CN109955850B

Movatterモバイル変換

Info

Publication number: CN109955850B
Application number: CN201711342424.6A
Authority: CN
Inventors: 陈少贵; 赵龙
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2017-12-14
Filing date: 2017-12-14
Publication date: 2022-04-15
Anticipated expiration: 2037-12-14
Also published as: CN109955850A

Abstract

The invention provides a vehicle and a recording method and a recording system of a self-adaptive cruise track of the vehicle, wherein the vehicle comprises an ADAS module and a data acquisition terminal, and the method comprises the following steps: after the ADAS module starts the self-adaptive cruise function, the data acquisition terminal sends a data packet comprising self-adaptive cruise state information, self identification information, current time, current positioning information of the vehicle and vehicle speed information of the vehicle to the server; and the server stores the adaptive cruise track data in the data packet into a database of the corresponding vehicle according to the identification information, and sends the corresponding adaptive cruise track data to the client according to the adaptive cruise track request when receiving the adaptive cruise track request so that the client can draw the adaptive cruise track of the corresponding vehicle on the map. The method can enable the user to inquire the cruising speed and the cruising track of the vehicle in the self-adaptive cruising state in a certain period of time so that the user can know the ADAS module conveniently, and the method is simple to implement.

Description

Translated fromChinese

车辆及其自适应巡航轨迹的记录方法、系统Vehicle and its adaptive cruise trajectory recording method and system

技术领域technical field

本发明涉及车辆技术领域，尤其涉及一种车辆自适应巡航轨迹的记录方法、一种车辆自适应巡航轨迹的记录系统和一种车辆。The invention relates to the technical field of vehicles, in particular to a recording method of a vehicle adaptive cruise trajectory, a recording system of a vehicle adaptive cruise trajectory and a vehicle.

背景技术Background technique

随着自动驾驶、智能驾驶技术的飞速发展，ADAS(Advanced Driver AssistantSystems，先进驾驶员辅助系统)模块也应运而生，其不仅有助于提高行车安全的可靠性，还使驾驶员的驾驶感受更加直观，同时也给驾驶员带来了很多驾驶乐趣。但目前，并没有用于记录驾驶辅助系统的历史运行信息如自适应巡航轨迹的技术，使得驾驶员不能获知ADAS模块中的自适应巡航轨迹，无助于用户了解车辆的ADAS模块。With the rapid development of automatic driving and intelligent driving technology, ADAS (Advanced Driver Assistant Systems, Advanced Driver Assistance System) module has also emerged, which not only helps to improve the reliability of driving safety, but also makes the driver's driving experience more comfortable. Intuitive, but also brings a lot of driving pleasure to the driver. However, at present, there is no technology for recording the historical operation information of the driving assistance system, such as the adaptive cruise trajectory, so that the driver cannot know the adaptive cruise trajectory in the ADAS module, and it does not help the user to understand the ADAS module of the vehicle.

发明内容SUMMARY OF THE INVENTION

本发明旨在至少在一定程度上解决相关技术中的技术问题之一。The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

为此，本发明的第一个目的在于提出一种车辆自适应巡航轨迹的记录方法，以实现车辆自适应巡航轨迹的记录，便于用户了解车辆的ADAS模块。Therefore, the first object of the present invention is to propose a method for recording the adaptive cruise trajectory of the vehicle, so as to realize the recording of the adaptive cruise trajectory of the vehicle, so as to facilitate the user to understand the ADAS module of the vehicle.

本发明的第二个目的在于提出一种车辆自适应巡航轨迹的记录系统。The second object of the present invention is to propose a recording system of the vehicle adaptive cruise trajectory.

本发明的第三个目的在于提出一种车辆。A third object of the present invention is to propose a vehicle.

本发明的第四个目的在于提出一种服务器。The fourth object of the present invention is to provide a server.

本发明的第五个目的在于提出一种客户端。The fifth object of the present invention is to provide a client.

为达上述目的，本发明第一方面实施例提出了一种车辆自适应巡航轨迹的记录方法，所述车辆包括ADAS模块和数据采集终端，所述方法包括以下步骤：所述ADAS模块在开启自适应巡航功能后，向所述数据采集终端发送自适应巡航状态信息；所述数据采集终端获取所述车辆的车速信息、所述车辆的当前定位信息和当前时间，并根据所述自适应巡航状态信息、自身的标识信息、所述当前时间、所述车辆的当前定位信息和所述车辆的车速信息生成自适应巡航轨迹数据包，以及将所述自适应巡航轨迹数据包发送给服务器；所述服务器根据所述标识信息获取车辆信息，并根据所述车辆信息将所述自适应巡航轨迹数据包中的自适应巡航轨迹数据保存到对应车辆的数据库中，其中，所述自适应巡航轨迹数据包括定位信息、车速信息和对应自适应巡航轨迹数据包的发送时间；所述服务器在接收到自适应巡航轨迹请求时，根据所述自适应巡航轨迹请求向客服端发送对应的自适应巡航轨迹数据，以便所述客户端根据接收到的自适应巡航轨迹数据下载地图，并在所述地图上描绘对应车辆的自适应巡航轨迹，其中，所述自适应巡航轨迹请求包括车辆信息和时间段。In order to achieve the above object, the embodiment of the first aspect of the present invention proposes a method for recording an adaptive cruise trajectory of a vehicle, the vehicle includes an ADAS module and a data acquisition terminal, and the method includes the following steps: the ADAS module is turned on and automatically After adapting to the cruise function, send the adaptive cruise state information to the data acquisition terminal; the data acquisition terminal obtains the vehicle speed information, the vehicle's current positioning information and the current time, and according to the adaptive cruise state information, its own identification information, the current time, the current positioning information of the vehicle, and the vehicle speed information of the vehicle to generate an adaptive cruise trajectory data packet, and send the adaptive cruise trajectory data packet to the server; the The server obtains vehicle information according to the identification information, and saves the adaptive cruise trajectory data in the adaptive cruise trajectory data package into the database of the corresponding vehicle according to the vehicle information, wherein the adaptive cruise trajectory data includes Positioning information, vehicle speed information, and the sending time of the corresponding adaptive cruise trajectory data packet; when the server receives the adaptive cruise trajectory request, it sends the corresponding adaptive cruise trajectory data to the customer service terminal according to the adaptive cruise trajectory request, So that the client downloads a map according to the received adaptive cruise trajectory data, and depicts the adaptive cruise trajectory of the corresponding vehicle on the map, wherein the adaptive cruise trajectory request includes vehicle information and a time period.

本发明实施例的车辆自适应巡航轨迹的记录方法，不仅能够实现自适应巡航数据的可靠存储，同时还能够让用户轻松查询到车辆在某段时间内自适应巡航状态下的巡航速度和自适应巡航轨迹，以便用户了解车辆的ADAS模块，且实现简单。另外，该记录方法不仅能够实现自适应巡航轨迹的记录，还能够用于实现行车轨迹的记录。The method for recording a vehicle adaptive cruise trajectory according to the embodiment of the present invention can not only realize reliable storage of adaptive cruise data, but also allow users to easily query the cruise speed and adaptive cruise speed of the vehicle in an adaptive cruise state within a certain period of time. Cruise trajectory, so that users can understand the ADAS module of the vehicle, and the implementation is simple. In addition, the recording method can not only realize the recording of the adaptive cruise track, but also can be used to realize the recording of the driving track.

为达上述目的，本发明第二方面实施例提出了一种车辆自适应巡航轨迹的记录系统，包括：车辆、服务器和客户端，所述车辆包括仪表、ADAS模块和数据采集终端，其中，所述仪表用于获取车辆的车速信息，并将所述车速信息分别发送给所述ADAS模块和所述数据采集终端；所述ADAS模块在开启自适应巡航功能后，向所述数据采集终端发送自适应巡航状态信息；所述数据采集终端用于获取所述车辆的车速信息、所述车辆的当前定位信息和当前时间，并根据所述自适应巡航状态信息、自身的标识信息、所述当前时间、所述车辆的当前定位信息和所述车辆的车速信息生成自适应巡航轨迹数据包，以及将所述自适应巡航轨迹数据包发送给服务器；所述服务器用于根据所述标识信息获取车辆信息，并根据所述车辆信息将所述自适应巡航轨迹数据包中的自适应巡航轨迹数据保存到对应车辆的数据库中，以及在接收到所述客户端发送的自适应巡航轨迹请求时，根据所述自适应巡航轨迹请求向所述客户端发送对应的自适应巡航轨迹数据，其中，所述自适应巡航轨迹数据包括定位信息、车速信息和对应自适应巡航轨迹数据包的发送时间，所述自适应巡航轨迹请求包括车辆信息和时间段；所述客户端用于向所述服务器发送所述自适应巡航轨迹请求，以及在接收到自适应巡航轨迹数据时，根据所述自适应巡航轨迹数据下载地图，并在所述地图上描绘对应车辆的自适应巡航轨迹。In order to achieve the above object, a second aspect embodiment of the present invention provides a vehicle adaptive cruise trajectory recording system, including: a vehicle, a server and a client, the vehicle includes an instrument, an ADAS module and a data acquisition terminal, wherein all the The instrument is used to obtain the speed information of the vehicle, and send the vehicle speed information to the ADAS module and the data acquisition terminal respectively; after the ADAS module enables the adaptive cruise function, it sends the data from the data acquisition terminal to the data acquisition terminal. Adaptive cruise state information; the data collection terminal is used to obtain the vehicle speed information, the vehicle's current positioning information and the current time, and based on the adaptive cruise state information, its own identification information, the current time , the current positioning information of the vehicle and the speed information of the vehicle to generate an adaptive cruise trajectory data packet, and send the adaptive cruise trajectory data packet to a server; the server is used to obtain vehicle information according to the identification information , and save the adaptive cruise trajectory data in the adaptive cruise trajectory data package into the database of the corresponding vehicle according to the vehicle information, and when receiving the adaptive cruise trajectory request sent by the client, according to the The adaptive cruise trajectory request sends the corresponding adaptive cruise trajectory data to the client, wherein the adaptive cruise trajectory data includes positioning information, vehicle speed information and the sending time of the corresponding adaptive cruise trajectory data packet, the self-adaptive cruise trajectory data The adaptive cruise trajectory request includes vehicle information and a time period; the client is configured to send the adaptive cruise trajectory request to the server, and when receiving the adaptive cruise trajectory data, download the adaptive cruise trajectory data according to the adaptive cruise trajectory data map, and the adaptive cruise trajectory of the corresponding vehicle is depicted on the map.

