Data storage method and device, computer device, computer readable storage medium

Abstract

An unmanned vehicle data storage method and device, computer equipment and computer readable storage medium, comprising: acquiring an abnormal attribute message published by each unit in an unmanned vehicle system; generating subscription information according to the abnormal attribute message; acquiring a business attribute message published by each unit according to the subscription information; and sending business data corresponding to the business attribute message to a data storage server.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a method and apparatus for storing data in an unmanned vehicle, a computer device, and a computer-readable storage medium. Background Art

[0002] Autonomous vehicles are intelligent vehicles that operate without human intervention through computer systems. During road tests or demonstrations, autonomous vehicles often experience anomalies that require manual control. Therefore, it's necessary to collect driving data from the autonomous vehicles. This data can be used to reconstruct the scene and analyze the causes of the anomalies.

[0003] The traditional method is to collect data from the entire driving process of the autonomous vehicle. However, this traditional method requires recording and storing a large amount of data, which consumes a lot of system resources and puts a burden on the autonomous vehicle system. Summary of the Invention

[0004] According to various embodiments of the present application, a method and apparatus for storing data in an unmanned vehicle, a computer device, and a non-volatile computer-readable storage medium are provided.

[0005] A method for storing data in an unmanned vehicle comprises: obtaining abnormal attribute messages issued by various units in an unmanned vehicle system; generating subscription information based on the abnormal attribute messages; obtaining business attribute messages issued by the various units according to the subscription information; and sending business data corresponding to the business attribute messages to a data storage server.

[0006] A data storage device for an unmanned vehicle, the device comprising: an acquisition module for acquiring abnormal attribute messages published by various units in the unmanned vehicle system; a determination module for generating subscription information based on the abnormal attribute messages; the acquisition module is further configured to acquire business attribute messages published by the various units according to the subscription information; and a sending module is configured to send business data corresponding to the business attribute messages to a data storage server.

[0007] A computer device includes a memory and a processor, wherein the memory stores a computer program. When the computer program is executed by the processor, the processor performs the steps of the self-driving car data storage method described in each embodiment of the present application.

[0008] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the self-driving car data storage method described in each embodiment of the present application.

[0009] The embodiments of the present application provide a method and apparatus for storing data in an unmanned vehicle, a computer device, and a computer-readable storage medium. These methods obtain abnormal attribute messages published by various units in an unmanned vehicle system; generate subscription information based on the abnormal attribute messages; obtain service attribute messages published by various units according to the subscription information; and send the service data corresponding to the service attribute messages to a data storage server. Details of one or more embodiments of the present application are set forth in the following figures and description. Other features, objects, and advantages of the present application will become apparent from the specification, figures, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0011] Figure 1 A diagram illustrating an application environment of a method for storing data for an unmanned vehicle in one embodiment.

[0012] Figure 2 The figure is a flowchart of a method for storing data for an unmanned vehicle according to one embodiment.

[0013] Figure 3 FIG. 4 is a structural block diagram of an exception handling unit in one embodiment.

[0014] Figure 4 The figure is a schematic diagram of the function of the message middleware in one embodiment.

[0015] Figure 5 The present invention is a flowchart of a method for storing data for an autonomous vehicle according to another embodiment.

[0016] Figure 6 FIG. 1 is a structural block diagram of a data storage device for an unmanned vehicle according to an embodiment.

[0017] Figure 7 2 is a structural block diagram of a data storage device for an unmanned vehicle in another embodiment.

[0018] Figure 8 This is a structural block diagram of a data storage device for an unmanned vehicle in another embodiment.

[0019] Figure 9 Schematic diagram of the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0021] Figure 1 FIG. 1 is an application environment diagram of a method for storing data in an unmanned vehicle according to an embodiment. Figure 1 , the unmanned vehicle data storage method is applied to an unmanned vehicle data storage system, and the unmanned vehicle data storage system includes a terminal 110 and a storage server 120. The terminal 110 can specifically be an unmanned vehicle. The terminal 110 and the storage server 120 are connected through a network, and the network can be a mobile network or a wireless network. The server 120 can be implemented as an independent server or a server cluster composed of multiple servers. Specifically, the terminal 110 obtains the abnormal attribute message published by each unit in the unmanned vehicle system; then, the terminal 110 generates subscription information according to the abnormal attribute message; then, the terminal 110 obtains the business attribute message published by the each unit according to the subscription information; then, the terminal 110 sends the business data corresponding to the business attribute message to the data storage server 120.

[0022] In one embodiment, Figure 2 As shown, a data storage method for an unmanned vehicle is provided. This embodiment applies the method to Figure 1 The terminal 110 shown is used as an example for description. The method includes:

[0023] Step 202: Acquire abnormal attribute messages issued by various units in the autonomous vehicle system.

[0024] The autonomous vehicle system consists of multiple units, each of which can be functional units, each responsible for implementing a specific autonomous vehicle function. For example, the corresponding function could be perception, planning, or motion control. The perception function provides a model of the real world and can be further divided into road environment perception, vehicle motion sensing, and information fusion. The planning function, based on artificial intelligence theory, performs planning, reasoning, and decision-making for vehicle behavior and motion. It can be further divided into high-level behavior planning and low-level motion planning. The motion control function compares the vehicle's actual motion position with the desired motion position in real time and uses intelligent control algorithms to control actuators such as the steering wheel, accelerator, and brakes. The various units in the autonomous vehicle system can be divided according to the actual application, for example, a system can be divided into dozens, hundreds, or even thousands of units.

