CN-115794129-B - Deployment method, system, equipment and storage medium based on automatic driving vehicle

CN115794129BCN 115794129 BCN115794129 BCN 115794129BCN-115794129-B

Abstract

The invention relates to a deployment method, a system, equipment and a storage medium based on an automatic driving vehicle, wherein the method comprises the following steps of M1, based on a vehicle-mounted controller of the automatic driving vehicle, acquiring a change data request of the vehicle-mounted controller, outputting change data request information according to an ROS working space of the vehicle-mounted controller, and M2, based on the change data request information, checking version file information of the vehicle-mounted controller, acquiring a current version file package corresponding to a current version, comparing the current version file package with an upgrade version file package, and outputting a compensation package associated with the current version file package. According to the invention, the automatic driving software deployment with higher automation level is realized in a large range, the matched plurality of automatic driving software are subjected to priority ranking, and the automatic driving software with the forefront priority ranking is called, so that the safety and reliability are greatly improved, the manual participation is reduced, and the manual labor cost is greatly reduced.

Inventors

QIAN KAIYU
WAN JIAN

Assignees

东风悦享科技有限公司

Dates

Publication Date: 20260512
Application Date: 20221212

Claims (9)

1. A deployment method based on an autonomous vehicle, comprising the steps of: the method comprises the steps of M1, based on a vehicle-mounted controller of an automatic driving vehicle, obtaining a change data request of the vehicle-mounted controller, and outputting change data request information according to an ROS working space of the vehicle-mounted controller; The version file information of the vehicle-mounted controller is checked based on the change data request information, a current version file packet corresponding to a current version is obtained, the current version file packet is compared with an upgrade version file packet, and a compensation packet associated with the current version file packet is output; m3, changing and backing up version file information of the vehicle-mounted controller according to the upgrading version file package and the compensation package associated with the current version file package, and feeding back state data information of the vehicle-mounted controller; m4. based on the state data information of the vehicle-mounted controller, checking whether the corresponding node is started, feeding back the node which does not operate according to the requirement, and carrying out parameter change and configuration on the node which does not operate according to the requirement to finish deployment work; in step M2, the step of outputting the compensation package associated with the current version package includes: M21. determining the current version of the vehicle-mounted controller according to the version file information of the vehicle-mounted controller; m22, comparing the content of the script file of the current version of the vehicle-mounted controller with the script file of the upgrade version file packet to generate a compensation file containing content differences and supplements; And M23, based on the generated compensation file containing the content difference and the supplement, parameter change and configuration are carried out according to the environment configuration of the vehicle-mounted controller, and a compensation package associated with the current version file package is output.
2. The method for automatically driving a vehicle-based deployment of claim 1, wherein the current version of the script file comprises a function package file and a current version number file of the vehicle-mounted controller.
3. The deployment method based on the automatic driving vehicle of claim 2, wherein the current version script file selects an upgrade script template corresponding to the type of the database to be targeted from the constructed upgrade script templates, and the upgrade script templates are screened and sequenced by combining the obtained upgrade version intervals to obtain the upgrade scripts corresponding to the version upgrade requests.
4. The deployment method based on the automatic driving vehicle according to claim 3, wherein the current version number screens the obtained upgrade script templates, and the upgrade script templates obtained by screening are ranked according to the size of the version number to obtain the upgrade script of the final corresponding version upgrade request.
5. An autonomous vehicle based deployment system for implementing the autonomous vehicle based deployment method of any of claims 1-4, the system comprising: the vehicle-mounted controller program importing module is used for importing the upgrade version data; the vehicle-mounted controller program backup module is connected with the vehicle-mounted controller program module and used for storing and backing up programs; The vehicle-mounted controller environment checking module is used for checking version information which the vehicle-mounted controller is required to depend on; the vehicle-mounted controller state feedback module is used for deploying operation result feedback and operation reminding; The vehicle-mounted controller parameter configuration module is used for changing and configuring parameters according to the information of the upgrade version data; The system comprises a vehicle-mounted controller program self-checking module, a version reading unit, a program version reading unit and a program version control unit, wherein the vehicle-mounted controller program self-checking module is used for detecting the program running condition in a controller, checking whether corresponding nodes are started and feeding back nodes which do not run as required; The on-vehicle controller network communication module is connected with the on-vehicle controller import module, the environment inspection module, the state feedback module, the parameter preparation module and the program self-checking module and is used for the communication connection function of the SSH and providing Shell command issuing and SFTP file transmission interfaces for other modules.
6. The automated vehicle-based deployment system of claim 5, further comprising an onboard controller tool parameter module for satisfying diverse requirements, configuring the cloud platform interface, the list of required nodes, the name of the parameter file, and the path information with json parameter files.
7. The automated vehicle-based deployment system of claim 5 wherein the in-vehicle controller network communication module sends Shell instructions based on Deploy: SSHSENDCMD slot function and listens to the received results based on Deploy: slotDataArrived slot function.
8. An electronic device comprising a processor and a memory for storing executable instructions of the processor, wherein the processor is configured to perform the steps of the autonomous vehicle based deployment method of any of claims 1 to 4 via execution of the executable instructions.
9. A computer-readable storage medium, characterized in that it has stored thereon a computer program which is executed by a processor to the steps of the autonomous vehicle based deployment method according to any of claims 1 to 4.

