source, namely the unmanned vehicle end identification code, is legal or not, and if the unmanned vehicle end identification code is illegal, failing to reply by the cloud server; (2) Judging whether the data service type is in the use range, if not, the cloud server replies failure; (3) Judging whether the data content is abnormal or not, if so, the cloud server fails to reply; (4) After the data is filtered, the data storage module stores the filtered data, and the cloud server replies successfully; (5) The data fusion module judges whether the filtered data service type needs service processing or not; (6) The data fusion module compares the filtered data with the records stored in the cache according to the service type and the sending time, if the sending time of the filtered data is longer than the sending time of the same service type, the service processing is triggered, the records of the corresponding service data of the cache are updated, and otherwise, the service processing is not processed.
The flow of sending data by the cloud server in the step b2 in non-real time is as follows: (1) Setting a threshold value of the number of times of attempting to transmit the non-real-time transmission data; (2) The data caching module reads data to be transmitted, the transmitted times of which are smaller than a transmission times threshold value, from the database; (3) The data transmission module transmits data through an available link, generates a serial number, and updates the serial number in a record of the data cache; (4) If no reply is received within time t1, attempting to retransmit until the number of transmissions reaches a threshold number of transmissions; when the data transmission times reach the threshold value of the transmission times, the data transmission module deletes the data record from the data cache, and updates the transmission result of the record corresponding to the database as transmission failure; (5) When a reply is received within time t1, the data sending module deletes the data record from the data cache, and updates the corresponding record sending result of the database to be the reply result.
The unmanned vehicle end receives data, filters and removes the heavy flow as follows: (1) Judging whether the destination terminal number information of the received data is the unmanned vehicle terminal number, if not, replying to failure; (2) Judging whether the target sending time of the received data exceeds a time threshold, and if so, replying to the failure; (3) Judging whether the service type of the received data is in the use range, if not, replying to failure; (4) Judging whether the data content is abnormal or not, if so, replying to failure; (5) Comparing the transmission time of the filtered data with the transmission time of the same service data type cached by the automatic driving system, if the transmission time of the filtered data is greater than the transmission time of the cache record, replying successfully, updating the transmission time of the corresponding record of the cache, otherwise, replying failed.
The invention also provides an unmanned vehicle-oriented multilink-based data transmission system, which adopts the unmanned vehicle-oriented multilink-based data transmission method and comprises an unmanned vehicle end and a cloud server end; the unmanned vehicle end comprises an automatic driving system, a link verification module and a plurality of communication modules, wherein the automatic driving system is used for collecting data, reporting the data to the cloud server, receiving the data issued by the cloud server and screening and deduplicating; the link verification module verifies whether each link is available through heartbeat and stores the link state; the communication module provides a data transmission channel between the unmanned vehicle end and the cloud server; the cloud server comprises a data receiving module, a data screening module, a data fusion module, a data sending module, a data storage module, a service processing module, a data caching module and a communication management module, wherein the data receiving module is used for receiving data reported by an unmanned vehicle end; the data screening module screens the received data and filters abnormal data; the data fusion module is used for carrying out de-duplication on the filtered data; the data sending module is used for sending data from the cloud server to the unmanned vehicle end; the data storage module is used for storing data in a database; the service processing module executes corresponding service operation according to the data content; the data caching module is used for reading data to be sent from the database and storing the data in a cache; the communication management module acquires and stores the link state in real time through heartbeat and provides an interface for acquiring the link state.
From the above description of the invention, it is clear that the invention has the following advantages over the prior art:
according to the invention, the priority sequence of each data corresponding to the transmission link is distributed according to the actual transmission requirement by sequencing the link weight values, so that the link transmission burden is reduced. When the unmanned vehicle side uploads data, the link state is monitored through the link verification module, and an available link is selected according to the weight value to upload the data; when no link is available during uploading, the transmitted data are stored in the unmanned vehicle end, the data are subjected to data retransmission when the available link is available by the data retransmission module, and the data stored locally in the unmanned vehicle end are deleted after the data retransmission; and after the cloud service receives the data, firstly screening and filtering abnormal data, and then de-duplication and fusion. The cloud server divides the data to be transmitted into data to be transmitted in real time and data to be transmitted in non-real time, the data to be transmitted in real time is transmitted immediately, and the data to be transmitted in non-real time is stored in the database. The data caching module reads data from the database and sends the data to the unmanned vehicle end when an available link exists; when the data is transmitted for more than a certain number of times and is not replied, setting the data transmission reply as failure; when a reply is received, the data caching module deletes the cache according to the serial number, and updates the data sending result corresponding to the database according to the data ID; and after receiving the data, the unmanned vehicle end firstly screens and filters abnormal data, and then de-reunions and fuses the abnormal data. Therefore, the invention is suitable for unmanned vehicles to distribute, ensures the quality of data transmission, screens, filters and de-fuses the data when the cloud service end receives the data and the unmanned vehicles end receives the data, improves the quality of the data transmission, and also ensures the reliability of the data transmission.