[0025] The abnormal attribute message is used to prompt an abnormality of a unit. The abnormal attribute message can be in a message format or an event format. Each unit in the self-driving vehicle system monitors its own business data. Once an abnormality is found, the unit publishes an abnormal attribute message to enable the terminal to start collecting relevant business data according to the abnormal attribute message. The business data can include system data and non-system data. The system data can be data of a central processing unit, a memory, a hard disk, network statistics, etc. The non-system data can be data collected by a sensor, which can be real-time data or historical data. Specifically, each unit monitors its own business data in real time or at a fixed time.

[0026] In one embodiment, an abnormality processing unit can be established in the self-driving vehicle system. The abnormality processing unit is used to collect relevant business data when an abnormality occurs in each unit in the self-driving vehicle system and send the collected business data to a data storage server for storage. Optionally, as shown in FIG. 1, the abnormality processing unit can include a message subscription sub-unit, a data collection sub-unit, a data processing sub-unit, and a data transmission sub-unit. The message subscription sub-unit is used to subscribe to and receive abnormal attribute messages. The data collection sub-unit is used to collect business data associated with the abnormal attribute messages. The data processing sub-unit is used to process the business data collected by the data collection sub-unit. The data transmission sub-unit is used to send the business data processed by the data processing sub-unit to the storage server. Figure 3

[0027] Specifically, the message subscription sub-unit in the abnormality processing unit acquires abnormal attribute messages published by each unit in the self-driving vehicle system.

[0028] In one embodiment, the abnormality processing unit monitors each unit in the self-driving vehicle system to acquire abnormal attribute messages published by each unit. Optionally, the abnormality processing unit communicates with each unit in the self-driving vehicle system based on a publisher-subscriber model (Pub / Sub model). The publisher-subscriber model defines a one-to-many relationship, in which multiple subscribers simultaneously listen to a publisher. When the state of the publisher changes, all subscribers are notified. The publisher publishes messages or events, and the subscribers subscribe to these messages or events to observe the state of the publisher. The publisher and the subscriber are completely decoupled.

[0029] ​Specifically, each unit in the driverless car system publishes at least one topic, and the types of the topics may include abnormal attribute types and business attribute types, and each type of topic may include multiple topics. The exception handling unit subscribes to the topics of the abnormal attribute types of each unit, and can receive the abnormal attribute messages published by each unit. The exception handling unit subscribes to the topics of the business attribute types of each unit, and can receive the business attribute messages published by each unit. In one embodiment, the exception handling unit subscribes to the topics of the abnormal attribute types, and when receiving the abnormal attribute messages published by the units, it opens the subscription to the topics of the relevant business attribute types, and closes the subscription to the topics of the relevant business attribute types after the business data associated with the abnormal attribute messages are collected. In this way, the collection of business data is dynamically customized through events or messages, and the collection of business data is dynamically opened or closed, saving system resources.

[0030] Step 204: Generate subscription information according to the abnormal attribute message.

[0031] Among them, the subscription information is used to subscribe to the business data associated with the abnormal attribute message. The business data associated with the abnormal attribute message refers to: business data related to the abnormal information corresponding to the abnormal attribute message. The association relationship can be set in advance. The abnormal information corresponding to the abnormal attribute message is used to represent the specific abnormal content corresponding to the abnormal attribute message.

[0032] In one embodiment, an abnormal attribute message may include: the unit to which the abnormal attribute message belongs, the generation time of the abnormal attribute message, the abnormality level of the abnormal information corresponding to the abnormal attribute message, the business data identifier associated with the abnormal attribute message, the collection period of the business data associated with the abnormal attribute message, etc. The unit to which the abnormal attribute message belongs refers to the unit that issued the abnormal attribute message; the generation time of the abnormal attribute message refers to the time when the unit detected the abnormal situation. When the unit detects the abnormal situation, it generates the abnormal attribute message; the abnormal information refers to the business data with abnormalities. When each unit detects that a piece of business data is outside the data range corresponding to the business data, the business data is determined to be abnormal. The abnormality level of the abnormal information corresponding to the abnormal attribute message is used to represent the protection level of the abnormal information; the business data identifier is used to represent the identity information of the business data. The business data identifier can be the name of the business data. The business data identifier associated with the abnormal attribute message refers to the business data identifier related to the abnormal information corresponding to the abnormal attribute message. This association relationship can be pre-set; the collection period of the business data associated with the abnormal attribute message is used to represent the starting point and ending point of business data collection, such as collecting business data two minutes past the current time or collecting business data two minutes after the current time.

[0033] In one embodiment, the subscription information may include: a subject of a business attribute type for collecting business data associated with the abnormal attribute message.

[0034] Specifically, the message subscription subunit in the exception handling unit obtains the exception attribute messages issued by each unit in the unmanned vehicle system, and generates subscription information according to the exception attribute messages.

[0035] Step 206: Acquire the service attribute messages published by each unit according to the subscription information.