本发明实施例的车辆自适应巡航轨迹的记录系统，不仅能够实现自适应巡航数据的可靠存储，同时还能够让用户轻松查询到车辆在某段时间内自适应巡航状态下的巡航速度和自适应巡航轨迹，以便用户了解车辆的ADAS模块，且实现简单。另外，该记录系统不仅能够实现自适应巡航轨迹的记录，还能够用于实现行车轨迹的记录。The vehicle adaptive cruise trajectory recording system of the embodiment of the present invention can not only realize reliable storage of adaptive cruise data, but also allow users to easily query the cruise speed and adaptive cruise speed of the vehicle in an adaptive cruise state within a certain period of time. Cruise trajectory, so that users can understand the ADAS module of the vehicle, and the implementation is simple. In addition, the recording system can not only realize the recording of the adaptive cruise track, but also can be used to realize the recording of the driving track.

为达上述目的，本发明第三方面实施例提出了一种车辆，其特征在于，包括：仪表、ADAS模块和数据采集终端，其中，所述仪表用于获取车辆的车速信息，并将所述车速信息分别发送给所述ADAS模块和所述数据采集终端；所述ADAS模块在开启自适应巡航功能后，向所述数据采集终端发送自适应巡航状态信息；所述数据采集终端用于获取所述车辆的车速信息、所述车辆的当前定位信息和当前时间，并根据所述自适应巡航状态信息、自身的标识信息、所述当前时间、所述车辆的当前定位信息和所述车辆的车速信息生成自适应巡航轨迹数据包，以及将所述自适应巡航轨迹数据包发送给服务器，以使所述服务器根据所述标识信息获取车辆信息，并根据所述车辆信息将所述自适应巡航轨迹数据包中的自适应巡航轨迹数据保存到对应车辆的数据库中。In order to achieve the above purpose, a third aspect of the present invention provides a vehicle, which is characterized by comprising: a meter, an ADAS module, and a data acquisition terminal, wherein the meter is used to acquire vehicle speed information, and the The vehicle speed information is respectively sent to the ADAS module and the data collection terminal; the ADAS module sends adaptive cruise status information to the data collection terminal after the adaptive cruise function is enabled; the data collection terminal is used to obtain all The speed information of the vehicle, the current positioning information and the current time of the vehicle, and according to the adaptive cruise state information, its own identification information, the current time, the current positioning information of the vehicle and the speed of the vehicle information to generate an adaptive cruise trajectory data packet, and send the adaptive cruise trajectory data packet to a server, so that the server obtains vehicle information according to the identification information, and sends the adaptive cruise trajectory according to the vehicle information. The adaptive cruise trajectory data in the data package is stored in the database of the corresponding vehicle.

本发明实施例的车辆，不仅能够实现自适应巡航数据的可靠存储，同时还有助于用户查询车辆在某段时间内自适应巡航状态下的巡航速度和自适应巡航轨迹，以便用户了解车辆的ADAS模块，且实现简单。另外，该车辆不仅有助于实现自适应巡航轨迹的记录，还有助于实现行车轨迹的记录。The vehicle of the embodiment of the present invention can not only realize reliable storage of adaptive cruise data, but also help the user to query the cruising speed and adaptive cruise trajectory of the vehicle in the adaptive cruise state within a certain period of time, so that the user can understand the vehicle's cruising speed and adaptive cruise trajectory. ADAS module, and the implementation is simple. In addition, the vehicle not only helps to realize the recording of the adaptive cruise track, but also helps to realize the recording of the driving track.

为达上述目的，本发明第四方面实施例提出了一种服务器，包括：第一接收模块，用于在车辆的ADAS模块开启自适应巡航功能后，接收所述车辆的数据采集终端发送的自适应巡航轨迹数据包，其中，所述自适应巡航轨迹数据包包括自适应巡航状态信息、所述数据采集终端的标识信息、当前时间和所述车辆的当前定位信息；获取模块，用于根据所述标识信息获取车辆信息；存储模块，用于根据所述车辆信息将所述自适应巡航轨迹数据包中的自适应巡航轨迹数据保存到对应车辆的数据库中；以及第二接收模块，用于接收客户端发送的自适应巡航轨迹请求；发送模块，用于根据所述自适应巡航轨迹请求向所述客户端发送对应的自适应巡航轨迹数据，以便所述客户端根据所述自适应巡航轨迹数据下载地图，以在所述地图上描绘对应车辆的自适应巡航轨迹，其中，所述自适应巡航轨迹数据包括定位信息和对应自适应巡航轨迹数据包的发送时间，所述自适应巡航轨迹请求包括车辆信息和时间段。In order to achieve the above purpose, a fourth aspect of the present invention provides a server, including: a first receiving module, configured to receive the self-adaptive cruise sent by the data acquisition terminal of the vehicle after the ADAS module of the vehicle enables the adaptive cruise function. an adaptive cruise trajectory data packet, wherein the adaptive cruise trajectory data packet includes adaptive cruise status information, identification information of the data collection terminal, current time and current positioning information of the vehicle; an acquisition module is used to The identification information is used to obtain vehicle information; a storage module is used to save the adaptive cruise trajectory data in the adaptive cruise trajectory data packet into the database of the corresponding vehicle according to the vehicle information; and a second receiving module is used to receive The adaptive cruise trajectory request sent by the client; the sending module is configured to send corresponding adaptive cruise trajectory data to the client according to the adaptive cruise trajectory request, so that the client can use the adaptive cruise trajectory data according to the adaptive cruise trajectory data. Downloading a map to depict the adaptive cruise trajectory of the corresponding vehicle on the map, wherein the adaptive cruise trajectory data includes positioning information and the sending time of the corresponding adaptive cruise trajectory data packet, and the adaptive cruise trajectory request includes Vehicle information and time period.

本发明实施例的服务器，不仅能够实现自适应巡航数据的可靠存储，同时还有助于用户查询车辆在某段时间内自适应巡航状态下的自适应巡航轨迹，以便用户了解车辆的ADAS模块，且实现简单。The server of the embodiment of the present invention can not only realize the reliable storage of adaptive cruise data, but also help the user to query the adaptive cruise trajectory of the vehicle in the adaptive cruise state within a certain period of time, so that the user can understand the ADAS module of the vehicle, And the implementation is simple.

为达到上述目的，本发明第五方面实施例提出了一种客户端，包括：发送单元，用于向服务器发送自适应巡航轨迹请求，其中，所述自适应巡航轨迹请求包括车辆信息和时间段；接收单元，用于接收所述服务器根据所述自适应巡航轨迹请求发送的对应的自适应巡航轨迹数据，其中，所述自适应巡航轨迹数据包括定位信息和对应车辆的数据采集终端向所述服务器发送的对应自适应巡航轨迹数据包的发送时间，所述自适应巡航轨迹数据包包括自适应巡航状态信息、所述数据采集终端的标识信息、当前时间和所述车辆的当前定位信息；下载单元，用于根据所述自适应巡航轨迹数据下载地图；描绘单元，用于在所述地图上描绘对应车辆的自适应巡航轨迹。In order to achieve the above object, an embodiment of the fifth aspect of the present invention provides a client, including: a sending unit, configured to send an adaptive cruise trajectory request to a server, wherein the adaptive cruise trajectory request includes vehicle information and a time period ; a receiving unit for receiving corresponding adaptive cruise trajectory data sent by the server according to the adaptive cruise trajectory request, wherein the adaptive cruise trajectory data includes positioning information and a data collection terminal of the corresponding vehicle to the The sending time of the corresponding adaptive cruise trajectory data packet sent by the server, and the adaptive cruise trajectory data packet includes adaptive cruise status information, identification information of the data collection terminal, current time and current positioning information of the vehicle; download The unit is used for downloading a map according to the adaptive cruise trajectory data; the drawing unit is used for drawing the adaptive cruise trajectory of the corresponding vehicle on the map.

本发明实施例的客户端，有助于用户查询车辆在某段时间内自适应巡航状态下的巡航速度和自适应巡航轨迹，以便用户了解车辆的ADAS模块，且实现简单。The client in the embodiment of the present invention helps the user to query the cruise speed and the adaptive cruise trajectory of the vehicle in an adaptive cruise state within a certain period of time, so that the user can understand the ADAS module of the vehicle, and the implementation is simple.

