Data collection method and device for unmanned vehicle operating system

Abstract

A data collection method for an unmanned vehicle operating system comprises: when the operating system of the unmanned vehicle is started, running a performance analysis application; installing the performance analysis application in the operating system of the unmanned vehicle; obtaining the data collection interface of each computing node in the operating system of the unmanned vehicle, and opening the data collection interface of each computing node; and calling the data collection interface of each computing node through the performance analysis application to collect data of each computing node.

Description

Technical Field

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

[0002] With the development of vehicle technology, driverless technology has emerged. However, driverless vehicle technology has higher requirements for automobile safety. In the traditional data collection method for driverless vehicle operating system, various data in the driverless vehicle operating system are usually collected through external data collection tools. However, this traditional data collection method for driverless vehicle operating system has the problem of slow data collection speed. Summary of the invention

[0003] According to various embodiments of the present application, a data collection method, apparatus, computer device, and computer-readable storage medium for an unmanned vehicle operating system are provided.

[0004] A data collection method for an unmanned vehicle operating system, the method comprising:

[0005] When the operating system of the unmanned vehicle is started, running a performance analysis application; the performance analysis application is installed in the operating system of the unmanned vehicle;

[0006] Obtaining a data acquisition interface of each computing node in the operating system of the unmanned vehicle, and opening the data acquisition interface of each computing node; and

[0007] The data collection interface of each computing node is called by the performance analysis application to collect data of each computing node.

[0008] In one embodiment, calling the data collection interface of each computing node through the performance analysis application to collect data of each computing node includes:

[0009] Calling the data acquisition interface of each computing node through the performance analysis application to monitor each computing node; and

[0010] When the computing node generates data, the data of the computing node is collected.

[0011] In one embodiment, the method further comprises:

[0012] When the computing node ends running, the data collection interface of the computing node that ends running is closed.

[0013] In one embodiment, the method further comprises:

[0014] Aggregating the data of each of the computing nodes; and

[0015] The aggregated data is sent to the front end of the unmanned vehicle and displayed on the display screen of the unmanned vehicle.

[0016] In one embodiment, the method further comprises:

[0017] Acquiring a target device associated with the unmanned vehicle; and

[0018] The aggregated data is sent to the target device and displayed on a display screen of the target device.

[0019] In one embodiment, the method further comprises:

[0020] Monitoring data of each of the computing nodes; and

[0021] When the data of the computing node exceeds a preset range, an early warning signal is generated.

[0022] In one embodiment, the method further comprises:

[0023] Obtaining the proportion of the operating system resources occupied by each of the computing nodes; and

[0024] Stop running the computing nodes whose proportion of the operating system resources occupied is greater than the proportion threshold.

[0025] In one embodiment, the method further comprises:

[0026] Counting the running time of each computing node respectively; and

[0027] The computing node whose running time is greater than the time threshold is stopped.

[0028] In one embodiment, the method further comprises:

[0029] Get target duration; and

[0030] At intervals of the target time, the data collection interface of each of the computing nodes is called by the performance analysis application to collect data of each of the computing nodes.

[0031] In one embodiment, the method further comprises:

[0032] Obtain the collection frequency; and

[0033] The data collection interface of each of the computing nodes is called by the performance analysis application program to collect data of each of the computing nodes at the collection frequency.

[0034] In one embodiment, the method further comprises:

[0035] detecting the driving speed of the unmanned vehicle;

[0036] When the driving speed is lower than a first speed threshold, reducing the acquisition frequency;

[0037] When the driving speed is higher than a second speed threshold, increasing the acquisition frequency; the first speed threshold is lower than the second speed threshold; and

[0038] When the driving speed is lower than or equal to the second speed threshold and higher than or equal to the first speed threshold, the collection frequency is kept unchanged.

[0039] A data acquisition device for an unmanned vehicle operating system, the device comprising:

[0040] A performance analysis application running module, used to run the performance analysis application when the operating system of the unmanned vehicle is started; the performance analysis application is installed in the operating system of the unmanned vehicle;

[0041] A data acquisition interface activation module, used to obtain the data acquisition interface of each computing node in the operating system of the unmanned vehicle, and activate the data acquisition interface of each computing node;

[0042] The data collection module is used to call the data collection interface of each computing node through the performance analysis application program to collect data of each computing node.