[0036] Specifically, the subscription information may include a subject of a business attribute type for collecting business data associated with the abnormal attribute message, and obtain the business attribute message (the business attribute message corresponds to the business data associated with the abnormal attribute message) through the subscription information, thereby obtaining the business data associated with the abnormal attribute message.

[0037] In one embodiment, subscription information can be generated based on the business data identifier associated with the abnormal attribute message. A set collection duration for the business data associated with the abnormal attribute message can be configured. When the set collection duration is reached, the subscription to the topic of that business attribute type is closed. The collection duration can be 100 seconds.

[0038] In one embodiment, subscription information can be generated based on the business data identifier associated with the exception attribute message and the collection period of the business data associated with the exception attribute message. Once the collection of the business data corresponding to the subscription information is completed, the subscription to the topic of the business attribute type is closed. Specifically, the message subscription subunit in the exception handling unit obtains the business attribute messages published by each unit according to the subscription information and sends the business attribute messages to the data collection subunit in the exception handling unit.

[0039] Step 208: Send the business data corresponding to the business attribute message to a data storage server.

[0040] Among them, the storage server is used to store business data, which can be used to analyze abnormal information of the unmanned vehicle system.

[0041] In one embodiment, after obtaining the service attribute messages published by each unit, the service attribute messages may be processed, and the processed service data may be packaged and sent to the storage server. Optionally, the processed service data and the abnormal attribute message may be packaged and sent to the storage server. Optionally, this processing method may be encryption.

[0042] Specifically, the data processing subunit in the exception handling unit processes the business data corresponding to the business attribute message, and sends the processed business data to the data transmission subunit in the exception handling unit. The data transmission subunit packages the processed business data and the exception attribute message and sends them to the data storage server. The exception attribute message is sent by the message subscription subunit to the data processing subunit, and the data processing subunit then sends it to the data transmission subunit.

[0043] The above-mentioned unmanned vehicle data storage method obtains abnormal attribute messages published by each unit in the unmanned vehicle system, generates subscription information based on the abnormal attribute messages, obtains business attribute messages published by each unit according to the subscription information, and sends the business data corresponding to the business attribute messages to the data storage server. In this way, the collection of business data can be dynamically customized through events or messages, and the collection of business data can be dynamically turned on or off, saving system resources and thus improving the performance of the unmanned vehicle.

[0044] In one embodiment, the acquisition of abnormal attribute messages issued by each unit in the unmanned vehicle system includes: receiving the abnormal attribute messages issued by each unit in the unmanned vehicle system through the message middleware, wherein each unit in the unmanned vehicle system detects abnormal information, generates the abnormal attribute message according to the abnormal information, and uploads the abnormal attribute message to the message middleware, wherein the abnormal information is the business data with abnormality, and when each unit detects that a piece of business data is not within the data range corresponding to the business data, it is determined that the business data has an abnormality. Among them, the message middleware uses an efficient and reliable message passing mechanism to carry out platform-independent data exchange, and integrates distributed systems based on data communication. By providing message passing and message queuing models, it can expand communication between processes in a distributed environment. Specifically, if Figure 4 As shown, each unit in the unmanned vehicle system publishes messages or subscribes to topics through the message middleware, and the exception handling unit receives messages published by each unit in the unmanned vehicle system by subscribing to topics.

[0045] In one embodiment, each unit in the autonomous vehicle system publishes at least one topic. The topic type may include an abnormal attribute type, which may include multiple topics. The abnormality handling unit subscribes to the topic of the abnormal attribute type of each unit to receive abnormal attribute messages published by each unit.

[0046] In one embodiment, each unit in the autonomous vehicle system monitors its own business data. Upon detecting an anomaly, the unit issues an anomaly attribute message, prompting the terminal to initiate collection of relevant business data based on the anomaly attribute message. A data range is pre-set for each business data item. If a piece of business data is detected outside of the corresponding data range, the data is deemed an anomaly and the anomaly is recorded as anomaly information. The data range represents the safe range for the business data.

[0047] Specifically, the message subscription subunit within the exception handling unit receives, via the messaging middleware, the exception attribute messages published by each unit in the unmanned vehicle system to which it subscribes. The aforementioned unmanned vehicle data storage method receives, via the messaging middleware, the exception attribute messages published by each unit in the unmanned vehicle system to which it subscribes. Each unit in the unmanned vehicle system detects the exception information, generates an exception attribute message based on the exception information, and uploads the exception attribute message to the messaging middleware, enabling the terminal to effectively monitor the exception attribute messages published by each unit.

[0048] In one embodiment, generating subscription information based on the abnormal attribute message includes: obtaining the business data identifier associated with the abnormal attribute message and the collection period of the business data associated with the abnormal attribute message; generating the subscription information based on the business data identifier and the collection period.

[0049] Among them, the business data identifier is used to represent the identity information of the business data. The business data identifier can be the name of the business data. The business data identifier associated with the abnormal attribute message refers to: the business data identifier related to the abnormal information corresponding to the abnormal attribute message, and the association relationship can be set in advance; the collection period of the business data associated with the abnormal attribute message is used to represent the collection starting point and collection end point of the associated business data, such as collecting business data in the past two minutes of the current moment, and collecting business data in the next two minutes of the current moment.