本发明附加的方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

附图说明Description of drawings

本发明上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

图1为根据本发明一个实施例的车辆自适应巡航轨迹的记录方法的流程图；1 is a flowchart of a method for recording a vehicle adaptive cruise trajectory according to an embodiment of the present invention;

图2为根据本发明一个实施例的车辆自适应巡航轨迹的记录方法中涉及到的结构间的关系示意图；2 is a schematic diagram of the relationship between structures involved in a method for recording a vehicle adaptive cruise trajectory according to an embodiment of the present invention;

图3为根据本发明一个实施例的数据采集终端的结构示意图；3 is a schematic structural diagram of a data acquisition terminal according to an embodiment of the present invention;

图4为根据本发明一个实施例的数据采集终端的工作流程图；FIG. 4 is a working flow chart of a data acquisition terminal according to an embodiment of the present invention;

图5为根据本发明一个实施例的客户端的工作流程图；FIG. 5 is a working flowchart of a client according to an embodiment of the present invention;

图6为根据本发明一个实施例的车辆自适应巡航轨迹的记录系统的结构框图；以及6 is a structural block diagram of a system for recording an adaptive cruise trajectory of a vehicle according to an embodiment of the present invention; and

图7为根据本发明一个实施例的车辆的结构框图；7 is a structural block diagram of a vehicle according to an embodiment of the present invention;

图8为根据本发明一个实施例的服务器的结构框图；8 is a structural block diagram of a server according to an embodiment of the present invention;

图9为根据本发明一个实施例的客户端的结构框图。FIG. 9 is a structural block diagram of a client according to an embodiment of the present invention.

具体实施方式Detailed ways

下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

下面参考附图描述本发明实施例的车辆及其自适应巡航轨迹的记录方法、系统。The following describes the method and system for recording a vehicle and its adaptive cruise trajectory according to the embodiments of the present invention with reference to the accompanying drawings.

图1为根据本发明一个实施例的车辆自适应巡航轨迹的记录方法的流程图。FIG. 1 is a flowchart of a method for recording an adaptive cruise trajectory of a vehicle according to an embodiment of the present invention.

在本发明的实施例中，车辆包括ADAS模块和数据采集终端。其中，ADAS模块与数据采集终端之间通过CAN(Controller Area Network，控制器局域网络)总线进行通信。In the embodiment of the present invention, the vehicle includes an ADAS module and a data acquisition terminal. Among them, communication between the ADAS module and the data acquisition terminal is performed through a CAN (Controller Area Network, controller area network) bus.

如图1所示，该车辆自适应巡航轨迹的记录方法包括以下步骤：As shown in Figure 1, the method for recording the adaptive cruise trajectory of the vehicle includes the following steps:

S101，ADAS模块在开启自适应巡航功能后，向数据采集终端发送自适应巡航状态信息。S101, after the adaptive cruise function is enabled, the ADAS module sends the adaptive cruise state information to the data acquisition terminal.

具体地，ADAS模块上电后，ADAS模块根据控制指令开启自适应巡航功能，并进入自适应巡航状态。在该状态下，ADAS模块获取车辆的车速信息，同时通过搭载的设置在车辆上的检测设备或信号采集设备计算本车辆与前方车辆之间距离，进而根据获取的车速信息和与前车之间的距离信息对车辆的制动防抱死系统和发动机系统进行自动控制，即实现自适应巡航功能，并生成自适应巡航状态信息。进一步地，ADAS模块将自适应巡航状态信息通过CAN总线发送给数据采集终端。Specifically, after the ADAS module is powered on, the ADAS module enables the adaptive cruise function according to the control command, and enters the adaptive cruise state. In this state, the ADAS module obtains the speed information of the vehicle, and at the same time calculates the distance between the vehicle and the vehicle ahead through the detection device or signal acquisition device installed on the vehicle, and then calculates the distance between the vehicle and the vehicle ahead according to the obtained speed information and the vehicle in front. The distance information is used to automatically control the vehicle's anti-lock braking system and engine system, that is, to realize the adaptive cruise function and generate adaptive cruise status information. Further, the ADAS module sends the adaptive cruise state information to the data acquisition terminal through the CAN bus.

其中，车速信息可通过设置在车辆上的速度传感器采集获得，并实时发送给ADAS模块，以便ADAS模块很好的实现自适应巡航功能。检测设备或信号采集设备包括摄像头、毫米波雷达、激光雷达、超声波雷达等，以对车辆周围的路况进行检测。Among them, the vehicle speed information can be acquired by the speed sensor set on the vehicle, and sent to the ADAS module in real time, so that the ADAS module can well realize the adaptive cruise function. Detection equipment or signal acquisition equipment includes cameras, millimeter wave radars, lidars, ultrasonic radars, etc., to detect the road conditions around the vehicle.

在本发明的一个实施例中，为便于车速信息的传输，如图2所示，车辆还包括仪表，该仪表可直接与速度传感器相连，以根据速度传感器的采集数据计算出车辆的车速，以及按照预设的协议格式生成车速信息。同时，仪表与ADAS模块、数据采集终端之间均通过CAN总线进行通讯，进而可以预设周期将车速信息发送至CAN总线，以通过CAN总线将车速信息分别传输至ADAS模块和数据采集终端。In one embodiment of the present invention, in order to facilitate the transmission of vehicle speed information, as shown in FIG. 2 , the vehicle further includes a meter, which can be directly connected with the speed sensor to calculate the vehicle speed according to the data collected by the speed sensor, and Generate vehicle speed information according to a preset protocol format. At the same time, the instrument communicates with the ADAS module and the data acquisition terminal through the CAN bus, and then the vehicle speed information can be sent to the CAN bus in a preset period, so as to transmit the vehicle speed information to the ADAS module and the data acquisition terminal respectively through the CAN bus.

可以理解，当ADAS模块退出自适应巡航功能或未开启自适应巡航功能时，ADAS模块不会生成自适应巡航状态信息，更不会向数据采集终端发送自适应巡航状态信息。It can be understood that when the ADAS module exits the adaptive cruise function or does not turn on the adaptive cruise function, the ADAS module will not generate adaptive cruise status information, and will not send adaptive cruise status information to the data collection terminal.

S102，数据采集终端获取车辆的车速信息、车辆的当前定位信息和当前时间，并根据自适应巡航状态信息、自身的标识信息、当前时间、车辆的当前定位信息和车辆的车速信息生成自适应巡航轨迹数据包，以及将自适应巡航轨迹数据包发送给服务器。S102, the data collection terminal acquires the vehicle speed information, the vehicle's current positioning information and the current time, and generates an adaptive cruise according to the adaptive cruise state information, its own identification information, the current time, the vehicle's current positioning information and the vehicle's speed information Track data packets, and send the adaptive cruise track data packets to the server.

在本发明的一个实施例中，ADAS模块开启自适应巡航功能后，ADAS模块可每隔第一预设时间向数据采集终端发送自适应巡航状态信息，数据采集终端每隔第二预设时间向服务器发送自适应巡航轨迹数据包。在该实施例中，第二预设时间大于第一预设时间，以保证数据采集终端每上传一次数据包能够采集到至少一次自适应巡航状态信息。In an embodiment of the present invention, after the ADAS module enables the adaptive cruise function, the ADAS module can send the adaptive cruise status information to the data acquisition terminal every first preset time, and the data acquisition terminal sends information to the data acquisition terminal every second preset time. The server sends adaptive cruise trajectory data packets. In this embodiment, the second preset time is greater than the first preset time, so as to ensure that the data collection terminal can collect at least one adaptive cruise state information every time a data packet is uploaded.

可选地，第一预设时间可以是ADAS模块出厂时设定好的，第二预设时间可以是默认固定的如10s，也可以是可自定义设置的，如可通过仪表或客户端向服务器发送设置指令以设置第二预设时间。当数据采集终端接收到服务器的时间设置时，数据采集终端可保存设置后的第二预设时间，并在后续发送数据包时，以该时间作为间隔时间。在一些示例中，在对第二预设时间进行设置时，设置精度可为1s。Optionally, the first preset time can be set by the ADAS module when it leaves the factory, and the second preset time can be fixed by default, such as 10s, or can be customized, such as through the instrument or the client. The server sends a setting instruction to set the second preset time. When the data collection terminal receives the time setting from the server, the data collection terminal can save the set second preset time, and use this time as the interval when sending data packets subsequently. In some examples, when setting the second preset time, the setting precision may be 1s.

具体地，如图3所示，数据采集终端由MCU、网络通信模块、定位模块和CAN通信模块组成。Specifically, as shown in FIG. 3 , the data acquisition terminal is composed of an MCU, a network communication module, a positioning module and a CAN communication module.

其中，MCU为数据采集终端的主控模块，可对从定位模块接收到的定位数据报文进行解析以获取车辆的当前定位信息，同时通过CAN通信模块接收ADAS模块通过CAN总线发送的自适应巡航状态信息，以及接收仪表通过CAN总线发送的车速信息，并使能计时，且每当计时达到第二预设时间，通过网络通信模块向服务器发送自适应巡航轨迹数据包。其中，自适应巡航轨迹数据包包括：车辆的定位信息、数据包的上传时间、车辆的车速信息、自适应巡航状态信息和数据采集终端的标识信息。Among them, the MCU is the main control module of the data acquisition terminal, which can parse the positioning data message received from the positioning module to obtain the current positioning information of the vehicle, and at the same time receive the adaptive cruise sent by the ADAS module through the CAN bus through the CAN communication module. Status information, and the vehicle speed information sent by the instrument through the CAN bus, and enable timing, and whenever the timing reaches the second preset time, the adaptive cruise trajectory data packet is sent to the server through the network communication module. The adaptive cruise trajectory data packet includes: vehicle positioning information, upload time of the data packet, vehicle speed information, adaptive cruise state information, and identification information of the data collection terminal.