[0043] In one of the embodiments, the data collection module is further used to call the data collection interface of each computing node through the performance analysis application to monitor each computing node; when the computing node generates data, the data of the computing node is collected.

[0044] In one of the embodiments, the device further comprises a closing module, which is used to close the data acquisition interface of the computing node that has finished running when the computing node finishes running.

[0045] In one of the embodiments, the device further includes a summarizing module for summarizing the data of each of the computing nodes; sending the summarized data to the front end of the unmanned vehicle and displaying it on a display screen of the unmanned vehicle.

[0046] In one embodiment, the aggregation module is further used to obtain a target device associated with the unmanned vehicle; send the aggregated data to the target device, and display it on a display screen of the target device.

[0047] In one of the embodiments, the device further includes an early warning module for monitoring the data of each of the computing nodes; when the data of a computing node exceeds a preset range, an early warning signal is generated.

[0048] In one of the embodiments, the device further includes a stop operation module, which is used to obtain the proportion of the operating system resources occupied by each of the computing nodes; and stop the operation of the computing nodes whose proportion of the operating system resources occupied is greater than a proportion threshold.

[0049] In one of the embodiments, the stopping operation module is further used to count the operation time of each of the computing nodes respectively; and to stop the operation of the computing nodes whose operation time is greater than a time threshold.

[0050] In one of the embodiments, the data collection module is further used to obtain a target duration; at intervals of the target duration, the data collection interface of each computing node is called by the performance analysis application to collect data from each computing node.

[0051] In one of the embodiments, the data collection module is further used to obtain a collection frequency; the data collection interface of each of the computing nodes is called by the performance analysis application to collect data of each of the computing nodes at the collection frequency.

[0052] In one embodiment, the acquisition frequency adjustment module is used to detect the driving speed of the unmanned vehicle; when the driving speed is lower than a first speed threshold, the acquisition frequency is reduced; when the driving speed is higher than a second speed threshold, the acquisition frequency is increased; the first speed threshold is lower than the second speed threshold; when the driving speed is lower than or equal to the second speed threshold and higher than or equal to the first speed threshold, the acquisition frequency is kept unchanged.

[0053] A computer device includes a memory and a processor, wherein the memory stores computer-readable instructions, and when the instructions are executed by the processor, the processor executes the data collection method for the unmanned vehicle operating system as described above.

[0054] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the data collection method for an unmanned vehicle operating system as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to better describe and illustrate the embodiments and / or examples of the inventions disclosed herein, reference may be made to one or more drawings. The additional details or examples used to describe the drawings should not be considered as limiting the scope of any of the disclosed inventions, the embodiments and / or examples currently described, and the best modes of these inventions currently understood.

[0056] Figure 1 A flowchart of a data collection method for an unmanned vehicle operating system in one embodiment;

[0057] Figure 2 A flowchart of generating an early warning signal in one embodiment;

[0058] Figure 3 A flowchart of stopping a computing node in one embodiment;

[0059] Figure 4 A flowchart of stopping a computing node in another embodiment;

[0060] Figure 5 A flowchart of a data collection method for an unmanned vehicle operating system in another embodiment;

[0061] Figure 6 A flowchart of adjusting the acquisition frequency in one embodiment;

[0062] Figure 7 A structural block diagram of a data acquisition device for an unmanned vehicle operating system in one embodiment;

[0063] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0065] It is understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, without departing from the scope of this application, a first speed threshold may be referred to as a second speed threshold, and similarly, a second speed threshold may be referred to as a first speed threshold. Both the first speed threshold and the second speed threshold are speed thresholds, but they are not the same speed threshold.

[0066] Figure 1 FIG. 1 is a flow chart of a data collection method for an unmanned vehicle operating system in one embodiment. Figure 1 As shown, a data collection method for an unmanned vehicle operating system is applied to a computer device of an unmanned vehicle, comprising:

[0067] Step 102 , when the operating system of the unmanned vehicle is started, the performance analysis application is run; the performance analysis application is installed in the operating system of the unmanned vehicle.

[0068] Unmanned vehicles are a type of intelligent car, also known as wheeled mobile robots, which mainly rely on the intelligent driver's instrument based on the operating system in the car to achieve the purpose of unmanned driving. Among them, the operating system of unmanned vehicles is a computer operating system specially designed for the characteristics of unmanned vehicles, such as complex computing node structure, large computing volume, large software and hardware resource occupation, and high consistency requirements. The operating system is responsible for scheduling the operation cycle and sequence of each computing node, ensuring efficient communication of messages between each computing node, and making full use of different computing resources.

[0069] The performance analysis application refers to an application that performs performance analysis on various data of the operating system of the unmanned vehicle, including operations such as monitoring, collecting, sending, receiving, and analyzing the data.

[0070] The performance analysis application is installed in the unmanned vehicle operating system, that is, the performance analysis application can be used as a submodule of the unmanned vehicle operating system content. When the unmanned vehicle operating system is started, the computer device runs the performance analysis application.

[0071] Step 104, obtaining the data collection interface of each computing node in the operating system of the unmanned vehicle, and opening the data collection interface of each computing node.

[0072] Computing nodes are algorithm modules that perform computing tasks, such as driving modules that collect sensor data, perception modules that detect obstacles, prediction modules that analyze the trajectory of surrounding objects, positioning modules that locate the location, planning modules that determine the driving route, and control modules that output vehicle operation control signals. There is a mutual dependency between the computing nodes in the operating system of unmanned vehicles, and they need to be scheduled and executed at a certain time interval or logical order to ensure that all information is efficiently and reasonably utilized by computing resources so that unmanned vehicles can drive safely.

[0073] The operating system of the unmanned vehicle provides a data acquisition interface and an interface identifier of each data acquisition interface for each computing node in advance. The interface identifier can be unique, and the corresponding data acquisition interface can be found uniquely according to the interface identifier. The interface identifier can be a number, a string, the name of the computing node, etc., but is not limited thereto.

[0074] The computer device obtains the interface identifier of the data collection interface of each computing node in the operating system of the unmanned vehicle, finds the data collection interface of the corresponding computing node according to the interface identifier, and opens the data collection interface to collect data from the computing node.

[0075] Step 106: Call the data collection interface of each computing node through the performance analysis application to collect data from each computing node.

[0076] The performance analysis application includes a performance collection function, through which the underlying function of the operating system of the unmanned vehicle can be called, and the data collection interface of each computing node can be called through the underlying function, and the data of each computing node can be collected through the data collection interface.

[0077] Traditional technologies usually use external performance analysis tools to collect and analyze vehicle data. External performance analysis tools will occupy more system resources for data collection, storage, and smooth operation. In this application, data is collected by a performance analysis application installed in the unmanned vehicle operating system, and the data collection interface of each computing node is called through the underlying function, which can reduce the occupancy rate of the operating system resources by the performance analysis application.

[0078] In an embodiment of the present application, when the operating system of the unmanned vehicle is started, the computer device runs a performance analysis application; the performance analysis application is installed in the operating system of the unmanned vehicle; the data acquisition interface of each computing node in the operating system of the unmanned vehicle is obtained, and the data acquisition interface of each computing node is enabled; by calling the data acquisition interface of each computing node through the performance analysis application installed in the operating system of the unmanned vehicle, the data of each computing node can be collected more quickly, the delay in collecting data is reduced, the collected data is more timely, and the speed of data collection is improved.

[0079] In addition, by calling the data acquisition interface of each computing node through the performance analysis application installed in the unmanned vehicle operating system, the computer equipment can collect more and more complete data, such as actual running time, data volume, stack status, etc., so as to more accurately analyze the performance of the unmanned vehicle operating system and obtain more accurate and effective analysis results, which can assist the unmanned vehicle operating system in timely discovering and resolving potential safety issues during operation, thereby improving the safety and stability of the unmanned vehicle system.

[0080] In one embodiment, the data collection interface of each computing node is called by the performance analysis application to collect data from each computing node, including: calling the data collection interface of each computing node by the performance analysis application to monitor each computing node; when the computing node generates data, collecting the data of the computing node.

[0081] The data acquisition interface of the computing node can monitor the computing node. When the computing node generates data, the computer device controls the data acquisition interface to collect the generated data.

[0082] Furthermore, for each computing node, when the data currently generated by the computing node is different from the last data collected, the computer device controls the data collection interface to collect the data currently generated by the computing node.

[0083] It is understandable that when the data currently generated by the computing node is different from the last data collected, it means that the state of the node may change, and the computer device controls the data collection interface to collect the data currently generated by the computing node. When the data currently generated by the computing node is the same as the last data collected, it means that the state of the node is unchanged, and the currently generated data may not be collected, saving resources of the operating system of the unmanned vehicle.

[0084] For example, the last data collected by the computing node is 100. When the data currently generated by the computing node is 90, the currently generated data is different from the last collected data. In this case, the computer device controls the data acquisition interface to collect the currently generated data 90. When the data currently generated by the computing node is 100, it indicates that the state of the computing node has not changed. Therefore, the currently generated data does not need to be collected, thereby saving resources of the operating system of the unmanned vehicle.

[0085] In this embodiment, the data collection interface of each computing node is called by the performance analysis application to monitor each computing node; when a computing node generates data, the data of the computing node can be collected in time to improve the speed of data collection.

[0086] In one embodiment, the method further includes: when the computing node ends running, closing the data collection interface of the computing node that has ended running.

[0087] When a computing node finishes running, the computer device closes the data acquisition interface of the computing node that has finished running, which can save resources of the operating system of the unmanned vehicle.

[0088] Furthermore, when the data acquisition interface of the computing node that has finished running is closed, the computer device allocates the computer resources of the closed data acquisition interface to the running computing node.

[0089] It is understandable that when the data acquisition interface is in the open state, it consumes a lot of computer resources, such as CPU resources, GPU resources, memory resources, etc. When the computer device closes the data acquisition interface, the computer resources originally occupied by the data acquisition interface can be saved. The computer device allocates the saved computer resources to the running computing nodes, which can further improve the data acquisition speed of the running computing nodes.

[0090] In one embodiment, the above method also includes: aggregating the data of each computing node; sending the aggregated data to the front end of the unmanned vehicle and displaying it on the display screen of the unmanned vehicle.

[0091] The computer equipment aggregates the data of each computing node, sends the aggregated data to the front end of the unmanned vehicle, and displays it on the display screen of the unmanned vehicle, allowing the user to observe the data of each computing node.

[0092] In another embodiment, the computer device classifies the data of each computing node, sends the classified data to the front end of the unmanned vehicle, and displays it on the display screen of the unmanned vehicle.

[0093] In one embodiment, the method further includes: acquiring a target device associated with the unmanned vehicle; sending the aggregated data to the target device and displaying it on a display screen of the target device.

[0094] The target device associated with the driverless vehicle may be a target device connected to the same wireless network as the driverless vehicle, or a target device bound to the driverless vehicle, but is not limited thereto. The target device may be a mobile device such as a smart phone or a laptop, or a wearable device such as a smart bracelet, or one or more servers in a traffic system that monitors the driverless vehicle, but is not limited thereto.

[0095] In another embodiment, the data of each computing node is classified, and the classified data is sent to a target device and displayed on a display screen of the target device.

[0096] In one embodiment, Figure 2 As shown, the above method also includes:

[0097] Step 202: monitor the data of each computing node.

[0098] Step 204: When the data of a computing node exceeds a preset range, a warning signal is generated.

[0099] The computer device monitors the data of each computing node, and generates a warning signal when the data of one computing node among the computing nodes exceeds the preset range. The warning signal may be a sound, a vibration, a text message, etc., but is not limited thereto. It should be noted that the preset ranges corresponding to the data of different computing nodes may be the same or different, but is not limited thereto.

[0100] Furthermore, the computer device pre-sets an early warning signal corresponding to each computing node. The computer device takes the computing node whose data exceeds a preset range as an early warning node and generates an early warning signal corresponding to the early warning node.

[0101] For example, the warning signal corresponding to computing node A is warning sound 1, the warning signal corresponding to computing node B is warning sound 2, and the warning signal corresponding to computing node C is vibration. When the data of computing node A exceeds the preset range, warning sound 1 is generated; when the data of computing node B exceeds the corresponding preset range, the corresponding warning signal is warning sound 2; when the data of computing node C exceeds the corresponding preset range, the corresponding warning signal is vibration.

[0102] In one embodiment, Figure 3 As shown, the above method also includes:

[0103] Step 302, obtaining the proportion of operating system resources occupied by each computing node.

[0104] The resources of the operating system may include at least one of a CPU, a GPU, a memory, a network port, a throughput speed, and the like.

[0105] Step 304: Stop the operation of computing nodes whose proportion of operating system resources occupied is greater than a proportion threshold.

[0106] The computer device obtains the proportion of operating system resources occupied by each computing node. When the proportion of operating system resources occupied is greater than the proportion threshold, the computing node occupies more resources of the operating system of the unmanned vehicle, which may slow down the operation speed of the entire operating system.

[0107] Therefore, when there is a computing node whose proportion of occupied operating system resources is greater than a proportion threshold, the computer device stops running the computing node, which can improve the running speed of the entire operating system.

[0108] In one embodiment, Figure 4 As shown, the above method also includes:

[0109] Step 402: Count the running time of each computing node respectively.

[0110] The running time refers to the time from the start time of the computing node to the current time.

[0111] The performance analysis application also includes a timer, through which the running time of each computing node can be counted separately.

[0112] Step 404: Stop the computing nodes whose running time is greater than the time threshold.

[0113] When the running time is greater than the time threshold, it means that the computing node has been running for a long time, and the computing node may be in a deadlock state. Deadlock refers to a blocking phenomenon caused by competition for resources or communication between two or more threads during execution. Without external force, they will not be able to move forward.

[0114] Therefore, when there is a computing node whose running time is greater than the time threshold, the computer device stops running the computing node, which can avoid the deadlock state of the computing node.

[0115] In one embodiment, the method further includes: obtaining a target duration; and collecting data from each computing node by calling a data collection interface of each computing node through a performance analysis application at intervals of the target duration.

[0116] The target duration can be set according to user needs. The target duration is set by calling the data collection interface of each computing node through the performance analysis application to collect data from each computing node, which can avoid real-time data collection of each computing node and save computer resources of the operating system of the unmanned vehicle.

[0117] Furthermore, the computer device obtains the driving speed of the unmanned vehicle; when the driving speed of the unmanned vehicle exceeds a preset speed threshold, the target duration is shortened; the target duration after the interval is shortened is called by the performance analysis application to call the data collection interface of each computing node to collect data from each computing node.

[0118] When the speed of the unmanned vehicle exceeds the preset speed threshold, it means that the speed of the unmanned vehicle is relatively fast. When the speed of the unmanned vehicle is relatively fast, the safety requirement is higher. Therefore, the computer equipment shortens the target time, and collects data from each computing node at the target time after the interval is shortened. More data from each computing node can be collected, so that the data of the unmanned vehicle can be understood more timely, and the safety of the unmanned vehicle can be improved.

[0119] In one embodiment, Figure 5 As shown, the above method also includes:

[0120] Step 502, obtaining the acquisition frequency.

[0121] The collection frequency refers to the number of times data is collected per unit time.

[0122] Step 504: Call the data collection interface of each computing node through the performance analysis application to collect data of each computing node at a collection frequency.

[0123] When the collection frequency is higher, the more times data is collected per unit time, and the data of the unmanned vehicle can be obtained more timely; when the collection frequency is lower, the computer resources of the operating system of the unmanned vehicle can be saved.

[0124] In one embodiment, Figure 6 As shown, the above method also includes:

[0125] Step 602, detecting the driving speed of the unmanned vehicle.

[0126] A speed sensor is installed in the computer device of the driverless vehicle, through which the speed of the driverless vehicle can be detected.

[0127] The computer equipment of the unmanned vehicle is also equipped with components such as a gyroscope and an accelerometer. The angular velocity of the unmanned vehicle can be obtained through the gyroscope, and the acceleration of the unmanned vehicle can be obtained through the accelerometer.

[0128] Step 604: when the driving speed is lower than the first speed threshold, reduce the collection frequency.

[0129] The first speed threshold can be set according to user needs.

[0130] When the driving speed is lower than the first speed threshold, it means that the driving speed of the unmanned vehicle is slow, and the safety requirements of the unmanned vehicle are relatively low. The computer equipment can reduce the collection frequency and save computer resources of the operating system of the unmanned vehicle.

[0131] Step 606, when the driving speed is higher than the second speed threshold, increase the collection frequency; the first speed threshold is lower than the second speed threshold.