Description

Deployment method, system, equipment and storage medium based on automatic driving vehicle Technical Field The invention relates to the technical field of automatic driving vehicles, in particular to a deployment method, a deployment system, deployment equipment and a storage medium based on an automatic driving vehicle. Background With the development of current autopilot, autopilot models are diverse. At present, different programs and parameters need to be deployed and configured in the process of automatic driving development and debugging. Because the vehicle software environment is different, the program versions are numerous, the interfaces of all program modules are different, the paths are different, and the operation modes are different, the deployment operation flow of the automatic driving system is complicated, and special people are required to learn and use the automatic driving system. For the above reasons, in the prior art, the reliability of the automatic driving deployment system is relatively low, and the manual processing links are relatively many, so that the manual operation error rate is relatively high. And each function in the existing deployment functions is scattered, and no system of a set of system fuses and unifies the automatic driving deployment systems. In the prior art, patent CN110308978a provides an autopilot software deployment method, device, terminal and server, where the method includes collecting a geographical location parameter and an environmental parameter of a next road section of a vehicle, searching for a matched autopilot software in a vehicle cache according to the geographical location parameter and the environmental parameter, when at least two matched autopilot software exists, prioritizing the at least two matched autopilot software and calling the autopilot software with the forefront priority, and when there is no or only one matched autopilot software, feeding back a prompt message, so that deployment of the autopilot software with a higher automation level in a large range cannot be realized, and how to implement deployment of the autopilot software with a higher automation level in a large range becomes a problem to be solved in urgent need. Disclosure of Invention In view of the shortcomings of the prior art, the invention provides a deployment method, a system, equipment and a storage medium based on an automatic driving vehicle, which not only realize the deployment of the automatic driving software with higher automation level in a large range, and prioritize the matched plurality of automatic driving software and call the automatic driving software with the forefront priority, thereby greatly improving the safety and reliability, reducing the manual participation and greatly reducing the manual labor cost. In order to achieve the above object and other related objects, the present invention provides the following technical solutions: a deployment method based on an autonomous vehicle, comprising the steps of: M1, acquiring a change data request of a vehicle-mounted controller based on the vehicle-mounted controller of an automatic driving vehicle, and outputting change data request information according to the ROS working space of the vehicle-mounted controller; m2, checking version file information of the vehicle-mounted controller based on the change data request information, acquiring a current version file packet corresponding to a current version, comparing the current version file packet with an upgrade version file packet, and outputting a compensation packet associated with the current version file packet; M3, changing and backing up version file information of the vehicle-mounted controller according to the upgrading version file package and the compensation package associated with the current version file package, and feeding back state data information of the vehicle-mounted controller; And M4, checking whether the corresponding node is started or not based on the state data information of the vehicle-mounted controller, feeding back the node which does not operate according to the requirement, and carrying out parameter change and configuration on the node which does not operate according to the requirement to finish deployment work. Further, in step M2, the step of outputting the compensation package associated with the current version package includes: M21, determining the current version of the vehicle-mounted controller according to the version file information of the vehicle-mounted controller; M22, comparing the content of the script file of the current version of the vehicle-mounted controller with the content of the script file of the upgrading version file packet to generate a compensation file containing content differences and supplements; and M23, based on the generated compensation file containing the content difference and the supplement, carrying out parameter change and configuration according to the environment co