可选地，网络通信模块可采用无线通信技术，包括移动互联网通讯技术，如2G、3G、4G技术。Optionally, the network communication module may adopt wireless communication technologies, including mobile Internet communication technologies, such as 2G, 3G, and 4G technologies.

在本发明的一个实施例中，为了保证自适应巡航轨迹数据包的完整性和可靠性，在每个第二预设时间内，数据采集终端可实时检测当前定位信息是否有效，即定位信息是否完整，如完整的定位信息同时包含有经度和纬度，并在当前定位信息有效时，获取当前定位信息，同时可校准当前时间，且只有当定位信息有效时才上传数据包至服务器。In an embodiment of the present invention, in order to ensure the integrity and reliability of the adaptive cruise trajectory data packet, within each second preset time, the data collection terminal can detect in real time whether the current positioning information is valid, that is, whether the positioning information is valid or not. Complete, for example, the complete positioning information includes both longitude and latitude, and when the current positioning information is valid, the current positioning information is obtained, and the current time can be calibrated at the same time, and the data package is uploaded to the server only when the positioning information is valid.

S103，服务器根据标识信息获取车辆信息，并根据车辆信息将自适应巡航轨迹数据包中的自适应巡航轨迹数据保存到对应车辆的数据库中，其中，自适应巡航轨迹数据包括定位信息、车速信息和对应自适应巡航轨迹数据包的发送时间。S103, the server obtains vehicle information according to the identification information, and saves the adaptive cruise trajectory data in the adaptive cruise trajectory data package into the database of the corresponding vehicle according to the vehicle information, wherein the adaptive cruise trajectory data includes positioning information, vehicle speed information and Corresponding to the sending time of the adaptive cruise trajectory data packet.

其中，数据采集终端的标识信息与车辆信息之间存在一一对应关系，即通过标识信息可得到对应的车辆信息。需要说明的是，车辆信息即车辆的身份标识，如可以是车牌信息或者车架号信息。Among them, there is a one-to-one correspondence between the identification information of the data collection terminal and the vehicle information, that is, the corresponding vehicle information can be obtained through the identification information. It should be noted that the vehicle information is the identification of the vehicle, such as license plate information or vehicle frame number information.

具体地，当服务器接收到数据采集终端发送的自适应巡航轨迹数据包时，从数据包中提取数据采集终端的标识信息，以获得与该标识信息对应的车辆信息，进而将包括定位信息、车速信息和时间的自适应巡航轨迹数据保存到对应车辆的数据库中。Specifically, when the server receives the adaptive cruise trajectory data packet sent by the data acquisition terminal, it extracts the identification information of the data acquisition terminal from the data packet to obtain vehicle information corresponding to the identification information, and further includes positioning information, vehicle speed The adaptive cruise trajectory data of information and time is saved in the database of the corresponding vehicle.

S104，服务器在接收到自适应巡航轨迹请求时，根据自适应巡航轨迹请求向客服端发送对应的自适应巡航轨迹数据，以便客户端根据接收到的自适应巡航轨迹数据下载地图，并在地图上描绘对应车辆的自适应巡航轨迹，其中，自适应巡航轨迹请求包括车辆信息和时间段。S104: When receiving the adaptive cruise trajectory request, the server sends the corresponding adaptive cruise trajectory data to the customer service terminal according to the adaptive cruise trajectory request, so that the client can download the map according to the received adaptive cruise trajectory data, and display the corresponding adaptive cruise trajectory data on the map. The adaptive cruise trajectory of the corresponding vehicle is depicted, wherein the adaptive cruise trajectory request includes vehicle information and a time period.

具体地，服务器根据自适应巡航轨迹请求中的车辆信息从对应车辆的数据库中提取所请求时间段内的所有自适应巡航轨迹数据，并将所有自适应巡航轨迹数据发送给客户端。客户端根据接收到的自适应巡航轨迹数据下载地图，并按照时间先后、时间连续、位置相近的原则在所下载的地图上描绘自适应巡航轨迹。Specifically, the server extracts all adaptive cruise trajectory data within the requested time period from the database of the corresponding vehicle according to the vehicle information in the adaptive cruise trajectory request, and sends all the adaptive cruise trajectory data to the client. The client downloads the map according to the received adaptive cruise trajectory data, and draws the adaptive cruise trajectory on the downloaded map according to the principles of time sequence, time continuity, and location proximity.

可选地，客户端可以是位于PC(Personal Computer，个人计算机)上web客户端，也可以安装在移动设备如智能手机上的APP(Applicatin，应用软件)。Optionally, the client may be a web client located on a PC (Personal Computer, personal computer), or an APP (Applicatin, application software) installed on a mobile device such as a smart phone.

具体而言，用户在客户端输入用户名与密码，登入个人系统。进而可以在该系统中设置与用户名绑定的车辆，并可以通过该系统向服务器发送自适应巡航轨迹请求，以查询所绑定车辆的自适应巡航轨迹和轨迹上任一点的车速信息。在该示例中，一个名用户可以与一辆或者多辆车建立绑定关系。Specifically, the user enters the user name and password on the client to log in to the personal system. Furthermore, a vehicle bound to the user name can be set in the system, and an adaptive cruise trajectory request can be sent to the server through the system to query the adaptive cruise trajectory of the bound vehicle and the vehicle speed information at any point on the trajectory. In this example, a user can establish a binding relationship with one or more vehicles.

其中，在通过客户端发送请求前，用户需要在客户端设置车辆信息和所请求时间段。其中，车辆信息可以是车牌信息或者车架号信息，时间段信息包括起始时间与结束时间。可以理解，在用户输入起始时间和结束时间时，客户端还判断结束时间是否晚于开始时间，且起始时间和结束时间是否均为历史时间，如果是，则说明时间段输入正确，如果否，则时间段输入错误，此时客户端可弹出提示框或发出提示声音，以提醒用户重新输入时间段。Among them, before sending the request through the client, the user needs to set the vehicle information and the requested time period on the client. The vehicle information may be license plate information or vehicle frame number information, and the time period information includes a start time and an end time. It can be understood that when the user inputs the start time and end time, the client also determines whether the end time is later than the start time, and whether the start time and end time are both historical time. If no, the time period is incorrectly entered, and the client can pop up a prompt box or sound a prompt to remind the user to re-enter the time period.

在客户端接收到服务器发送的自适应巡航轨迹数据时，按照轨迹数据中的时间先后顺序、定位信息在地图上找到对应的坐标并描绘成线，形成车辆的自适应巡航轨迹。其中，客户端以静态图的方式显示车辆在所请求时间段内的自适应巡航轨迹图，且每个定位信息的对应车速隐藏显示，或者，以动态图的方式按照时间先后顺序播放车辆在所请求时间段内的形成自适应巡航轨迹的过程和对应车速的变化过程。When the client receives the adaptive cruise trajectory data sent by the server, it finds the corresponding coordinates on the map according to the time sequence and positioning information in the trajectory data and draws them into lines to form the adaptive cruise trajectory of the vehicle. Among them, the client displays the adaptive cruise trajectory map of the vehicle in the requested time period in the form of a static image, and the corresponding vehicle speed of each positioning information is hidden and displayed, or, in the form of a dynamic image, the vehicle is displayed in the chronological order in the form of a dynamic image. The process of forming the adaptive cruise trajectory and the corresponding change process of the vehicle speed in the requested time period.

换言之，客户端在显示自适应巡航轨迹时，可以用静态图的方式呈现车辆在时间段内的自适应巡航轨迹图，且当用户指向自适应巡航轨迹上某一点(即一个定位信息)时，显示该点对应的巡航速度；也可以用动态图的方式，按照时间先后顺序，播放车辆在所请求时间段内的形成自适应巡航轨迹的过程以及对应的车速变化过程。In other words, when the client displays the adaptive cruise trajectory, it can use a static image to present the adaptive cruise trajectory of the vehicle in the time period, and when the user points to a point on the adaptive cruise trajectory (that is, a piece of positioning information), The cruise speed corresponding to the point is displayed; the process of forming an adaptive cruise trajectory and the corresponding speed change process of the vehicle in the requested time period can also be played in the form of dynamic graphs in chronological order.

需要说明的是，客户端在接收到服务器发送的自适应巡航轨迹数据后，还检测自适应巡航轨迹数据中对应的自适应巡航轨迹数据包的发送时间是否在所请求时间段内。如果自适应巡航轨迹数据中对应的自适应巡航轨迹数据包的发送时间不在所请求时间段内，则客户端发出报警提示如“嘀嘀嘀”警报声或语音提示信息，以提醒用户接收到的自适应巡航轨迹数据存在错误。It should be noted that, after receiving the adaptive cruise trajectory data sent by the server, the client also detects whether the sending time of the corresponding adaptive cruise trajectory data packet in the adaptive cruise trajectory data is within the requested time period. If the sending time of the corresponding adaptive cruise trajectory data packet in the adaptive cruise trajectory data is not within the requested time period, the client will send out an alarm prompt such as a "Di Di Di" alarm sound or a voice prompt to remind the user of the received There is an error in the adaptive cruise trajectory data.