Drawings
FIG. 1 is a system architecture diagram of the present invention.
Fig. 2 is a flowchart of a method for uploading data at the unmanned vehicle end of the present invention.
Fig. 3 is a flowchart of filtering and deduplicating data received by a cloud server according to the present invention.
Fig. 4 is a flowchart of a method for transmitting data by a cloud server according to the present invention.
Fig. 5 is a flow chart of non-real-time data transmission of the cloud server according to the present invention.
Fig. 6 is a flowchart of filtering and deduplicating received data at the unmanned vehicle end according to the present invention.
Detailed Description
Specific embodiments of the present invention will be described below with reference to the accompanying drawings. Numerous details are set forth in the following description in order to provide a thorough understanding of the present invention, but it will be apparent to one skilled in the art that the present invention may be practiced without these details. Well-known components, methods and procedures are not described in detail.
The invention provides an unmanned vehicle-oriented multilink-based data transmission system, and referring to fig. 1, the system comprises an unmanned vehicle end 10 and a cloud server 20. Wherein:
the unmanned vehicle end 10 comprises an automatic driving system 11, a link verification module 12 and a plurality of communication modules 13, wherein the automatic driving system 11 is used for collecting data, reporting the data to the cloud server 20, receiving the data issued by the cloud server 20 and screening and deduplicating; the link verification module 12 verifies whether the respective links are available through heartbeat and saves the link state.
The cloud server 20 comprises a data receiving module 21, a data screening module 22, a data fusion module 23, a data sending module 24, a data storage module 25, a service processing module 26, a data caching module 27 and a communication management module 28, wherein the data receiving module 21 is used for receiving data reported by the unmanned vehicle end 10; the data screening module 22 screens the received data and filters abnormal data; the data fusion module 23 performs deduplication on the filtered data; the data sending module 24 is configured to send data from the cloud server 20 to the unmanned vehicle end 10; the data storage module 25 is used for storing data in a database; the service processing module 26 performs corresponding service operations according to the data content; the data caching module 27 is used for reading data to be sent from the database and storing the data in a cache; the communication management module 28 acquires and saves the link state in real time through heartbeat, and provides an interface for acquiring the link state.
The autopilot system 11 establishes two communication links with the cloud server 20 for data transfer via the ethernet router and TBOX.
The data transmission method based on the multilink data transmission system comprises a data uploading method of the unmanned vehicle end and a data issuing method of the cloud service end.
1. The unmanned vehicle side uploading data method, referring to fig. 2, comprises the following steps:
step 1, setting a link weight value
1.1 setting a weight value of each link according to the data of each service type, wherein the weight value range is as follows. When the weight value is 0, it is indicated that data is not transmitted through the link. When weight value>The greater the weight value at 0, the more the chain is passedThe higher the priority value of the way transmission data.
For example: it is assumed that there are two links L1, L2, and the data type is vehicle status data and real-time task instruction data. According to the actual data transmission requirement, the reliability requirement of the vehicle state data is not high, the vehicle state data is specially uploaded by an L1 link, and the weight value of L1 is 1 and the weight value of L2 is 0 for the vehicle state data. The reliability requirement of the real-time task instruction data is very high, the weight value of L1 is 1, the weight value of L2 is 0.8 aiming at the vehicle state data, namely the real-time task instruction is preferentially transmitted through an L1 link, and the real-time task instruction is transmitted by adopting an L2 link when the L1 link is not on.
1.2, aiming at the data of each service type, sorting from big to small according to the set link weight value, and grouping. The weights being the same and divided into one group, provided that they are finally divided into m groups, i.e。
Step 2, uploading data
When the automatic driving system has the requirement of uploading data, the automatic driving system acquires whether an available link exists currently or not through the link verification module.
And when no link is available, the link is stored locally. And the data compensation module reads the data to be compensated at intervals and performs compensation. And after the retransmission is finished, deleting the data to be retransmitted which is stored locally.