[0132] When the driving speed is higher than the second speed threshold, it means that the unmanned vehicle is driving faster, and the unmanned vehicle has relatively high safety requirements. The computer equipment can increase the collection frequency, that is, collect more data per unit time, and obtain the data of the unmanned vehicle more timely.

[0133] Step 608: When the driving speed is lower than or equal to the second speed threshold and higher than or equal to the first speed threshold, the collection frequency is kept unchanged.

[0134] When the driving speed is lower than or equal to the second speed threshold and higher than or equal to the first speed threshold, it means that the driving speed of the unmanned vehicle is within a stable range, and the computer device can keep the collection frequency unchanged.

[0135] Each step in the flow chart of the embodiment of the present application is displayed in sequence according to the indication of the arrow, but these steps are not necessarily performed in sequence in the order indicated by the arrow. Unless there is a clear description in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a part of the steps in the flow chart of the embodiment of the present application may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0136] Figure 7 FIG. 1 is a structural block diagram of a data acquisition device for an unmanned vehicle operating system in one embodiment. Figure 7 As shown, a data acquisition device 700 for an unmanned vehicle operating system includes:

[0137] The performance analysis application running module 702 is used to run the performance analysis application when the operating system of the unmanned vehicle is started; the performance analysis application is installed in the operating system of the unmanned vehicle.

[0138] The data acquisition interface activation module 704 is used to obtain the data acquisition interface of each computing node in the operating system of the unmanned vehicle and activate the data acquisition interface of each computing node.

[0139] The data collection module 706 is used to call the data collection interface of each computing node through the performance analysis application program to collect data of each computing node.

[0140] In an embodiment of the present application, when the operating system of the unmanned vehicle is started, the computer device runs a performance analysis application; the performance analysis application is installed in the operating system of the unmanned vehicle; the data acquisition interface of each computing node in the operating system of the unmanned vehicle is obtained, and the data acquisition interface of each computing node is enabled; by calling the data acquisition interface of each computing node through the performance analysis application installed in the operating system of the unmanned vehicle, the data of each computing node can be collected more quickly, the delay in collecting data is reduced, the collected data is more timely, and the speed of data collection is improved.

[0141] In addition, by calling the data collection interface of each computing node through the performance analysis application installed in the unmanned vehicle operating system, more and more complete data can be collected, such as actual running time, data volume, stack status, etc., so that the performance of the unmanned vehicle operating system can be analyzed more accurately, and more accurate and effective analysis results can be obtained. It can assist the unmanned vehicle operating system in timely discovering and resolving potential safety issues during operation, and improve the safety and stability of the unmanned vehicle system.

[0142] In one of the embodiments, the data collection module is further used to call the data collection interface of each computing node through the performance analysis application to monitor each computing node; when the computing node generates data, the data of the computing node is collected.

[0143] In one of the embodiments, the apparatus further comprises a closing module, which is used to close the data acquisition interface of the computing node when the computing node ends its operation.

[0144] In one of the embodiments, the above-mentioned device also includes a summary module for summarizing the data of each computing node; sending the summarized data to the front end of the unmanned vehicle and displaying it on the display screen of the unmanned vehicle.

[0145] In one embodiment, the aggregation module is further used to obtain a target device associated with the unmanned vehicle; and send the aggregated data to the target device and display it on a display screen of the target device.

[0146] In one of the embodiments, the above-mentioned device also includes an early warning module for monitoring the data of each computing node; when the data of a computing node exceeds a preset range, an early warning signal is generated.

[0147] In one of the embodiments, the apparatus further includes a stop operation module, which is used to obtain the proportion of operating system resources occupied by each computing node; and stop the operation of computing nodes whose proportion of operating system resources occupied is greater than a proportion threshold.

[0148] In one of the embodiments, the above-mentioned stopping operation module is also used to count the operation time of each computing node respectively; and stop the computing node whose operation time is greater than the time threshold.

[0149] In one of the embodiments, the data collection module is further used to obtain a target duration; at intervals of the target duration, the data collection interface of each computing node is called by the performance analysis application to collect data from each computing node.

[0150] In one of the embodiments, the data collection module is further used to obtain a collection frequency; the data collection interface of each computing node is called by the performance analysis application program to collect data of each computing node at the collection frequency.

[0151] In one of the embodiments, the acquisition frequency adjustment module is used to detect the driving speed of the unmanned vehicle; when the driving speed is lower than a first speed threshold, the acquisition frequency is reduced; when the driving speed is higher than a second speed threshold, the acquisition frequency is increased; the first speed threshold is lower than the second speed threshold; when the driving speed is lower than or equal to the second speed threshold and higher than or equal to the first speed threshold, the acquisition frequency is kept unchanged.

[0152] The division of each module in the data acquisition device of the above-mentioned unmanned vehicle operating system is only for illustration. In other embodiments, the data acquisition device of the unmanned vehicle operating system can be divided into different modules as needed to complete all or part of the functions of the above-mentioned display screen detection device.

[0153] For the specific definition of the data acquisition device of the unmanned vehicle operating system, please refer to the definition of the data acquisition method of the unmanned vehicle operating system in the above text, which will not be repeated here. Each module in the above-mentioned data acquisition device of the unmanned vehicle operating system can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0154] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 8 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a data acquisition method for an unmanned vehicle operating system is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0155] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0156] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the above-mentioned data collection method for the unmanned vehicle operating system is implemented.

[0157] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the data collection method of the unmanned vehicle operating system described above is implemented.

[0158] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0159] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0160] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A data collection method for an unmanned vehicle operating system, characterized in that: The method comprises: When the operating system of the unmanned vehicle is started, running a performance analysis application; the performance analysis application is installed in the operating system of the unmanned vehicle; Obtaining data acquisition interfaces of various computing nodes in the operating system of the unmanned vehicle, and opening the data acquisition interfaces of various computing nodes, wherein the computing nodes are algorithm modules that perform computing tasks, and the computing nodes include but are not limited to a driving module that collects sensor data, a perception module that detects obstacles, a prediction module that analyzes the running trajectory of surrounding objects, a positioning module that locates the location, a planning module that determines the driving route, and a control module that outputs vehicle running control signals; and Calling the data collection interface of each computing node through the performance analysis application to collect data of each computing node; When the computing node ends running, closing the data acquisition interface of the computing node that has ended running; when closing the data acquisition interface of the computing node that has ended running, allocating the computer resources of the closed data acquisition interface to the running computing node; Among them, the performance analysis application includes a performance acquisition function, which calls the underlying function of the operating system of the unmanned vehicle through the performance acquisition function, calls the data acquisition interface of each of the computing nodes through the underlying function, and collects data from each of the computing nodes through the data acquisition interface.

2. The method according to claim 1, characterized in that The step of calling the data collection interface of each computing node through the performance analysis application to collect data of each computing node includes: Calling the data acquisition interface of each computing node through the performance analysis application to monitor each computing node; and When the computing node generates data, the data of the computing node is collected.

3. The method according to claim 1, characterized in that: The method further comprises: For each of the computing nodes, when the data currently generated by the computing node is different from the last data collected, the data collection interface is controlled to collect the data currently generated by the computing node.

4. The method according to claim 1, characterized in that: The method further comprises: Aggregating the data of each of the computing nodes; and The aggregated data is sent to the front end of the unmanned vehicle and displayed on the display screen of the unmanned vehicle.

5. The method according to claim 4, characterized in that The method further comprises: Acquiring a target device associated with the unmanned vehicle; and The aggregated data is sent to the target device and displayed on a display screen of the target device.

6. The method according to claim 1, characterized in that The method further comprises: Monitoring data of each of the computing nodes; and When the data of the computing node exceeds a preset range, an early warning signal is generated.

7. The method according to claim 1, characterized in that The method further comprises: Obtaining the proportion of the operating system resources occupied by each of the computing nodes; and Stop running the computing nodes whose proportion of the operating system resources occupied is greater than the proportion threshold.

8. The method according to claim 1, characterized in that The method further comprises: Counting the running time of each computing node respectively; and The computing node whose running time is greater than the time threshold is stopped.

9. The method according to claim 1, characterized in that: The method further comprises: Get target duration; and At intervals of the target time, the data collection interface of each of the computing nodes is called by the performance analysis application to collect data of each of the computing nodes.

10. The method according to claim 1, characterized in that The method further comprises: Obtain the collection frequency; and The data collection interface of each of the computing nodes is called by the performance analysis application program to collect data of each of the computing nodes at the collection frequency.

11. The method according to claim 10, characterized in that The method further comprises: detecting the driving speed of the unmanned vehicle; When the driving speed is lower than a first speed threshold, reducing the acquisition frequency; When the driving speed is higher than a second speed threshold, increasing the acquisition frequency; the first speed threshold is lower than the second speed threshold; and When the driving speed is lower than or equal to the second speed threshold and higher than or equal to the first speed threshold, the collection frequency is kept unchanged.

12. A data acquisition device for an unmanned vehicle operating system, characterized in that: The device comprises: A performance analysis application running module, used to run the performance analysis application when the operating system of the unmanned vehicle is started; the performance analysis application is installed in the operating system of the unmanned vehicle; A data acquisition interface activation module, used to obtain the data acquisition interface of each computing node in the operating system of the unmanned vehicle, and to activate the data acquisition interface of each computing node, wherein the computing node is an algorithm module for performing computing tasks, and the computing node includes but is not limited to a driving module for collecting sensor data, a perception module for detecting obstacles, a prediction module for analyzing the running trajectory of surrounding objects, a positioning module for locating the location, a planning module for determining the driving route, and a control module for outputting vehicle running control signals; A data acquisition module, configured to call the data acquisition interface of each computing node through the performance analysis application to collect data of each computing node; the performance analysis application includes a performance acquisition function, which calls the underlying function of the operating system of the unmanned vehicle through the performance acquisition function, calls the data acquisition interface of each computing node through the underlying function, and collects data of each computing node through the data acquisition interface; The shutdown module is used to close the data acquisition interface of the computing node that has finished running when the computing node finishes running; when closing the data acquisition interface of the computing node that has finished running, the computer resources of the closed data acquisition interface are allocated to the running computing node.

13. The device according to claim 12, characterized in that The data acquisition module is also used to call the data acquisition interface of each computing node through the performance analysis application to monitor each computing node; when the computing node generates data, the data of the computing node is collected.

14. The device according to claim 12, characterized in that The data acquisition module is also used to control the data acquisition interface to acquire the data currently generated by each computing node when the data currently generated by the computing node is different from the last data acquired.

15. The device according to claim 12, characterized in that The device also includes a summary module for summarizing the data of each of the computing nodes; sending the summarized data to the front end of the unmanned vehicle and displaying it on the display screen of the unmanned vehicle.

16. The device according to claim 15, characterized in that The aggregation module is also used to obtain a target device associated with the unmanned vehicle; send the aggregated data to the target device, and display it on a display screen of the target device.

17. The device according to claim 12, characterized in that The device also includes an early warning module, which is used to monitor the data of each of the computing nodes; when the data of a computing node exceeds a preset range, an early warning signal is generated.

18. The device according to claim 12, characterized in that The device also includes a stopping operation module, which is used to obtain the proportion of the operating system resources occupied by each of the computing nodes; and stop the operation of the computing node whose proportion of occupying the operating system resources is greater than a proportion threshold.

19. The device according to claim 12, characterized in that The stopping operation module is also used to count the operation time of each computing node respectively; and stop the operation of the computing node whose operation time is greater than the time threshold.

20. The device according to claim 12, characterized in that The data collection module is also used to obtain a target duration; at intervals of the target duration, the data collection interface of each computing node is called by the performance analysis application to collect data from each computing node.

21. The device according to claim 12, characterized in that The data collection module is also used to obtain a collection frequency; the data collection interface of each of the computing nodes is called through the performance analysis application program to collect data of each of the computing nodes at the collection frequency.

22. The device according to claim 21, characterized in that The acquisition frequency adjustment module is used to detect the driving speed of the unmanned vehicle; when the driving speed is lower than a first speed threshold, the acquisition frequency is reduced; when the driving speed is higher than a second speed threshold, the acquisition frequency is increased; the first speed threshold is lower than the second speed threshold; when the driving speed is lower than or equal to the second speed threshold and higher than or equal to the first speed threshold, the acquisition frequency is kept unchanged.

23. A computer device comprising a memory and a processor, wherein the memory stores computer-readable instructions, and when the instructions are executed by the processor, the processor executes the data collection method for an unmanned vehicle operating system as described in any one of claims 1-11.

24. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the data collection method for an unmanned vehicle operating system according to any one of claims 1 to 11 is implemented.

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