如果自适应巡航轨迹数据中对应的自适应巡航轨迹数据包的发送时间均在所请求时间段内，客户端则按照时间先后、时间连续、位置相近的原则在所下载的地图上描绘自适应巡航轨迹。If the sending time of the corresponding adaptive cruise trajectory data packets in the adaptive cruise trajectory data is within the requested time period, the client will draw the adaptive cruise on the downloaded map according to the principles of time sequence, time continuity and location close. trajectory.

根据本发明实施例的车辆自适应巡航轨迹的记录方法，不仅能够实现自适应巡航数据的可靠存储，同时还能够让用户轻松查询到车辆在某段时间内自适应巡航状态下的巡航速度和自适应巡航轨迹，以便用户了解车辆的ADAS模块，且实现简单。另外，该记录方法不仅能够实现自适应巡航轨迹的记录，还能够用于实现行车轨迹的记录。The method for recording the vehicle adaptive cruise trajectory according to the embodiment of the present invention can not only realize reliable storage of adaptive cruise data, but also allow users to easily query the cruise speed and automatic cruise speed of the vehicle in an adaptive cruise state within a certain period of time. Adapt to the cruise trajectory so that the user can understand the ADAS module of the vehicle, and the implementation is simple. In addition, the recording method can not only realize the recording of the adaptive cruise track, but also can be used to realize the recording of the driving track.

另外，为便于理解本发明实施例的车辆自适应巡航轨迹的记录方法，可结合图4、图5进行说明：In addition, in order to facilitate the understanding of the method for recording the vehicle adaptive cruise trajectory according to the embodiment of the present invention, it can be described with reference to FIG. 4 and FIG. 5 :

如图4所示，数据采集终端的工作流程如下：As shown in Figure 4, the workflow of the data acquisition terminal is as follows:

S201，数据采集终端上电，拨号联网，建立与服务器之间的通讯连接。S201, the data acquisition terminal is powered on, dial-up networking, and establishes a communication connection with the server.

S202，数据采集终端检测定位信息是否有效，如果无效则等待定位信息有效，如果有效则校正自身的时间，并执行S203。S202, the data collection terminal detects whether the positioning information is valid, and if it is invalid, waits for the positioning information to be valid, and if valid, corrects its own time, and executes S203.

S203，数据采集终端读取定位信息，从CAN总线读取ADAS模块发送的自适应巡航状态信息和仪表发送的车速信息。S203, the data acquisition terminal reads the positioning information, and reads the adaptive cruise state information sent by the ADAS module and the vehicle speed information sent by the instrument from the CAN bus.

S204，数据采集终端获取当前时间，并根据自适应巡航状态信息、自身的标识信息、当前时间、定位信息和车速信息生成自适应巡航轨迹数据包，以及将数据包发送给服务器。S204, the data collection terminal obtains the current time, and generates an adaptive cruise trajectory data packet according to the adaptive cruise state information, its own identification information, current time, positioning information and vehicle speed information, and sends the data packet to the server.

S205，返回步骤S203，并每间隔第二预设时间向服务器发送数据包。S205, returning to step S203, and sending data packets to the server every second preset time.

需要说明的是，在第二预设时间内，如果检测到定位信息无效，则数据采集终端需要转至步骤S202等待定位信息有效，再往下运行。以及在第二预设时间内，如果检测到与服务器之间的网络连接断开，则数据采集终端需要转至S201步骤中建立网络连接后，再往下运行。It should be noted that, within the second preset time, if it is detected that the positioning information is invalid, the data collection terminal needs to go to step S202 to wait for the positioning information to be valid, and then proceed to the next operation. And within the second preset time, if it is detected that the network connection with the server is disconnected, the data acquisition terminal needs to go to step S201 to establish a network connection, and then run down.

如图5所示，客户端的工作流程如下：As shown in Figure 5, the workflow of the client is as follows:

S301，登陆客户端。S301, log in to the client.

具体地，用户输入用户名与密码以登录客户端。其中，用户名需先经过注册并建立与具体车辆的绑定关系，且在成功登陆客户端后，才可以进行其他操作。Specifically, the user enters a user name and password to log in to the client. Among them, the user name needs to be registered and a binding relationship with a specific vehicle is established, and other operations can be performed after successfully logging in to the client.

S302，设置用车辆信息和时间段信息。S302, vehicle information and time period information for setting.

其中，车辆信息可以为车架号或者车牌号，时间段信息包括起始时间与结束时间。The vehicle information may be a vehicle frame number or a license plate number, and the time period information includes a start time and an end time.

S303，向服务器发送自适应巡航轨迹请求。S303: Send an adaptive cruise trajectory request to the server.

具体地，客户端检测时间段信息是否正确，包括起始时间是否超过结束时间、起始时间和结束时间是否超过当前时间等，若检测通过，则向服务器发送自适应巡航轨迹请求，若检测不通过，则提示用户错误原因，以便用户重新设置。Specifically, the client checks whether the time period information is correct, including whether the start time exceeds the end time, whether the start time and end time exceed the current time, etc. If the detection passes, it sends an adaptive cruise trajectory request to the server. If passed, the user will be prompted for the cause of the error so that the user can reset it.

S304，接收服务器发送的自适应巡航轨迹数据。S304: Receive adaptive cruise trajectory data sent by the server.

具体地，检测所有自适应巡航轨迹数据的时间是否在请求时间段内，如果不在时间段内则提示用户下载轨迹数据错误，如果正确则执行下一步操作。Specifically, it is detected whether the time of all adaptive cruise trajectory data is within the requested time period, and if it is not within the time period, the user is prompted that the download of the trajectory data is wrong, and if it is correct, the next operation is performed.

S305，描绘自适应巡航轨迹图。S305, draw an adaptive cruise trajectory map.

具体地，客户端根据接收到的自适应巡航轨迹数据的位置信息下载轨迹区域的电子地图，并根据轨迹数据的时间、位置在地图上描绘出车辆的的自适应巡航轨迹图。Specifically, the client downloads the electronic map of the trajectory area according to the received position information of the adaptive cruise trajectory data, and draws the adaptive cruise trajectory diagram of the vehicle on the map according to the time and position of the trajectory data.

图6为根据本发明实施例的车辆自适应巡航轨迹的记录系统的结构框图。如图6所示，该车辆自适应巡航轨迹的记录系统1000包括：车辆100、服务器200和客户端300，车辆100包括仪表10、ADAS模块20和数据采集终端30。FIG. 6 is a structural block diagram of a system for recording an adaptive cruise trajectory of a vehicle according to an embodiment of the present invention. As shown in FIG. 6 , the vehicle adaptive cruise trajectory recording system 1000 includes: a vehicle 100 , a server 200 and a client 300 . The vehicle 100 includes an instrument 10 , an ADAS module 20 and a data collection terminal 30 .

其中，仪表10用于获取车辆的车速信息，并将车速信息分别发送给ADAS模块20和数据采集终端30。The meter 10 is used to acquire vehicle speed information, and send the vehicle speed information to the ADAS module 20 and the data collection terminal 30 respectively.

具体地，可通过设置在车辆车轮上的转速传感器采集获得轮速信息，进而与轮速传感器相连的仪表10可根据轮速信息计算出车辆的车速，以及按照预设的协议格式生成车速信息。在该实施例中，仪表10与ADAS模块20、数据采集终端30之间均通过CAN总线进行通讯，进而可以预设周期将车速信息发送至CAN总线，以通过CAN总线将车速信息分别传输至ADAS模块20和数据采集终端30。Specifically, the wheel speed information can be collected by the rotational speed sensor disposed on the wheel of the vehicle, and then the meter 10 connected to the wheel speed sensor can calculate the vehicle speed according to the wheel speed information, and generate the vehicle speed information according to the preset protocol format. In this embodiment, the instrument 10 communicates with the ADAS module 20 and the data acquisition terminal 30 through the CAN bus, so that the vehicle speed information can be sent to the CAN bus in a preset period, so that the vehicle speed information can be respectively transmitted to the ADAS through the CAN bus module 20 and data acquisition terminal 30 .

ADAS模块20在开启自适应巡航功能后，向数据采集终端30发送自适应巡航状态信息。After enabling the adaptive cruise function, the ADAS module 20 sends the adaptive cruise state information to the data acquisition terminal 30 .

具体地，ADAS模块20上电后，ADAS模块20根据控制指令开启自适应巡航功能，并进入自适应巡航状态。在该状态下，ADAS模块20获取车辆的车速信息，同时通过搭载的设置在车辆上的检测设备或信号采集设备计算本车辆与前方车辆之间距离，进而根据获取的车速信息和与前车之间的距离信息对车辆的制动防抱死系统和发动机系统进行自动控制，即实现自适应巡航功能，并生成自适应巡航状态信息。进一步地，ADAS模块20将自适应巡航状态信息通过CAN总线发送给数据采集终端30。Specifically, after the ADAS module 20 is powered on, the ADAS module 20 enables the adaptive cruise function according to the control instruction, and enters the adaptive cruise state. In this state, the ADAS module 20 obtains the speed information of the vehicle, and at the same time calculates the distance between the vehicle and the vehicle ahead through the detection device or signal acquisition device mounted on the vehicle, and then calculates the distance between the vehicle and the vehicle ahead according to the obtained speed information and the vehicle in front. The distance information is used to automatically control the vehicle's anti-lock braking system and engine system, that is, to realize the adaptive cruise function and generate adaptive cruise status information. Further, the ADAS module 20 sends the adaptive cruise state information to the data acquisition terminal 30 through the CAN bus.