When available links exist, available links and groups are obtained from a link verification module, the available links and the groups are ordered according to weight values, the groups are circulated according to the weight values from large to small, the available links are traversed and searched in the groups, and the circulation is exited after the available links are used for uploading. For example: gp is the group of the maximum weight value, and the range of the corresponding link sequence number r of the group is i to j; when the link needs r=i, judging whether the link r is normal, if not, judging the next link until the normal link is found.
Step 3, the cloud server receives, filters and removes the duplicate data
And the cloud server side receives the data through the data receiving module.
The data receiving module transmits the received data to the data screening module for abnormal data filtering.
The data storage module stores the filtered data.
And meanwhile, the data fusion module performs data fusion and deduplication.
Specifically, the cloud server receives a data filtering deduplication process, as shown in fig. 3:
(1) Judging whether a data transmission source (namely an unmanned vehicle end identity code, generally a terminal number) is legal (whether a cloud server allows communication or not), and if the unmanned vehicle end identity code is illegal (the cloud server does not allow the communication), failing to reply by the cloud server;
(2) Judging whether the data service type is in the use range, if not, the cloud server replies failure;
(3) Judging whether the data content is abnormal or not, if so, the cloud server fails to reply;
(4) After the data is filtered, the data storage module stores the filtered data, and the cloud server replies successfully;
(5) The data fusion module judges whether the filtered data service type needs service processing or not;
(6) The data fusion module compares the filtered data with the records stored in the cache according to the service type and the sending time, if the sending time of the filtered data is longer than the sending time of the same service type, the service processing is triggered, the records of the corresponding service data of the cache are updated, and otherwise, the service processing is not processed.
The cloud server has the service type, the generation time and the data content of data cached by the data caching module. The sending time of the data is a time stamp mark of the data and is used for distinguishing the data.
2. The method for transmitting data by the cloud service end refers to fig. 4, and comprises the following steps:
step 1, setting a link weight value
1.1 setting a weight value of each link according to the data of each service type, wherein the weight value range is as follows. When the weight value is 0, it is indicated that data is not transmitted through the link. When weight value>When 0, the larger the weight value is, the higher the priority value of data transmitted through the link is.
1.2 ordering the data of each service type from big to small according to the set link weight value, and grouping. The weights being the same and divided into one group, provided that they are finally divided into m groups, i.e。
Step 2, data is issued
The cloud service end classifies the data into a type needing real-time transmission and a type needing non-real-time transmission according to whether the data need to be transmitted in real time.
For data needing to be transmitted in real time, firstly, whether an available link exists at present or not is obtained through a communication management module, and when the available link does not exist, the transmission failure is directly replied.
When available links exist, the data sending module obtains the available links from the communication management module, sorts the available links according to the weight values, circulates the groups from large to small according to the weight values, traverses the groups to find the available links, and exits the circulation after the available links are used for transmitting data. For example: gp is the group of the maximum weight value, and the range of the corresponding link sequence number r of the group is i to j; when the link needs r=i, judging whether the link r is normal, if not, judging the next link until the normal link is found.
For non-real-time sending type data, the cloud server is stored in a database through a data storage module. The data buffer module reads the data to be sent for sending, referring to fig. 5, the specific flow is as follows: (1) Setting a threshold value of the number of times of attempting to transmit the non-real-time transmission data; (2) The data caching module reads data to be transmitted, the transmitted times of which are smaller than a transmission times threshold value, from the database; (3) The data transmission module transmits data through an available link, generates a serial number, and updates the serial number in a record of the data cache; (4) If no reply is received within time t1, attempting to retransmit until the number of transmissions reaches a threshold number of transmissions; when the data transmission times reach the threshold value of the transmission times, the data transmission module deletes the data record from the data cache, and updates the transmission result of the record corresponding to the database as transmission failure; (5) When a reply is received within time t1, the data sending module deletes the data record from the data cache, and updates the corresponding record sending result of the database to be the reply result.
Step 3, receiving, filtering and deduplicating data by the unmanned vehicle end
The unmanned vehicle end receives data through the automatic driving system, then filters abnormal data, de-weights the filtered data, and finally responds to the service.