[0050] Specifically, subscription information can be generated based on the business data identifier associated with the abnormal attribute message and the collection period of the business data associated with the abnormal attribute message. The subscription information is used to characterize the business data that needs to be collected, the collection start point and the collection end point of the business data. For example, the business data that needs to be collected is the data detected by the radar sensor, and the collection period is the next two minutes from the current period. After obtaining the data detected by the radar sensor in the next two minutes from the current period, the subscription to the topic of this business attribute type is closed; for example, the business data that needs to be collected is the data detected by the radar sensor, and the collection period is the past two minutes of the current period. After obtaining the data detected by the radar sensor in the past two minutes of the current period, the subscription to the topic of this business attribute type is closed.

[0051] Specifically, the message subscription subunit in the exception handling unit obtains the business data identifier associated with the exception attribute message and the collection period of the business data associated with the exception attribute message, and generates subscription information according to the business data identifier and the collection period.

[0052] The above-mentioned unmanned vehicle data storage method obtains the business data identifier associated with the abnormal attribute message and the collection period of the business data associated with the abnormal attribute message, generates subscription information based on the business data identifier and the collection period, so that the terminal accurately collects the business data associated with the abnormal attribute message.

[0053] In one embodiment, obtaining the business attribute messages published by each unit according to the subscription information includes: subscribing to the business attribute messages published by each unit in the unmanned vehicle system in the message middleware according to the subscription information; receiving the subscribed business attribute messages published by each unit in the unmanned vehicle system, wherein each unit in the unmanned vehicle system detects business data, generates the business attribute messages based on the business data, and uploads the business attribute messages to the message middleware.

[0054] In one embodiment, each unit in the unmanned vehicle system publishes at least one topic, and the types of the topics may include abnormal attribute types and business attribute types, and each type of topic may include multiple topics. The exception handling unit subscribes to the topics of the abnormal attribute types of each unit, and can receive abnormal attribute messages published by each unit. The exception handling unit subscribes to the topics of the business attribute types of each unit, and can receive business attribute messages published by each unit. In one embodiment, the exception handling unit subscribes to the topics of the abnormal attribute types, and when receiving the abnormal attribute messages published by the units, it opens the subscription to the topics of the relevant business attribute types, and closes the subscription to the topics of the relevant business attribute types after the business data associated with the abnormal attribute messages are collected. In this way, the collection of business data can be dynamically customized through events or messages, and the collection of business data can be dynamically opened or closed, saving system resources.

[0055] Specifically, the message subscription sub-unit in the exception handling unit subscribes to the business attribute messages published by each unit in the unmanned vehicle system in the message middleware according to the subscription information; receives the business attribute messages published by each unit in the subscribed unmanned vehicle system, wherein each unit in the unmanned vehicle system detects business data, generates business attribute messages based on the business data, and uploads the business attribute messages to the message middleware.

[0056] The above-mentioned unmanned vehicle data storage method subscribes to the business attribute messages published by each unit in the unmanned vehicle system in the message middleware according to the subscription information, and receives the subscribed business attribute messages published by each unit in the unmanned vehicle system. Among them, each unit in the unmanned vehicle system detects business data, generates business attribute messages based on the business data, and uploads the business attribute messages to the message middleware, so that the terminal can obtain the business attribute messages published by each unit in a targeted manner, thereby obtaining the business data of each unit in a targeted manner.

[0057] In one embodiment, before sending the business data corresponding to the business attribute message to the data storage server, it also includes: classifying the business data corresponding to the business attribute message to obtain first business data and second business data; sending the business data corresponding to the business attribute message to the data storage server includes: sending the first business data and the second business data to the data storage server.

[0058] The first business data and the second business data are the results of classifying the business data. It is understood that the business data can be divided into multiple categories, not limited to two categories.

[0059] Specifically, the business data may be classified according to the unit to which the business attribute message belongs, the generation time of the abnormal attribute message, the abnormal level of the abnormal information corresponding to the abnormal attribute message, and the like.

[0060] For example, the service data is classified according to the unit to which the service attribute message belongs. All units in the autonomous vehicle system are pre-classified to obtain a first unit range and a second unit range (it is understood that the units of the autonomous vehicle system can be divided into multiple categories, not limited to two categories, and this is only for example). If the unit to which the service attribute message belongs is the first unit range, the service data corresponding to the service attribute message is used as the first service data; if the unit to which the service attribute message belongs is the second unit range, the service data corresponding to the service attribute message is used as the second service data.

[0061] For example, business data can be categorized based on the time when the abnormal attribute message was generated. Business data corresponding to abnormal attribute messages generated in the first time period is considered first business data, while business data corresponding to abnormal attribute messages generated in the second time period is considered second business data. It is understood that multiple time periods can be used, not limited to two, and this is for illustrative purposes only.

[0062] For example, business data is classified according to the abnormality level of the abnormal information corresponding to the abnormal attribute message. The level of each abnormal information is pre-set, such as level one, level two, etc., which is used to characterize the degree of danger of the abnormal information. If the abnormality level corresponding to the abnormal attribute message is level one, the business data corresponding to the abnormal attribute message is used as the first business data. If the abnormality level corresponding to the abnormal attribute message is level two, the business data corresponding to the abnormal attribute message is used as the second business data. It can be understood that the abnormality level can be divided into multiple levels, not limited to two levels. This is only for example.