其中，检测设备或信号采集设备包括摄像头、毫米波雷达、激光雷达、超声波雷达等，以对车辆周围的路况进行检测。Among them, the detection equipment or signal collection equipment includes cameras, millimeter-wave radars, lidars, ultrasonic radars, etc., to detect the road conditions around the vehicle.

可以理解，当ADAS模块20退出自适应巡航功能或未开启自适应巡航功能时，ADAS模块不会生成自适应巡航状态信息，更不会向数据采集终端30发送自适应巡航状态信息。It can be understood that when the ADAS module 20 exits the adaptive cruise function or does not enable the adaptive cruise function, the ADAS module will not generate adaptive cruise status information, and will not send adaptive cruise status information to the data collection terminal 30 .

数据采集终端30用于获取车辆的车速信息、车辆的当前定位信息和当前时间，并根据自适应巡航状态信息、自身的标识信息、当前时间、车辆的当前定位信息和车辆的车速信息生成自适应巡航轨迹数据包，以及将自适应巡航轨迹数据包发送给服务器200。The data collection terminal 30 is used to obtain the speed information of the vehicle, the current positioning information of the vehicle and the current time, and generate adaptive cruise control information according to the adaptive cruise state information, its own identification information, the current time, the current positioning information of the vehicle and the speed information of the vehicle. cruise trajectory data packets, and send the adaptive cruise trajectory data packets to the server 200 .

在本发明的一个实施例中，ADAS模块20开启自适应巡航功能后，ADAS模块20每隔第一预设时间向数据采集终端30发送自适应巡航状态信息，数据采集终端30每隔第二预设时间向服务器200发送自适应巡航轨迹数据包。在该实施例中，第二预设时间大于第一预设时间，以保证数据采集终端30每上传一次数据包能够采集到至少一次自适应巡航状态信息。In one embodiment of the present invention, after the ADAS module 20 enables the adaptive cruise function, the ADAS module 20 sends adaptive cruise status information to the data acquisition terminal 30 every first preset time, and the data acquisition terminal 30 every second preset time. Set the time to send the adaptive cruise trajectory data packet to the server 200 . In this embodiment, the second preset time is greater than the first preset time, so as to ensure that the data collection terminal 30 can collect at least one adaptive cruise state information every time a data packet is uploaded.

可选地，第一预设时间可以是ADAS模块20出厂时设定好的，第二预设时间可以是默认固定的如10s，也可以是可自定义设置的，如可通过仪表10或客户端300向服务器200发送设置指令以设置第二预设时间。当数据采集终端30接收到服务器200的时间设置时，数据采集终端30可保存设置后的第二预设时间，并在后续发送数据包时，以该时间作为间隔时间。在一些示例中，在对第二预设时间进行设置时，设置精度可为1s。Optionally, the first preset time can be set by the ADAS module 20 when it leaves the factory, and the second preset time can be fixed by default, such as 10s, or can be customized, such as through the instrument 10 or the customer. The terminal 300 sends a setting instruction to the server 200 to set the second preset time. When the data collection terminal 30 receives the time setting from the server 200, the data collection terminal 30 may save the set second preset time, and use this time as the interval time when sending data packets subsequently. In some examples, when setting the second preset time, the setting precision may be 1s.

具体地，如图3所示，数据采集终端30由MCU、网络通信模块、定位模块和CAN通信模块组成。Specifically, as shown in FIG. 3 , the data acquisition terminal 30 is composed of an MCU, a network communication module, a positioning module and a CAN communication module.

其中，MCU为数据采集终端30的主控模块，可对从定位模块接收到的定位数据报文进行解析以获取车辆的当前定位信息，同时通过CAN通信模块接收ADAS模块20通过CAN总线发送的自适应巡航状态信息，以及接收仪表10通过CAN总线发送的车速信息，并使能计时，且每当计时达到第二预设时间，通过网络通信模块向服务器200发送自适应巡航轨迹数据包。其中，自适应巡航轨迹数据包包括：车辆的定位信息、数据包的上传时间、车辆的车速信息、自适应巡航状态信息和数据采集终端的标识信息。Among them, the MCU is the main control module of the data acquisition terminal 30, which can parse the positioning data message received from the positioning module to obtain the current positioning information of the vehicle, and at the same time receive the self-transmission sent by the ADAS module 20 through the CAN bus through the CAN communication module. The adaptive cruise state information and the vehicle speed information sent by the meter 10 through the CAN bus are received, and the timing is enabled, and whenever the timing reaches the second preset time, the adaptive cruise trajectory data packet is sent to the server 200 through the network communication module. The adaptive cruise trajectory data packet includes: vehicle positioning information, upload time of the data packet, vehicle speed information, adaptive cruise state information, and identification information of the data collection terminal.

在本发明的一个实施例中，为了保证自适应巡航轨迹数据包的完整性和可靠性，在每个第二预设时间内，数据采集终端30可实时检测当前定位信息是否有效，即定位信息是否完整，如完整的定位信息同时包含有经度和纬度，并在当前定位信息有效时，获取当前定位信息，同时可校准当前时间，且只有当定位信息有效时才上传数据包至服务器200。In an embodiment of the present invention, in order to ensure the integrity and reliability of the adaptive cruise trajectory data packet, the data collection terminal 30 can detect in real time whether the current positioning information is valid, that is, the positioning information, in each second preset time. Whether it is complete, for example, the complete positioning information includes both longitude and latitude, and when the current positioning information is valid, the current positioning information is obtained, and the current time can be calibrated at the same time, and the data packet is uploaded to the server 200 only when the positioning information is valid.

服务器200用于根据标识信息获取车辆信息，并根据车辆信息将自适应巡航轨迹数据包中的自适应巡航轨迹数据保存到对应车辆的数据库中，以及在接收到客户端发送的自适应巡航轨迹请求时，根据自适应巡航轨迹请求向客户端300发送对应的自适应巡航轨迹数据。其中，自适应巡航轨迹数据包括定位信息、车速信息和对应自适应巡航轨迹数据包的发送时间，自适应巡航轨迹请求包括车辆信息和时间段。The server 200 is configured to acquire vehicle information according to the identification information, save the adaptive cruise trajectory data in the adaptive cruise trajectory data package into the database of the corresponding vehicle according to the vehicle information, and receive the adaptive cruise trajectory request sent by the client At the time, the corresponding adaptive cruise trajectory data is sent to the client 300 according to the adaptive cruise trajectory request. The adaptive cruise trajectory data includes positioning information, vehicle speed information, and the sending time of the corresponding adaptive cruise trajectory data packet, and the adaptive cruise trajectory request includes vehicle information and a time period.

其中，数据采集终端30的标识信息与车辆信息之间存在一一对应关系，即通过标识信息可得到对应的车辆信息。需要说明的是，车辆信息即车辆100的身份标识，如可以是车牌信息或者车架号信息。There is a one-to-one correspondence between the identification information of the data collection terminal 30 and the vehicle information, that is, the corresponding vehicle information can be obtained through the identification information. It should be noted that the vehicle information is the identification of the vehicle 100 , such as license plate information or vehicle frame number information.

具体地，当服务器200接收到数据采集终端30发送的自适应巡航轨迹数据包时，从数据包中提取数据采集终端30的标识信息，以获得与该标识信息对应的车辆信息，进而将包括定位信息、车速信息和时间的自适应巡航轨迹数据保存到对应车辆的数据库中。Specifically, when the server 200 receives the adaptive cruise trajectory data packet sent by the data acquisition terminal 30, it extracts the identification information of the data acquisition terminal 30 from the data packet to obtain vehicle information corresponding to the identification information, and further includes the positioning information. The adaptive cruise trajectory data of information, vehicle speed information and time are saved in the database of the corresponding vehicle.

进一步地，当服务器200接收到客户端300发送的自适应巡航轨迹请求时，根据自适应巡航轨迹请求中的车辆信息从对应车辆的数据库中提取所请求时间段内的所有自适应巡航轨迹数据，并将所有自适应巡航轨迹数据发送给客户端300。Further, when the server 200 receives the adaptive cruise trajectory request sent by the client 300, it extracts all adaptive cruise trajectory data within the requested time period from the database of the corresponding vehicle according to the vehicle information in the adaptive cruise trajectory request, And send all adaptive cruise trajectory data to the client 300 .

客户端300用于向服务器200发送自适应巡航轨迹请求，以及在接收到自适应巡航轨迹数据时，根据自适应巡航轨迹数据下载地图，并在地图上描绘对应车辆的自适应巡航轨迹。The client 300 is configured to send an adaptive cruise trajectory request to the server 200, and upon receiving the adaptive cruise trajectory data, download a map according to the adaptive cruise trajectory data, and draw the adaptive cruise trajectory of the corresponding vehicle on the map.

可选地，客户端300可以是位于PC(Personal Computer，个人计算机)上web客户端，也可以安装在移动设备如智能手机上的APP(Applicatin，应用软件)。Optionally, the client 300 may be a web client located on a PC (Personal Computer, personal computer), or an APP (Applicatin, application software) installed on a mobile device such as a smart phone.