Specifically, the unmanned vehicle end received data filtering and deduplication flow is shown in fig. 6:
(1) Judging whether the destination terminal number information of the received data is the unmanned vehicle terminal number, if not, replying to failure;
(2) Judging whether the target sending time of the received data exceeds a time threshold, and if so, replying to the failure;
(3) Judging whether the service type of the received data is in the use range, if not, replying to failure;
(4) Judging whether the data content is abnormal or not, if so, replying to failure;
(5) Comparing the transmission time of the filtered data with the transmission time of the same service data type cached by the automatic driving system, if the transmission time of the filtered data is greater than the transmission time of the cache record, replying successfully, updating the transmission time of the corresponding record of the cache, otherwise, replying failed.
The foregoing is merely illustrative of specific embodiments of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modification of the present invention by using the design concept shall fall within the scope of the present invention.
Claims (7)
1. The multilink data transmission method facing the unmanned vehicle is characterized by comprising the following steps of: comprises a method for uploading data by an unmanned vehicle end and a method for transmitting data by a cloud service end,
the unmanned vehicle end data uploading method comprises the following steps: a1, setting a weight value of each link according to the data of each service type; the link weight values are sequenced from big to small and grouped, and the weights are the same as one group; a2, when the automatic driving system has the requirement of uploading data, acquiring whether an available link exists currently or not through a link verification module, if the available link does not exist, storing the data locally, reading the data to be supplemented by a data supplementing module at intervals to carry out supplementing, and deleting the data to be supplemented stored locally after supplementing is finished; if the available links exist, the available links are obtained from the link verification module, are sequenced according to the weight values, are circulated in groups according to the weight values from large to small, are traversed in the groups to find the available links, and exit the circulation after the available links are used for uploading; a3, the cloud server receives data through the data receiving module, and transmits the data to the data screening module to filter abnormal data, the data storage module stores the filtered data, and the data fusion module carries out data fusion and deduplication;
the method for transmitting data by the cloud server comprises the following steps: b1, setting a weight value of each link according to the data of each service type; the link weight values are sequenced from big to small and grouped, and the weights are the same as one group; the cloud service end divides the data into a type needing to be transmitted in real time and a type needing not to be transmitted in real time according to whether the data need to be transmitted in real time, firstly, whether an available link exists at present or not is obtained through the communication management module, and if the available link does not exist, the issuing failure is directly replied; when an available link exists, the data sending module acquires the available link from the communication management module, sorts the available links according to the weight values, circulates the groups from large to small according to the weight values, traverses the groups to find the available link, and exits the circulation after the available link is used for transmitting data; for non-real-time transmission type data, the cloud server stores the data in a database through a data storage module, and a data caching module reads the data to be transmitted for transmission; and b3, receiving data by the unmanned vehicle end through the automatic driving system, filtering abnormal data, de-duplicating the filtered data, and finally performing service response.
2. The unmanned vehicle-oriented multilink data transmission method according to claim 1, wherein: the weight value ranges of the step a1 and the step b1 are all between 0 and 1, and when the weight value is 0, the data are not transmitted through the link; when the weight value >0, and the larger the weight value, the higher the priority value of transmitting data through the link.
3. The unmanned vehicle-oriented multilink data transmission method according to claim 1, wherein: the cloud server caches the service type, the generation time and the data content of the data through the data caching module, and the sending time of the data is a time stamp mark of the data and is used for distinguishing the data.
4. The unmanned vehicle-oriented multilink data transmission method of claim 3, wherein the flow of the cloud server receiving data, filtering and de-duplication in step a3 is as follows: (1) Judging whether the data transmission source, namely the unmanned vehicle end identification code, is legal or not, and if the unmanned vehicle end identification code is illegal, failing to reply by the cloud server; (2) Judging whether the data service type is in the use range, if not, the cloud server replies failure; (3) Judging whether the data content is abnormal or not, if so, the cloud server fails to reply; (4) After the data is filtered, the data storage module stores the filtered data, and the cloud server replies successfully; (5) The data fusion module judges whether the filtered data service type needs service processing or not; (6) If the service processing is needed, the data fusion module compares the filtered data with the records stored in the cache according to the service type and the sending time, if the sending time of the filtered data is longer than the sending time of the same service type, the service processing is triggered, the records of the corresponding service data of the cache are updated, and otherwise, the service processing is not processed.