[0063] In one embodiment, different physical storage paths may be set for the first business data and the second business data to represent the classification results; in another embodiment, different classification labels may be set for the first business data and the second business data to represent the classification results, for example, different names may be set for the first business data and the second business data.

[0064] Specifically, the data processing subunit in the exception handling unit classifies the business data corresponding to the business attribute message to obtain first business data and second business data; the data transmission subunit in the exception handling unit sends the first business data and the second business data to the data storage server.

[0065] The above-mentioned unmanned vehicle data storage method classifies the business data corresponding to the business attribute message to obtain first business data and second business data, and sends the first business data and the second business data to the data storage server to achieve orderly processing and orderly sending of the business data.

[0066] In one embodiment, the business data corresponding to the business attribute message is classified to obtain first business data and second business data, including: classifying the business data according to whether the business data corresponding to the business attribute message is confidential, and using the confidential business data as the first business data, and using the non-confidential business data as the second business data.

[0067] Specifically, the business data is classified according to whether the business data corresponding to the business attribute message is confidential, and the confidential business data is used as the first business data, and the non-confidential business data is used as the second business data. In this way, the confidential business data can be processed to ensure the security of data transmission.

[0068] Specifically, the data processing subunit in the exception handling unit classifies the business data according to whether the business data corresponding to the business attribute message is confidential, and regards the confidential business data as the first business data and the non-confidential business data as the second business data.

[0069] The unmanned vehicle data storage method classifies the business data according to whether the business data corresponding to the business attribute message is classified, and takes the classified business data as the first business data and the unclassified business data as the second business data, so as to realize the security of the business data transmission.

[0070] In one embodiment, before the first business data and the second business data are sent to the data storage server, the first business data is encrypted, and the first business data and the second business data are packaged and sent to the data storage server.

[0071] Specifically, the first classified business data is encrypted to ensure the security of data transmission. In one embodiment, the encryption method can be digital signature encryption, symmetric encryption, asymmetric encryption, etc.

[0072] Specifically, the data processing subunit in the abnormal processing unit encrypts the first business data, and the data transmission subunit in the abnormal processing unit packages and sends the encrypted first business data and the second business data to the data storage server.

[0073] The unmanned vehicle data storage method encrypts the first business data, packages and sends the encrypted first business data and the second business data to the data storage server, so as to realize the security of the business data transmission.

[0074] In one embodiment, as shown in Figure 5 Another unmanned vehicle data storage method is provided, which comprises:

[0075] In step 502, the abnormal attribute message published by each unit in the unmanned vehicle system is received through the message middleware, wherein each unit in the unmanned vehicle system detects abnormal information, generates the abnormal attribute message according to the abnormal information, and uploads the abnormal attribute message to the message middleware, and the abnormal attribute message comprises the business data identifier associated with the abnormal attribute message and the collection time length of the business data associated with the abnormal attribute message.

[0076] Specifically, the message subscription subunit in the abnormal processing unit receives the abnormal attribute message published by each unit in the unmanned vehicle system through the message middleware, so as to realize the effective monitoring of the terminal to the abnormal attribute message published by each unit.

[0077] Step 504: Obtain the business data identifier associated with the abnormal attribute message and the collection time of the business data associated with the abnormal attribute message, and generate the subscription information according to the business data identifier and the collection time.

[0078] Specifically, the message subscription subunit in the exception handling unit obtains the business data identifier associated with the exception attribute message, as well as the collection period of the business data associated with the exception attribute message, and generates subscription information based on the business data identifier and the collection period, so that the terminal accurately collects the business data associated with the exception attribute message.

[0079] Step 506: Subscribe to the business attribute messages published by each unit in the unmanned vehicle system in the message middleware according to the subscription information, and receive the subscribed business attribute messages published by each unit in the unmanned vehicle system. Each unit in the unmanned vehicle system detects business data, generates the business attribute messages according to the business data, and uploads the business attribute messages to the message middleware.

[0080] Specifically, the message subscription sub-unit in the exception handling unit subscribes to the business attribute messages published by each unit in the unmanned vehicle system in the message middleware according to the subscription information; receives the subscribed business attribute messages published by each unit in the unmanned vehicle system, wherein each unit in the unmanned vehicle system detects business data, generates business attribute messages based on the business data, and uploads the business attribute messages to the message middleware, so that the terminal can obtain the business attribute messages published by each unit in a targeted manner, thereby obtaining the business data of each unit in a targeted manner.

[0081] Step 508: Classify the business data according to whether the business data corresponding to the business attribute message is confidential, use the confidential business data as the first business data, and use the non-confidential business data as the second business data, encrypt the first business data, and package the encrypted first business data and the second business data and send them to the data storage server.

[0082] Specifically, the data processing subunit in the exception handling unit classifies the business data according to whether the business data corresponding to the business attribute message is confidential, and regards the confidential business data as the first business data and the non-confidential business data as the second business data. The data processing subunit in the exception handling unit encrypts the first business data, and the data transmission subunit in the exception handling unit packages the encrypted first business data and the second business data and sends them to the data storage server to achieve the security of business data transmission.