具体地，用户在客户端300输入用户名与密码，登入个人系统。进而可以在该系统中设置与用户名绑定的车辆，并可以通过该系统向服务器200发送自适应巡航轨迹请求，以查询所绑定车辆的自适应巡航轨迹和轨迹上任一点的车速信息。在该示例中，一个名用户可以与一辆或者多辆车建立绑定关系。Specifically, the user enters the user name and password on the client 300 to log in to the personal system. Furthermore, a vehicle bound to the user name can be set in the system, and an adaptive cruise trajectory request can be sent to the server 200 through the system to query the bound vehicle's adaptive cruise trajectory and vehicle speed information at any point on the trajectory. In this example, a user can establish a binding relationship with one or more vehicles.

其中，在通过客户端300发送请求前，用户需要在客户端300设置车辆信息和所请求时间段。其中，车辆信息可以是车牌信息或者车架号信息，时间段信息包括起始时间与结束时间。可以理解，在用户输入起始时间和结束时间时，客户端300还判断结束时间是否晚于开始时间，且起始时间和结束时间是否均为历史时间，如果是，则说明时间段输入正确，如果否，则时间段输入错误，此时客户端可弹出提示框或发出提示声音，以提醒用户重新输入时间段。Wherein, before sending the request through the client 300, the user needs to set the vehicle information and the requested time period on the client 300. The vehicle information may be license plate information or vehicle frame number information, and the time period information includes a start time and an end time. It can be understood that when the user inputs the start time and the end time, the client terminal 300 also judges whether the end time is later than the start time, and whether the start time and the end time are both historical times, if so, it means that the time period input is correct, If not, the time period is incorrectly entered, and the client can pop up a prompt box or sound a prompt to remind the user to re-enter the time period.

在本发明的一个实施例中，客户端300在接收到服务器200发送的自适应巡航轨迹数据时，按照轨迹数据中的时间先后顺序、定位信息在地图上找到对应的坐标并描绘成线，形成车辆的自适应巡航轨迹。其中，户端300可以静态图的方式显示车辆在所请求时间段内的自适应巡航轨迹图，且每个定位信息的对应车速隐藏显示；还可以动态图的方式按照时间先后顺序播放车辆在所请求时间段内的形成自适应巡航轨迹的过程和对应车速的变化过程。In an embodiment of the present invention, when receiving the adaptive cruise trajectory data sent by the server 200, the client 300 finds the corresponding coordinates on the map according to the time sequence and positioning information in the trajectory data, and draws them into lines, forming a The adaptive cruise trajectory of the vehicle. Among them, the client 300 can display the adaptive cruise trajectory map of the vehicle in the requested time period in the form of a static image, and the corresponding vehicle speed of each positioning information can be hidden and displayed; it can also play the vehicle in the chronological order in the form of a dynamic image. The process of forming an adaptive cruise trajectory within the requested time period and the corresponding change process of the vehicle speed.

可选地，客户端300按照时间先后、时间连续、位置相近的原则在所下载的地图上描绘或播放自适应巡航轨迹。Optionally, the client 300 draws or plays the adaptive cruise track on the downloaded map according to the principles of time sequence, time continuity, and location proximity.

在本发明的一个实施例中，客户端300在接收到自适应巡航轨迹数据后，还检测自适应巡航轨迹数据中对应的自适应巡航轨迹数据包的发送时间是否在所请求时间段内。如果接自适应巡航轨迹数据中对应的自适应巡航轨迹数据包的发送时间不在所请求时间段内，则发出报警提示，以提醒用户接收到的自适应巡航轨迹数据存在错误。In an embodiment of the present invention, after receiving the adaptive cruise trajectory data, the client 300 further detects whether the sending time of the corresponding adaptive cruise trajectory data packet in the adaptive cruise trajectory data is within the requested time period. If the sending time of the corresponding adaptive cruise trajectory data packet in the adaptive cruise trajectory data is not within the requested time period, an alarm prompt is issued to remind the user that there is an error in the received adaptive cruise trajectory data.

需要说明的是，本发明实施例的车辆自适应巡航轨迹的记录系统的其它具体实施方式可参见本发明上述实施例的车辆自适应巡航轨迹的记录方法的具体实施方式。It should be noted that, for other specific implementations of the system for recording an adaptive cruise trajectory of a vehicle according to the embodiment of the present invention, reference may be made to the specific implementation of the method for recording an adaptive cruise trajectory of a vehicle in the above-mentioned embodiment of the present invention.

根据本发明实施例的车辆自适应巡航轨迹的记录系统，不仅能够实现自适应巡航数据的可靠存储，同时还能够让用户轻松查询到车辆在某段时间内自适应巡航状态下的巡航速度和自适应巡航轨迹，以便用户了解车辆的ADAS模块，且实现简单。另外，该记录系统不仅能够实现自适应巡航轨迹的记录，还能够用于实现行车轨迹的记录。The recording system of the vehicle adaptive cruise trajectory according to the embodiment of the present invention can not only realize the reliable storage of the adaptive cruise data, but also allow the user to easily query the cruising speed and the automatic cruise speed of the vehicle in the adaptive cruise state for a certain period of time. Adapt to the cruise trajectory so that the user can understand the ADAS module of the vehicle, and the implementation is simple. In addition, the recording system can not only realize the recording of the adaptive cruise track, but also can be used to realize the recording of the driving track.

图7为根据本发明实施例的车辆的结构框图。如图7所示，该车辆100包括仪表10、ADAS模块20和数据采集终端30。7 is a structural block diagram of a vehicle according to an embodiment of the present invention. As shown in FIG. 7 , the vehicle 100 includes a meter 10 , an ADAS module 20 and a data acquisition terminal 30 .

数据采集终端30用于获取车辆的车速信息、车辆的当前定位信息和当前时间，并根据自适应巡航状态信息、自身的标识信息、当前时间、车辆的当前定位信息和车辆的车速信息生成自适应巡航轨迹数据包，以及将自适应巡航轨迹数据包发送给服务器，以使服务器根据标识信息获取车辆信息，并根据车辆信息将自适应巡航轨迹数据包中的自适应巡航轨迹数据保存到对应车辆的数据库中。The data collection terminal 30 is used to obtain the speed information of the vehicle, the current positioning information of the vehicle and the current time, and generate adaptive cruise control information according to the adaptive cruise state information, its own identification information, the current time, the current positioning information of the vehicle and the speed information of the vehicle. Cruise trajectory data packets, and send the adaptive cruise trajectory data packets to the server, so that the server obtains vehicle information according to the identification information, and saves the adaptive cruise trajectory data in the adaptive cruise trajectory data packets to the corresponding vehicle according to the vehicle information. in the database.

在本发明的一个实施例中，ADAS模块20每隔第一预设时间向数据采集终端30发送自适应巡航状态信息，数据采集终端30每隔第二预设时间向服务器发送自适应巡航轨迹数据包，其中，第二预设时间大于第一预设时间。In one embodiment of the present invention, the ADAS module 20 sends adaptive cruise status information to the data collection terminal 30 every first preset time, and the data collection terminal 30 sends adaptive cruise trajectory data to the server every second preset time package, wherein the second preset time is greater than the first preset time.

在本发明的一个实施例中，数据采集终端30还实时检测当前定位信息是否有效，并在当前定位信息有效时，获取当前定位信息。In an embodiment of the present invention, the data collection terminal 30 also detects in real time whether the current positioning information is valid, and acquires the current positioning information when the current positioning information is valid.

需要说明的是，本发明实施例的车辆的其它具体实施方式可参见本发明上述实施例的车辆自适应巡航轨迹的记录系统中关于车辆100的具体实施方式。It should be noted that, for other specific implementations of the vehicle in the embodiment of the present invention, reference may be made to the specific implementation of the vehicle 100 in the system for recording the adaptive cruise trajectory of the vehicle in the above-mentioned embodiment of the present invention.

根据本发明实施例的车辆，不仅能够实现自适应巡航数据的可靠存储，同时还有助于用户查询车辆在某段时间内自适应巡航状态下的巡航速度和自适应巡航轨迹，以便用户了解车辆的ADAS模块，且实现简单。另外，该车辆不仅有助于实现自适应巡航轨迹的记录，还有助于实现行车轨迹的记录。The vehicle according to the embodiment of the present invention can not only realize reliable storage of adaptive cruise data, but also help the user to query the cruise speed and adaptive cruise trajectory of the vehicle in an adaptive cruise state within a certain period of time, so that the user can understand the vehicle ADAS module, and the implementation is simple. In addition, the vehicle not only helps to realize the recording of the adaptive cruise track, but also helps to realize the recording of the driving track.

另外，本发明实施例的车辆的其他构成及其作用对本领域的技术人员而言是已知的，为减少冗余，此处不再赘述。In addition, other structures and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and in order to reduce redundancy, details are not described herein again.

图8为根据本发明一个实施例的服务器的结构框图。如图8所示，该服务器200包括：第一接收模块210、获取模块220、存储模块230、第二接收模块240和发送模块250。FIG. 8 is a structural block diagram of a server according to an embodiment of the present invention. As shown in FIG. 8 , the server 200 includes: a first receiving module 210 , an obtaining module 220 , a storage module 230 , a second receiving module 240 and a sending module 250 .