5. The unmanned vehicle-oriented multilink data transmission method of claim 1, wherein the flow of non-real-time data transmission by the cloud server in step b2 is as follows: (1) Setting a threshold value of the number of times of attempting to transmit the non-real-time transmission data; (2) The data caching module reads data to be transmitted, the transmitted times of which are smaller than a transmission times threshold value, from the database; (3) The data transmission module transmits data through an available link, generates a serial number, and updates the serial number in a record of the data cache; (4) If no reply is received within time t1, attempting to retransmit until the number of transmissions reaches a threshold number of transmissions; when the data transmission times reach the threshold value of the transmission times, the data transmission module deletes the data record from the data cache, and updates the transmission result of the record corresponding to the database as transmission failure; (5) When a reply is received within time t1, the data sending module deletes the data record from the data cache, and updates the corresponding record sending result of the database to be the reply result.
6. The unmanned vehicle-oriented multilink data transmission method of claim 1, wherein the unmanned vehicle-end data receiving, filtering and de-duplication processes are as follows: (1) Judging whether the destination terminal number information of the received data is the unmanned vehicle terminal number, if not, replying to failure; (2) Judging whether the target sending time of the received data exceeds a time threshold, and if so, replying to the failure; (3) Judging whether the service type of the received data is in the use range, if not, replying to failure; (4) Judging whether the data content is abnormal or not, if so, replying to failure; (5) Comparing the transmission time of the filtered data with the transmission time of the same service data type cached by the automatic driving system, if the transmission time of the filtered data is greater than the transmission time of the cache record, replying successfully, updating the transmission time of the corresponding record of the cache, otherwise, replying failed.
7. An unmanned vehicle-oriented multilink data transmission system is characterized in that an unmanned vehicle-oriented multilink data transmission method is adopted, and the unmanned vehicle-oriented multilink data transmission system comprises an unmanned vehicle end and a cloud service end; the unmanned vehicle end comprises an automatic driving system, a link verification module and a plurality of communication modules, wherein the automatic driving system is used for collecting data, reporting the data to the cloud server, receiving the data issued by the cloud server and screening and deduplicating; the link verification module verifies whether each link is available through heartbeat and stores the link state; the communication module provides a data transmission channel between the unmanned vehicle end and the cloud server; the cloud server comprises a data receiving module, a data screening module, a data fusion module, a data sending module, a data storage module, a service processing module, a data caching module and a communication management module, wherein the data receiving module is used for receiving data reported by an unmanned vehicle end; the data screening module screens the received data and filters abnormal data; the data fusion module is used for carrying out de-duplication on the filtered data; the data sending module is used for sending data from the cloud server to the unmanned vehicle end; the data storage module is used for storing data in a database; the service processing module executes corresponding service operation according to the data content; the data caching module is used for reading data to be sent from the database and storing the data in a cache; the communication management module acquires and stores the link state in real time through heartbeat and provides an interface for acquiring the link state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311753608.7A CN117439941A (en) | 2023-12-20 | 2023-12-20 | Multilink data transmission method and system oriented to unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311753608.7A CN117439941A (en) | 2023-12-20 | 2023-12-20 | Multilink data transmission method and system oriented to unmanned vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117439941A true CN117439941A (en) | 2024-01-23 |
Family
ID=89551980
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311753608.7A Pending CN117439941A (en) | 2023-12-20 | 2023-12-20 | Multilink data transmission method and system oriented to unmanned vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117439941A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8040808B1 (en) * | 2008-10-20 | 2011-10-18 | Juniper Networks, Inc. | Service aware path selection with a network acceleration device |
| CN110365643A (en) * | 2019-06-04 | 2019-10-22 | 菜鸟智能物流控股有限公司 | Communication method and device |