[0083] In summary, the exception handling unit dynamically customizes the collection of business data through events or messages, and dynamically turns on or off the collection of business data, making the collection of business data more predictable and real-time; at the same time, it reduces the collected business data and saves system resources; and ensures data security by transmitting encrypted business data to the storage server in real time.

[0084] The above-mentioned unmanned vehicle data storage method obtains abnormal attribute messages published by each unit in the unmanned vehicle system, generates subscription information based on the abnormal attribute messages, obtains business attribute messages published by each unit according to the subscription information, and sends the business data corresponding to the business attribute messages to the data storage server. In this way, the collection of business data can be dynamically customized through events or messages, and the collection of business data can be dynamically turned on or off, saving system resources and thus improving the performance of the unmanned vehicle.

[0085] It should be understood that although Figure 2 、 Figure 5 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 2 、 Figure 5 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0086] In one embodiment, Figure 6 As shown, a data storage device for an unmanned vehicle is provided, comprising: an acquisition module 602, a determination module 604, and a sending module 606. The acquisition module 602 is configured to acquire abnormal attribute messages published by various units in the unmanned vehicle system; the determination module 604 is configured to generate subscription information based on the abnormal attribute messages; the acquisition module 602 is further configured to acquire service attribute messages published by the various units according to the subscription information; and the sending module 606 is configured to send service data corresponding to the service attribute messages to a data storage server.

[0087] The above-mentioned unmanned vehicle data storage device obtains abnormal attribute messages published by each unit in the unmanned vehicle system, generates subscription information based on the abnormal attribute messages, obtains business attribute messages published by each unit according to the subscription information, and sends the business data corresponding to the business attribute messages to the data storage server. In this way, the collection of business data can be dynamically customized through events or messages, and the collection of business data can be dynamically turned on or off, saving system resources and thus improving the performance of the unmanned vehicle.

[0088] In one embodiment, the acquisition module 602 includes a receiving submodule, which is used to: receive, through a message middleware, the exception attribute messages issued by each unit in the unmanned vehicle system to which it is subscribed, wherein each unit in the unmanned vehicle system detects exception information, generates the exception attribute message based on the exception information, and uploads the exception attribute message to the message middleware, wherein the exception information is the business data where an exception occurs, and when each unit detects that a piece of business data is not within the data range corresponding to the business data, it is determined that the business data is abnormal; the exception attribute message includes: the unit to which the exception attribute message belongs, the generation time of the exception attribute message, the exception level of the exception information corresponding to the exception attribute message, the business data identifier associated with the exception attribute message, and the collection period of the business data associated with the exception attribute message; wherein the collection period of the business data associated with the exception attribute message is used to determine the collection starting point and collection end point of the associated business data.

[0089] The above-mentioned unmanned vehicle data storage device receives the abnormal attribute messages issued by each unit in the subscribed unmanned vehicle system through the message middleware, wherein each unit in the unmanned vehicle system detects abnormal information, generates abnormal attribute messages based on the abnormal information, and uploads the abnormal attribute messages to the message middleware, thereby realizing the terminal's effective monitoring of the abnormal attribute messages issued by each unit.

[0090] In one embodiment, the determination module 604 includes an acquisition submodule and a generation submodule. The acquisition submodule is used to: obtain the business data identifier associated with the abnormal attribute message, and the collection period of the business data associated with the abnormal attribute message; the generation submodule is used to: generate the subscription information based on the business data identifier and the collection period.

[0091] The above-mentioned unmanned vehicle data storage device obtains the business data identifier associated with the abnormal attribute message and the collection period of the business data associated with the abnormal attribute message, generates subscription information based on the business data identifier and the collection period, so that the terminal accurately collects the business data associated with the abnormal attribute message.

[0092] In one embodiment, the acquisition module 602 also includes a subscription submodule, which is used to: subscribe to the business attribute messages published by each unit in the unmanned vehicle system in the message middleware according to the subscription information; the receiving submodule is also used to: receive the subscribed business attribute messages published by each unit in the unmanned vehicle system, wherein each unit in the unmanned vehicle system detects business data, generates the business attribute message according to the business data, and uploads the business attribute message to the message middleware.

[0093] The above-mentioned unmanned vehicle data storage device subscribes to the business attribute messages published by each unit in the unmanned vehicle system in the message middleware according to the subscription information, and receives the business attribute messages published by each unit in the subscribed unmanned vehicle system. Among them, each unit in the unmanned vehicle system detects business data, generates business attribute messages based on the business data, and uploads the business attribute messages to the message middleware, so that the terminal can obtain the business attribute messages published by each unit in a targeted manner, thereby obtaining the business data of each unit in a targeted manner.

[0094] In one embodiment, Figure 7 As shown, the device also includes a classification module 608, and the classification module 608 is used to: classify the business data corresponding to the business attribute message to obtain first business data and second business data; the sending module 606 includes a sending sub-module, and the sending sub-module is used to: send the first business data and the second business data to the data storage server.

[0095] The above-mentioned unmanned vehicle data storage device classifies the business data corresponding to the business attribute message, obtains the first business data and the second business data, and sends the first business data and the second business data to the data storage server to realize orderly processing and orderly sending of the business data.

[0096] In one embodiment, the classification module 608 includes a classification sub-module, which is used to classify the business data according to whether the business data corresponding to the business attribute message is confidential, and use the confidential business data as the first business data and the non-confidential business data as the second business data.

[0097] The above-mentioned unmanned vehicle data storage device and the above-mentioned unmanned vehicle data storage method classify business data according to whether the business data corresponding to the business attribute message is confidential, and use confidential business data as first business data and non-confidential business data as second business data to achieve the security of business data transmission.

[0098] In one embodiment, Figure 8 As shown, the device also includes an encryption module 610, which is used to encrypt the first business data; the sending submodule is specifically used to package and send the encrypted first business data and the second business data to the data storage server.

[0099] The above-mentioned unmanned vehicle data storage device encrypts the first business data, packages the encrypted first business data and the second business data, and sends them to the data storage server to achieve the security of business data transmission.

[0100] The division of the modules in the above-mentioned data storage device for autonomous vehicles is for illustration only. In other embodiments, the data storage device for autonomous vehicles may be divided into different modules as needed to complete all or part of the functions of the above-mentioned data storage device for autonomous vehicles.

[0101] The specific definitions of the autonomous vehicle data storage device can be found in the definitions of the autonomous vehicle data storage method described above and will not be further elaborated here. Each module in the aforementioned autonomous vehicle data storage device can be implemented in whole or in part through software, hardware, or a combination thereof. Each of these modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a computer device memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0102] Each module in the autonomous vehicle data storage device provided in the embodiments of this application may be implemented in the form of a computer program. This computer program may be executed on a computer device such as a terminal or server. The program modules comprising this computer program may be stored in a memory of the computer device. When executed by a processor, this computer program implements the steps of the autonomous vehicle data storage method described in the embodiments of this application.

[0103] In one embodiment, Figure 9As shown, a schematic diagram of an internal structure of a computer device is provided. The computer device includes a processor, a memory and a display screen connected through a system bus. The processor is configured to provide computing and control capabilities to support the operation of the computer device. The memory is configured to store data, programs, and / or instruction codes, etc. The memory stores at least one computer program executable by the processor to implement the method for storing data of an unmanned vehicle provided in the embodiments of the present application. The memory can include a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), etc., or a Random-Access-Memory (RAM), etc. For example, in one embodiment, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a database and a computer program. The database stores data related to the method for storing data of an unmanned vehicle provided in the embodiments. The computer program is executable by the processor to implement the method for storing data of an unmanned vehicle provided in the embodiments. The internal memory provides a cache running environment for the operating system, the database and the computer program in the non-volatile storage medium. The display screen can be a touch screen such as a capacitive screen or an electronic screen, configured to display interface display information of a foreground application and also configured to detect a touch operation on the display screen to generate a corresponding instruction such as a switching instruction between foreground and background applications.

[0104] Those skilled in the art can understand that Figure 9 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components. For example, the computer device further includes a network interface connected through the system bus. The network interface can be an Ethernet card or a wireless network card, etc., configured to communicate with external computer devices, such as a server. For another example, the computer device does not have a display connected through the system bus, or can be connected to an external display device.

[0105] In one embodiment, a computer device is provided, including a memory, a processor and a computer program stored in the memory and executable by the processor. The processor implements the steps of the method for storing data of an unmanned vehicle provided in the embodiments when executing the computer program. In one embodiment, a computer readable storage medium is also provided, which stores a computer program. The computer program is executable by the processor to implement the steps of the method for storing data of an unmanned vehicle described in the embodiments of the present application.

[0106] In one embodiment, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the autonomous vehicle data storage method described in various embodiments of the present application.

[0107] As used herein, any reference to memory, storage, database, or other medium may include nonvolatile and / or volatile memory. Suitable nonvolatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which serves as an external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0108] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A method for storing data for an unmanned vehicle, the method comprising: Obtaining abnormal attribute messages published by various units in the unmanned vehicle system, including: receiving abnormal attribute messages published by various units by subscribing to topics of abnormal attribute types of the various units; the abnormal attribute messages are discovered by the units when monitoring their own business data; and the abnormal attribute messages are used to enable subscription to topics of related business attribute types; Obtaining the business data identifier associated with the abnormal attribute message and the collection period of the business data associated with the abnormal attribute message; generating subscription information according to the service data identifier and the collection period; Obtaining the service attribute messages published by each unit according to the subscription information; after the service attribute messages are collected, closing the subscription to the topic of the relevant service attribute type; The business data corresponding to the business attribute message is sent to the data storage server.

2. The method according to claim 1, characterized in that The acquisition of abnormal attribute messages issued by various units in the unmanned vehicle system includes: Receive the subscribed exception attribute messages published by each unit in the unmanned vehicle system through the message middleware, wherein each unit in the unmanned vehicle system detects exception information, generates the exception attribute message according to the exception information, and uploads the exception attribute message to the message middleware, wherein the exception information is the business data where the exception occurs. When each unit detects that a business data is not within the data range corresponding to the business data, it is determined that the business data is abnormal.

3. The method according to claim 1, characterized in that The abnormal attribute message includes: The unit to which the abnormal attribute message belongs, the generation time of the abnormal attribute message, the abnormal level of the abnormal information corresponding to the abnormal attribute message, the business data identifier associated with the abnormal attribute message, and the collection period of the business data associated with the abnormal attribute message; wherein the collection period of the business data associated with the abnormal attribute message is used to determine the collection starting point and collection end point of the associated business data.

4. The method according to claim 1, wherein The acquiring of the service attribute messages published by the respective units according to the subscription information includes: According to the subscription information, subscribe to the service attribute messages published by each unit in the unmanned vehicle system in the message middleware; Receive subscribed business attribute messages published by each unit in the unmanned vehicle system, wherein each unit in the unmanned vehicle system detects business data, generates the business attribute messages according to the business data, and uploads the business attribute messages to the message middleware.

5. The method according to claim 1, characterized in that Before sending the business data corresponding to the business attribute message to the data storage server, the method further includes: Classifying the business data corresponding to the business attribute message to obtain first business data and second business data; The sending of the business data corresponding to the business attribute message to the data storage server includes: The first business data and the second business data are sent to the data storage server.

6. The method according to claim 5, characterized in that The classifying the service data corresponding to the service attribute message to obtain the first service data and the second service data includes: According to the unit to which the business attribute message belongs, the generation time of the abnormal attribute message, and the abnormal level of the abnormal information corresponding to the abnormal attribute message, the business data corresponding to the business attribute message is classified to obtain first business data and second business data.

7. The method according to claim 5, characterized in that The classifying the service data corresponding to the service attribute message to obtain the first service data and the second service data includes: The business data corresponding to the business attribute message is classified according to whether it is confidential, and the confidential business data is used as the first business data, and the non-confidential business data is used as the second business data.

8. The method according to claim 7, characterized in that Before sending the first business data and the second business data to the data storage server, the method further includes: encrypting the first service data; The sending the first business data and the second business data to the data storage server includes: The encrypted first business data and the second business data are packaged and sent to the data storage server.

9. A data storage device for an unmanned vehicle, comprising: An acquisition module is configured to acquire abnormal attribute messages published by various units in the autonomous vehicle system, including: receiving abnormal attribute messages published by various units by subscribing to topics of abnormal attribute types of the units; the abnormal attribute messages are discovered by the units when monitoring their own business data; and the abnormal attribute messages are used to enable subscription to topics of related business attribute types; A determination module, configured to obtain a business data identifier associated with the abnormal attribute message and a collection period of the business data associated with the abnormal attribute message; and generate subscription information according to the business data identifier and the collection period; The acquisition module is further configured to acquire the service attribute messages published by the respective units according to the subscription information; after the service attribute messages are collected, close the subscription to the topic of the relevant service attribute type; The sending module is used to send the business data corresponding to the business attribute message to the data storage server.

10. The device according to claim 9, characterized in that The acquisition module includes a receiving submodule, which is used to: receive, through a message middleware, the exception attribute messages issued by each unit in the unmanned vehicle system to which it is subscribed, wherein each unit in the unmanned vehicle system detects exception information, generates the exception attribute message based on the exception information, and uploads the exception attribute message to the message middleware, wherein the exception information is the business data where an exception occurs, and when each unit detects that a piece of business data is not within the data range corresponding to the business data, it is determined that the business data is abnormal; the exception attribute message includes: the unit to which the exception attribute message belongs, the generation time of the exception attribute message, the exception level of the exception information corresponding to the exception attribute message, the business data identifier associated with the exception attribute message, and the collection period of the business data associated with the exception attribute message; wherein the collection period of the business data associated with the exception attribute message is used to determine the collection starting point and collection end point of the business data.

11. The device according to claim 9, characterized in that The acquisition module further includes a subscription submodule, which is used to subscribe to the service attribute messages published by each unit in the unmanned vehicle system in the message middleware according to the subscription information; The receiving submodule is further used to: receive the subscribed business attribute messages published by each unit in the unmanned vehicle system, wherein each unit in the unmanned vehicle system detects business data, generates the business attribute messages according to the business data, and uploads the business attribute messages to the message middleware.

12. The device according to claim 9, characterized in that The device also includes a classification module, which is used to classify the business data corresponding to the business attribute message to obtain first business data and second business data; the sending module includes a sending sub-module, which is used to send the first business data and the second business data to the data storage server.

13. The device according to claim 12, characterized in that The classification module is also used to classify the business data corresponding to the business attribute message according to the unit to which the business attribute message belongs, the generation time of the abnormal attribute message, and the abnormal level of the abnormal information corresponding to the abnormal attribute message to obtain first business data and second business data.

14. The device according to claim 12, characterized in that The classification module includes a classification sub-module, which is used to classify the business data according to whether the business data corresponding to the business attribute message is confidential, and use the confidential business data as the first business data and the non-confidential business data as the second business data.

15. The device according to claim 14, characterized in that The device further includes an encryption module, which is used to encrypt the first business data; the sending submodule is specifically used to package the encrypted first business data and the second business data and send them to the data storage server.

16. A computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method according to any one of claims 1 to 8 when executing the computer program.

17. A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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