其中，第一接收模块210用于在车辆的ADAS模块开启自适应巡航功能后，接收车辆的数据采集终端发送的自适应巡航轨迹数据包，其中，自适应巡航轨迹数据包包括自适应巡航状态信息、数据采集终端的标识信息、当前时间和车辆的当前定位信息。The first receiving module 210 is configured to receive the adaptive cruise trajectory data packet sent by the data collection terminal of the vehicle after the ADAS module of the vehicle enables the adaptive cruise function, wherein the adaptive cruise trajectory data packet includes adaptive cruise state information , the identification information of the data collection terminal, the current time and the current positioning information of the vehicle.

在该实施例中，自适应巡航状态信息是车辆的ADAS模块在开启自适应巡航功能后，由ADAS模块发送给数据采集终端的。In this embodiment, the adaptive cruise state information is sent by the ADAS module of the vehicle to the data acquisition terminal after the adaptive cruise function is enabled by the ADAS module of the vehicle.

获取模块220用于根据标识信息获取车辆信息。The obtaining module 220 is configured to obtain vehicle information according to the identification information.

存储模块230用于根据车辆信息将自适应巡航轨迹数据包中的自适应巡航轨迹数据保存到对应车辆的数据库中。The storage module 230 is configured to save the adaptive cruise trajectory data in the adaptive cruise trajectory data package into the database of the corresponding vehicle according to the vehicle information.

第二接收模块240用于接收客户端发送的自适应巡航轨迹请求。The second receiving module 240 is configured to receive the adaptive cruise trajectory request sent by the client.

发送模块250用于根据自适应巡航轨迹请求向客户端发送对应的自适应巡航轨迹数据，以便客户端根据自适应巡航轨迹数据下载地图，以在地图上描绘对应车辆的自适应巡航轨迹，其中，自适应巡航轨迹数据包括定位信息和对应自适应巡航轨迹数据包的发送时间，自适应巡航轨迹请求包括车辆信息和时间段。The sending module 250 is configured to send corresponding adaptive cruise trajectory data to the client according to the adaptive cruise trajectory request, so that the client can download a map according to the adaptive cruise trajectory data, so as to depict the adaptive cruise trajectory of the corresponding vehicle on the map, wherein, The adaptive cruise trajectory data includes positioning information and the sending time of the corresponding adaptive cruise trajectory data packet, and the adaptive cruise trajectory request includes vehicle information and time period.

在本发明的一个实施例中，发送模块260具体根据自适应巡航轨迹请求中的车辆信息从对应车辆的数据库中提取所请求时间段内的所有自适应巡航轨迹数据，并将所有自适应巡航轨迹数据发送给客户端。In one embodiment of the present invention, the sending module 260 extracts all adaptive cruise trajectory data within the requested time period from the database of the corresponding vehicle according to the vehicle information in the adaptive cruise trajectory request, and sends all adaptive cruise trajectory data to data is sent to the client.

需要说明的是，本发明实施例的服务器的其它具体实施方式可参见本发明上述实施例的车辆自适应巡航轨迹的记录系统中关于服务器200的具体实施方式。It should be noted that, for other specific implementations of the server in the embodiment of the present invention, reference may be made to the specific implementation of the server 200 in the system for recording the adaptive cruise trajectory of the vehicle in the above-mentioned embodiment of the present invention.

根据本发明实施例的服务器，不仅能够实现自适应巡航数据的可靠存储，同时还有助于用户查询车辆在某段时间内自适应巡航状态下的自适应巡航轨迹，以便用户了解车辆的ADAS模块，且实现简单。The server according to the embodiment of the present invention can not only realize reliable storage of adaptive cruise data, but also help the user to query the adaptive cruise trajectory of the vehicle in the adaptive cruise state within a certain period of time, so that the user can understand the ADAS module of the vehicle , and the implementation is simple.

图9为根据本发明一个实施例的客户端的结构框图。如图9所示，该客户端300包括：发送单元310、接收单元320、下载单元330和描绘单元340。FIG. 9 is a structural block diagram of a client according to an embodiment of the present invention. As shown in FIG. 9 , the client 300 includes: a sending unit 310 , a receiving unit 320 , a downloading unit 330 and a drawing unit 340 .

其中，发送单元310用于向服务器发送自适应巡航轨迹请求，其中，自适应巡航轨迹请求包括车辆信息和时间段。The sending unit 310 is configured to send an adaptive cruise trajectory request to the server, wherein the adaptive cruise trajectory request includes vehicle information and a time period.

接收单元320用于接收服务器根据自适应巡航轨迹请求发送的对应的自适应巡航轨迹数据，其中，自适应巡航轨迹数据包括定位信息和对应车辆的数据采集终端向服务器发送的对应自适应巡航轨迹数据包的发送时间，自适应巡航轨迹数据包包括自适应巡航状态信息、数据采集终端的标识信息、当前时间和车辆的当前定位信息。The receiving unit 320 is configured to receive corresponding adaptive cruise trajectory data sent by the server according to the adaptive cruise trajectory request, wherein the adaptive cruise trajectory data includes positioning information and corresponding adaptive cruise trajectory data sent to the server by the data collection terminal of the corresponding vehicle The sending time of the packet, the adaptive cruise trajectory data packet includes the adaptive cruise status information, the identification information of the data acquisition terminal, the current time and the current positioning information of the vehicle.

下载单元330用于根据自适应巡航轨迹数据下载地图。The downloading unit 330 is configured to download a map according to the adaptive cruise trajectory data.

描绘单元340用于在地图上描绘对应车辆的自适应巡航轨迹。The drawing unit 340 is used to draw the adaptive cruise trajectory of the corresponding vehicle on the map.

在本发明的一个实施例中，描绘单元340具体用于以静态图的方式显示车辆在所请求时间段内的自适应巡航轨迹图，或者，以动态图的方式按照时间先后顺序播放车辆在所请求时间段内的形成自适应巡航轨迹的过程和对应车速的变化过程。In an embodiment of the present invention, the drawing unit 340 is specifically configured to display the adaptive cruise trajectory map of the vehicle in the requested time period in the form of a static image, or play the vehicle in the chronological order in the form of a dynamic image. The process of forming the adaptive cruise trajectory and the corresponding change process of the vehicle speed in the requested time period.

其中，描绘单元340可按照时间先后、时间连续、位置相近的原则在所下载的地图上描绘自适应巡航轨迹。Wherein, the drawing unit 340 can draw the adaptive cruise trajectory on the downloaded map according to the principles of time sequence, time continuity, and location proximity.

在本发明的实施例中，如图9所示，客户端300还包括检测单元350和提示单元360。In the embodiment of the present invention, as shown in FIG. 9 , the client 300 further includes a detection unit 350 and a prompt unit 360 .

其中，检测单元350用于检测接收到的自适应巡航轨迹数据中对应的自适应巡航轨迹数据包的发送时间是否在所请求时间段内。提示单元360用于在接收到的自适应巡航轨迹数据中对应的自适应巡航轨迹数据包的发送时间不在所请求时间段内时，发出报警提示，以提醒用户接收到的自适应巡航轨迹数据存在错误。The detection unit 350 is configured to detect whether the sending time of the corresponding adaptive cruise trajectory data packet in the received adaptive cruise trajectory data is within the requested time period. The prompting unit 360 is configured to issue an alarm prompt when the sending time of the corresponding adaptive cruise trajectory data packet in the received adaptive cruise trajectory data is not within the requested time period to remind the user that the received adaptive cruise trajectory data exists mistake.

需要说明的是，本发明实施例的客户端的其它具体实施方式可参见本发明上述实施例的车辆自适应巡航轨迹的记录系统中关于客户端300的具体实施方式。It should be noted that, for other specific implementations of the client in the embodiment of the present invention, reference may be made to the specific implementation of the client 300 in the system for recording the adaptive cruise trajectory of the vehicle in the above-mentioned embodiment of the present invention.

在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现定制逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本发明的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本发明的实施例所属技术领域的技术人员所理解。Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing custom logical functions or steps of the process , and the scope of the preferred embodiments of the invention includes alternative implementations in which the functions may be performed out of the order shown or discussed, including performing the functions substantially concurrently or in the reverse order depending upon the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present invention belong.

在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。The logic and/or steps represented in flowcharts or otherwise described herein, for example, may be considered an ordered listing of executable instructions for implementing the logical functions, may be embodied in any computer-readable medium, For use with, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch instructions from and execute instructions from an instruction execution system, apparatus, or apparatus) or equipment. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or apparatus. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections with one or more wiring (electronic devices), portable computer disk cartridges (magnetic devices), random access memory (RAM), Read Only Memory (ROM), Erasable Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program may be printed, as the paper or other medium may be optically scanned, for example, followed by editing, interpretation, or other suitable medium as necessary process to obtain the program electronically and then store it in computer memory.

应当理解，本发明的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。如，如果用硬件来实现和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。It should be understood that various parts of the present invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented by any one of the following techniques known in the art, or a combination thereof: discrete with logic gates for implementing logic functions on data signals Logic circuits, application specific integrated circuits with suitable combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.

本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。Those of ordinary skill in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the program is stored in a computer-readable storage medium. When executed, one or a combination of the steps of the method embodiment is included.

此外，在本发明各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically alone, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, and the like. Although the embodiments of the present invention have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present invention. Embodiments are subject to variations, modifications, substitutions and variations.