| CN112559201A (en) * | 2020-11-26 | 2021-03-26 | 杭州凯达电力建设有限公司自动化运维分公司 | Communication method for data interconnection and intercommunication between client and server |
| CN113347098A (en) * | 2021-06-01 | 2021-09-03 | 中国联合网络通信集团有限公司 | Network routing method and device |
| CN115390762A (en) * | 2022-08-26 | 2022-11-25 | 济南浪潮数据技术有限公司 | Storage resource access method, device, equipment and readable storage medium |
| CN115408356A (en) * | 2021-12-02 | 2022-11-29 | 北京车和家信息技术有限公司 | Automatic driving data processing system, method, equipment and storage medium |
| CN115841762A (en) * | 2022-11-10 | 2023-03-24 | 阿里巴巴（中国）有限公司 | Unmanned vehicle control method, unmanned vehicle control system and unmanned vehicle |
| CN116052420A (en) * | 2023-01-05 | 2023-05-02 | 北京清丰智行科技有限公司 | Vehicle-road cloud collaborative big data management system for park |
| CN117041140A (en) * | 2023-10-10 | 2023-11-10 | 腾讯科技（深圳）有限公司 | Data message transmission method, related device, equipment and storage medium |
| CN117118911A (en) * | 2022-05-16 | 2023-11-24 | 中国移动通信有限公司研究院 | Data transmission method and device |
-
2023
- 2023-12-20 CN CN202311753608.7A patent/CN117439941A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8040808B1 (en) * | 2008-10-20 | 2011-10-18 | Juniper Networks, Inc. | Service aware path selection with a network acceleration device |
| CN110365643A (en) * | 2019-06-04 | 2019-10-22 | 菜鸟智能物流控股有限公司 | Communication method and device |
| CN112559201A (en) * | 2020-11-26 | 2021-03-26 | 杭州凯达电力建设有限公司自动化运维分公司 | Communication method for data interconnection and intercommunication between client and server |
| CN113347098A (en) * | 2021-06-01 | 2021-09-03 | 中国联合网络通信集团有限公司 | Network routing method and device |
| CN115408356A (en) * | 2021-12-02 | 2022-11-29 | 北京车和家信息技术有限公司 | Automatic driving data processing system, method, equipment and storage medium |
| CN117118911A (en) * | 2022-05-16 | 2023-11-24 | 中国移动通信有限公司研究院 | Data transmission method and device |
| CN115390762A (en) * | 2022-08-26 | 2022-11-25 | 济南浪潮数据技术有限公司 | Storage resource access method, device, equipment and readable storage medium |
| CN115841762A (en) * | 2022-11-10 | 2023-03-24 | 阿里巴巴（中国）有限公司 | Unmanned vehicle control method, unmanned vehicle control system and unmanned vehicle |
| CN116052420A (en) * | 2023-01-05 | 2023-05-02 | 北京清丰智行科技有限公司 | Vehicle-road cloud collaborative big data management system for park |
| CN117041140A (en) * | 2023-10-10 | 2023-11-10 | 腾讯科技（深圳）有限公司 | Data message transmission method, related device, equipment and storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 杨中臻;王劲林;郑艳伟;王献冠;: "基于多协议封装的多通道传输方案设计", 计算机工程, no. 11, 31 July 2013 (2013-07-31) * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10547502B2 (en) | Vehicle communications | |
| CN109150949B (en) | Monitoring control system, monitoring control device, and monitoring control method | |
| US5724346A (en) | Means for maintaining connectable access points owing to movement of a mobile station between cells in a wireless LAN system | |
| US20220156057A1 (en) | In-vehicle update device, update processing program, and program update method | |
| CN109347942B (en) | A kind of industrial gateway data repay method and industrial gateway | |
| CN101227483B (en) | Data processing method and apparatus of wireless link control layer | |
| CN117439941A (en) | Multilink data transmission method and system oriented to unmanned vehicle | |
| CN106658401A (en) | Out-of-control unmanned aerial vehicle initiative retrieving method and system | |
| CN114584584A (en) | System and method for processing vehicle driving data and storage medium | |
| CN114900515A (en) | Train file returning method, train host, station and control center | |
| WO2017023332A1 (en) | Difference datasets | |
| CN116880458A (en) | Automatic driving vehicle fault diagnosis system | |
| CN117112039A (en) | Transmission optimization system and operation method of data center | |
| CN116279682A (en) | Detection data transmission method and device for high-speed comprehensive detection train | |
| CN113050967B (en) | Remote updating method for train-mounted software | |
| CN111708558B (en) | High concurrency terminal firmware updating method and updating system | |
| CN113485176A (en) | Vehicle data acquisition, caching and retransmitting method and remote monitoring terminal | |
| CN114339850B (en) | Base station data transmission method and device, storage medium and electronic device | |
| US9904700B2 (en) | Method and apparatus for guaranteeing and optimizing data exchange in mobile M2M communication with restricted connectivity | |
| CN117880318B (en) | Communication scheduling method and system for mining vehicle | |
| CN114401190B (en) | Data updating method and system for trackside safety platform based on data compression algorithm | |
| CN118277848A (en) | Train data classification management method, device and storage medium | |
| US11909755B2 (en) | Log transmission controller | |
| US20230032089A1 (en) | System and method for storage and communication of on-board commercial vehicle data | |
| CN117957819A (en) | Data processing system, data uploading method and data processing method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |