A data playback method, device, vehicle and storage medium

Abstract

Embodiments of the present application provide a data playback method and device, a vehicle and a storage medium. The method comprises: reading a plurality of types of data distribution service data queried on the vehicle to obtain structured data; the structured data at least comprises a topic and a corresponding original timestamp; determining a reference timestamp based on the original timestamp; determining data of the topic not exceeding the reference timestamp as playback data; and playing back the playback data. Embodiments of the present application directly read a plurality of types of data distribution service data queried on the vehicle to play back the data, without rewriting the data distribution service data into the memory, thereby improving the efficiency of data playback; and the reference timestamp is determined based on the original timestamp to adjust the rate of data playback.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a data playback method, a data playback device, a vehicle and a storage medium. Background Art

[0002] DDS (Data Distribute Service) is a data-centric middleware protocol and API (Application Programming Interface) standard published by the Object Management Group. DDS provides low-latency data connections, high reliability, and a highly scalable architecture to meet the needs of commercial-grade IoT applications.

[0003] In related technologies, DDS data playback can be used to query application runtime information and, during application design, review the application's runtime status to improve it. Currently, DDS data playback methods typically call the corresponding system interface to rewrite the DDS data, then retrieve the data based on a timer for playback. This playback method is inefficient and cannot control the playback rate. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention are proposed to provide a data playback method, a data playback device, a vehicle, and a storage medium that overcome the above problems or at least partially solve the above problems.

[0005] An embodiment of the present invention discloses a data playback method, comprising:

[0006] Reading multiple types of data distribution service data queried on the vehicle to obtain structured data; the structured data at least includes a subject and a corresponding original timestamp;

[0007] determining a reference timestamp based on the original timestamp;

[0008] Determine that data whose subject does not exceed the reference timestamp is playback data;

[0009] The playback data is played back.

[0010] Optionally, the step of determining a reference timestamp based on the original timestamp includes:

[0011] Read the original timestamp corresponding to the preset topic and generate a basic timestamp;

[0012] A reference timestamp is determined according to the basic timestamp and a preset timer interruption period.

[0013] Optionally, the step of reading the original timestamp corresponding to the preset topic and generating a basic timestamp includes:

[0014] Reading the original timestamps corresponding to the preset topics and determining the time sequence of the original timestamps;

[0015] The first original timestamp in the time sequence is determined as a base timestamp.

[0016] Optionally, before the step of determining the reference timestamp according to the basic timestamp and a preset timer interruption period, the method further includes:

[0017] Receive data playback frequency adjustment instructions;

[0018] The preset timer interrupt period is determined according to the adjustment instruction.

[0019] Optionally, the step of determining that the data of the subject not exceeding the reference timestamp is the playback data includes:

[0020] Determine, in the time sequence, the last timestamp of the original timestamps corresponding to the subject that does not exceed the reference timestamp;

[0021] The data corresponding to the end timestamp is used as the playback data.

[0022] Optionally, the step of replaying the playback data includes:

[0023] serializing the playback data;

[0024] Use the preset communication protocol to transmit serialized playback data;

[0025] Visually output the serialized playback data.

[0026] Optionally, the data distribution service data includes vehicle chassis data, sensor detection data, and detection result data for the sensor detection data.

[0027] The embodiment of the present invention further discloses a data playback device, comprising:

[0028] A reading module, configured to read various types of data distribution service data queried on the vehicle to obtain structured data; the structured data at least includes a subject and a corresponding original timestamp;

[0029] a determining module, configured to determine a reference timestamp based on the original timestamp;

[0030] A search module, configured to determine that data whose subject does not exceed the reference timestamp is playback data;

[0031] A playback module is used to play back the playback data.

[0032] An embodiment of the present invention further discloses a vehicle, comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the steps of the data playback method described above when executed by the processor.

[0033] An embodiment of the present invention further discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the data playback method described above are implemented.

[0034] The embodiments of the present invention include the following advantages:

[0035] In an embodiment of the present invention, structured data is obtained by reading multiple types of data distribution service data queried on a vehicle; the structured data includes at least a subject and a corresponding original timestamp; the data distribution service data is directly read to determine the playback data, without having to rewrite the data distribution service data into memory to determine the playback data. Since the data distribution service data on the vehicle occupies a large amount of data, avoiding data rewriting can effectively improve the efficiency of data playback. A reference timestamp is determined based on the original timestamp; data whose subject does not exceed the reference timestamp is determined to be playback data; the playback data is played back so that the speed and frame rate of the data playback can be controlled by controlling the time size, thereby achieving data playback with adjustable playback speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a flowchart of the steps of a data playback method embodiment 1 of the present invention;

[0037] Figure 2 This is a flow chart of the steps of Embodiment 2 of a data playback method of the present invention;

[0038] Figure 3 This is a flowchart of the steps of Embodiment 3 of a data playback method of the present invention;

[0039] Figure 4 is a schematic diagram of an example embodiment of a data playback method of the present invention;

[0040] Figure 5 It is a structural block diagram of an embodiment of a data playback device of the present invention. DETAILED DESCRIPTION

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] Data playback refers to the replay of real-time stored data. Based on the timing synchronization requirements of signal processing, the original data and its timing are sent out, allowing for real-time playback of the actual operation process on the terminal. This requires that the timing relationships of the original data remain consistent with those when recorded. Currently, data playback is used on vehicles to observe actual vehicle operation and facilitate improvements. The current method for replaying DDS data from the data distribution service (DDS) is to rewrite the DDS data to memory by calling the corresponding DDS interface and then retrieve the DDS data from memory based on a timer interrupt duration for data playback. However, due to the large volume of real-time data processed on vehicles and limited memory capacity, all-in-one writes to memory are unsuitable, resulting in extremely low DDS data playback efficiency. Furthermore, the DDS data on vehicles is generated using RTI (Real-Time Innovations) DDS components. DDS technology uses a table lookup to output pre-stored waveform data at a fixed output rate (fref). The output frequency (fout) is specified by varying the table address interval (tuning word). When the tuning word is greater than 1, that is, fout is greater than fref / 2N, some points in the waveform memory are skipped. This is insignificant for sine waves, but for arbitrary waveforms containing important details (such as glitches), it can mean information loss. Furthermore, the playback rate is not adjustable by default. However, the data generation rates on vehicles vary, and a single playback rate clearly does not meet the requirements for on-vehicle use. Therefore, the embodiments of the present invention are proposed to address these issues.

[0043] Reference Figure 1 , shows a flowchart of a data playback method embodiment 1 of the present invention, which may specifically include the following steps:

[0044] Step 101: Read multiple types of data distribution service data found on the vehicle to obtain structured data; the structured data at least includes a subject and a corresponding original timestamp;

[0045] Using structured data queries, the DDS components on the vehicle are queried, directly reading the various types of data distribution service data found to generate structured data. This structured data includes at least a topic and its corresponding original timestamp. Because the DDS data being read is of multiple types, each topic can have multiple corresponding topics. Therefore, multiple topics and the original timestamp corresponding to each topic are generated in a single read.

[0046] Step 102, determining a reference timestamp based on the original timestamp;

[0047] After obtaining the subject and the corresponding original timestamp, a reference timestamp for data playback is determined by calculation based on the original timestamp.

[0048] Step 103, determining that the data whose subject does not exceed the reference timestamp is playback data;

[0049] Since the same type of data on a vehicle may generate multiple data points between two data reads, multiple original timestamps may appear for a single topic. Therefore, based on the reference timestamp, the topic corresponding to the original timestamp that does not exceed the reference timestamp is determined, and the data in the topic is used as the playback data. It should be noted that DDS defines data transmitted on the network as a topic (Topic), that is, a topic contains data. This is not a topic in the narrow sense of representing data characteristics; rather, it is a topic in the broad sense of having substantive data.

[0050] Step 104: replay the replay data.

[0051] After the playback data is obtained, the playback data is played back in a corresponding manner according to the actual needs of the user.

[0052] In an embodiment of the present invention, structured data is obtained by reading multiple types of data distribution service data retrieved on a vehicle; the structured data includes at least a subject and a corresponding original timestamp. The data distribution service data is directly read to determine playback data, eliminating the need to rewrite the data distribution service data into memory for playback data determination. The data distribution service data on a vehicle occupies a large amount of data, and avoiding duplicate data writing can effectively improve data playback efficiency. A reference timestamp is determined based on the original timestamp; data whose subject does not exceed the reference timestamp is determined as playback data; the playback data is played back so that the playback speed and frame rate can be controlled by controlling the time size, thereby achieving data playback with adjustable playback speed.

[0053] Reference Figure 2 , shows a flowchart of the steps of a second embodiment of a data playback method of the present invention, which may specifically include the following steps:

[0054] Step 201: Read multiple types of data distribution service data found on the vehicle to obtain structured data; the structured data at least includes a subject and a corresponding original timestamp;

[0055] Read various DDS data queried on the vehicle through SQL (Structured Query Language) to obtain structured data. Structured data refers to data with a certain regular arrangement data structure obtained after querying DDS data through SQL. The process of querying DDS data through SQL is to use SQL statements to search the data in the DDS component to find the specific data required. It should be noted that in structured data, any content of the structured data can be found through pointers. Among them, the structured data includes at least the subject and the original timestamp corresponding to it; since DDS is a real-time data distribution control, for reading DDS data, the original timestamp in the structured data is the timestamp corresponding to the recording of the subject.

[0056] Furthermore, the data distribution service data includes vehicle chassis data, sensor detection data, and detection result data for the sensor detection data.

[0057] On-board DDS data includes chassis data, such as speed, steering angle, and suspension bumper height; sensor data, such as images collected by visual sensors, sound waves from ultrasonic sensors, and point cloud data from lidar; and detection results from these sensor data, such as lane markings, parking space frames, and the positions of other vehicles. This shows that vehicle DDS data is cumbersome and unsuitable for all-in-one loading into memory. Therefore, reading DDS data retrieved through SQL queries allows for efficient and rapid access to source data for data playback, improving playback efficiency.

[0058] Step 202: Read the original timestamp corresponding to the preset theme and generate a basic timestamp;

[0059] In actual applications, since the update frequencies of the topics in the structured data obtained are not the same, for example, the update frequency of the vehicle speed mentioned above may be updated every 10ms, while the update frequency of the parking space frame may be once every 50ms. In order to ensure the accuracy of data playback, in an embodiment of the present invention, the topic with the fastest update frequency is used as the basic variable; that is, the preset topic is the topic with the fastest update frequency among all topics in the structured data. To determine the topic with the best update frequency, a statistical method can be used, such as counting the time of two adjacent data records in each topic, using the time difference as the update frequency, and then sorting the update frequencies, with the topic with the fastest update frequency as the preset topic. Of course, those skilled in the art can also use different methods to determine the topic with the fastest update frequency as the preset topic according to actual needs; the embodiment of the present invention does not limit this.

[0060] In addition, the preset theme can be determined in advance based on the vehicle's historical data before data playback, and then the original timestamp corresponding to the preset theme can be directly read during reading; or after obtaining multiple themes, the original timestamp corresponding to the theme with the fastest update frequency can be determined. The present invention does not limit this.

[0061] Read the original timestamp corresponding to the preset theme, and use the time value corresponding to the original timestamp as the time value corresponding to the base timestamp; subsequently, use the time value corresponding to the base timestamp as the base time for data playback. Therefore, the base timestamp refers to the timestamp of the base time of the playback data during data playback. It should be noted that the time value corresponding to the original timestamp and the time value corresponding to the base timestamp are consistent in terms of absolute time, but the original timestamp and the base timestamp can use different or identical expressions to express time.

[0062] In a preferred embodiment of the present invention, the step of reading the original timestamp corresponding to the preset subject and generating the basic timestamp includes:

[0063] Sub-step S2021, reading the original timestamps corresponding to the preset topics and determining the time sequence of the original timestamps;

[0064] Read all the original timestamps corresponding to the preset topic, sort the original timestamps of the topic in ascending order, and determine the time sequence of the original timestamps. For example, if the preset topic is vehicle speed, the corresponding original timestamps are 1′15″025, 1′15″035, 1′15″005, 1′15″015, 1′15″045; the time sequence determined by sorting in ascending order is 1′15″005, 1′15″015, 1′15″025, 1′15″035, 1′15″045.

[0065] Sub-step S2022: determining the first original timestamp in the time sequence as the base timestamp.

[0066] After determining the time sequence of the original timestamps, the first original timestamp in the time sequence is determined as the base timestamp. That is, the earliest recorded timestamp in the topic with the fastest update frequency is used as the base timestamp. Continuing with the above example, the first original timestamp "1'15"005" in the time sequence corresponding to the original timestamps of the vehicle speed: 1'15"005, 1'15"015, 1'15"025, 1'15"035, 1'15"045 is used as the base timestamp.

[0067] Step 203, determining a reference timestamp based on the basic timestamp and a preset timer interruption period;

[0068] After obtaining the base timestamp, the time value of the base timestamp is added to the preset timer interrupt period to obtain the sum of the two, and the sum is determined as the base timestamp. The base timestamp is the standard for obtaining playback data during data playback. Among them, the timer can be a DDS timer, and the interrupt period length is the default interrupt period length of the DDS timer. Continuing with the above example, when the base timestamp is "1′15″005" and the preset timer interrupt period is 50ms (milliseconds), the base timestamp is 1′15″005 plus 50ms, which is equal to 1′15″055. It should be noted that the preset timer interrupt period only uses the interrupt period length of the DDS timer, so that the playback rate in the embodiment of the present invention has a default playback rate even in the absence of a control instruction. It is not only possible to use the interrupt period length of the DDS timer, but also to receive instructions for adjusting the playback rate to adjust the preset timer interrupt period.

[0069] Step 204: determining, in accordance with the time sequence, the last timestamp of the original timestamps corresponding to the subject that does not exceed the reference timestamp;

[0070] Still, the original timestamps are sorted in ascending order, and the end timestamp of the original timestamps corresponding to each topic that does not exceed the reference timestamp is determined; that is, the latest timestamp of the original timestamps corresponding to each topic that does not exceed the reference timestamp is determined, and it can be clearly understood that the end timestamp is the latest original timestamp that does not exceed the reference timestamp. Continuing with the above example, the reference timestamp is 1′15″055; the original timestamps of the vehicle speed are 1′15″005, 1′15″0151′15″025, 1′15″035, 1′15″045; that is, "1′15″045" is the end timestamp. Repeat this method to determine the end timestamp of each topic. It should be noted that the said not exceeding the reference timestamp means that the time value of the end timestamp is less than or equal to the time value of the reference timestamp.

[0071] Step 205: using the data corresponding to the end timestamp as playback data;

[0072] After determining the end timestamp corresponding to each topic, the data corresponding to the end timestamp is used as the playback data; that is, the latest data of each topic that does not exceed the reference timestamp is used as the playback data.

[0073] Step 206: replay the replay data.

[0074] Replay the playback data to show the actual operating status of the vehicle.

[0075] In a preferred embodiment of the present invention, the step of replaying the playback data includes:

[0076] Sub-step S2061, serializing the playback data;

[0077] After obtaining the latest playback data, the playback data can be serialized for transmission. Those skilled in the art can use a suitable protocol to serialize the playback data, and the embodiments of the present invention are not limited to this. In a preferred embodiment of the present invention, the playback data can be filled into a corresponding protobuf (mixed language data standard) protocol to complete the serialization of the playback data.

[0078] Sub-step S2062, transmitting the serialized playback data using a preset communication protocol;

[0079] The serialized playback data is then transmitted via a preset communication protocol to output the playback data, such as SOME / IP (Scalable service-oriented Middleware over IP, in-vehicle Ethernet).

[0080] Sub-step S2603: Visually output the serialized playback data.

[0081] When you need to visualize playback data, you can output the serialized playback data for visualization. For example, if the vehicle has a central control screen, you can directly transmit the serialized playback data to the central control screen to see a visualization of the vehicle's operating status.

[0082] In this embodiment of the present invention, structured data is obtained by directly reading DDS data obtained through SQL queries. This allows for efficient playback of even the largest amounts of vehicle data, without having to rewrite the data to memory. This reduces data read and write time, improves the efficiency of acquiring playback data, and thus enhances playback efficiency. The timeliness of data playback is improved by using the earliest timestamp in the most frequently updated topic as the base timestamp, and uses the latest data for each topic that does not exceed the base timestamp as playback data to ensure playback data accuracy. This ensures that data playback conditions more closely mirror the actual vehicle operating conditions, ensuring data playback accuracy.

[0083] Reference Figure 3 , shows a flowchart of the steps of a data playback method embodiment 3 of the present invention, which may specifically include the following steps:

[0084] Step 301: Read multiple types of data distribution service data found on the vehicle to obtain structured data; the structured data at least includes a subject and a corresponding original timestamp;

[0085] Read various DDS data obtained through SQL queries on the vehicle to obtain structured data. The structured data includes at least the topic and the original timestamp corresponding to the topic.

[0086] Step 302: receiving a data playback frequency adjustment instruction;

[0087] A data playback frequency adjustment instruction is received, wherein the data playback frequency adjustment instruction includes at least duration data of an interruption period; the data playback frequency adjustment instruction may be issued by the terminal in response to a triggering operation by a user through triggering an adjustment function control of the terminal; or the user may enter an operation including duration data of the interruption period in an adjustment function interface of the terminal, and the terminal issues a corresponding data playback frequency adjustment instruction including duration data of the interruption period; the present invention is not limited to this.

[0088] Step 303: Determine the preset timer interrupt period according to the adjustment instruction.

[0089] The preset timer interrupt period is determined according to the adjustment instruction to adjust the playback rate. For example, if the default value of the timer interrupt period is 50ms, and the duration data in the adjustment instruction is 2x speed, 100ms is determined as the preset timer interrupt period. For another example, if the duration data in the adjustment instruction is 0.5x speed, 25ms is determined as the preset timer interrupt period. In addition, if the duration data in the adjustment instruction can be 100ms, the preset timer interrupt period can also be set to 100ms to control the playback rate.

[0090] Step 304: read the original timestamp corresponding to the preset theme and generate a basic timestamp;

[0091] Read the original timestamp corresponding to the preset topic, use the time value corresponding to the original timestamp as the time value corresponding to the basic timestamp, and generate a basic timestamp.

[0092] Step 305, determining a reference timestamp based on the basic timestamp and a preset timer interruption period;

[0093] The base timestamp is calculated by adding the preset timer interrupt period to the base timestamp value. This sum is then used as the base timestamp. For example, when playing back at the default speed, the base timestamp is "1'15"005", the preset timer interrupt period is 50ms, and the base timestamp is "1'15"055". When playing back at 2x speed, the preset timer interrupt period is 100ms, and the base timestamp is "1'15"105". Data is played back using "1'15"105" as the base timestamp.

[0094] Step 306, determining that the data whose subject does not exceed the reference timestamp is playback data;

[0095] The latest data of each topic that does not exceed the benchmark timestamp is used as the playback data;

[0096] Step 307: replay the replay data.

[0097] The obtained playback data is replayed to simulate the actual operating status of the vehicle.

[0098] In an embodiment of the present invention, the playback rate is adjusted through a data playback frequency adjustment instruction. During the data playback process, the default rate is no longer the only rate for playback. The user can select a suitable playback rate for playback as needed, thereby adjusting the data playback rate and obtaining data of different densities, which can better achieve the purpose of data playback to simulate the actual operating status of the vehicle.

[0099] In order to enable those skilled in the art to better understand the embodiments of the present application, the following example illustrates the workflow of the embodiments of the present application:

[0100] Reference Figure 4 , showing a schematic diagram of an example embodiment of a data playback method of the present invention;

[0101] Read DDS data retrieved from the vehicle using SQL statements, generate SQL data (structured data), and parse the SQL data to obtain pointers. The structured data includes topics such as vehicle speed, ultrasonic waves, and vehicle location.

[0102] The earliest timestamp (base timestamp) is taken from the variable (topic) with the fastest update frequency. This is then updated based on the timer's preset duration to obtain the base timestamp. For example, we can set a 50ms value to add 50ms to the default base time. Other data is read from the pointer downwards to read the timestamp of the frame data. Once the time exceeds the base timestamp, the data of the previous frame is used to obtain the playback data.

[0103] The playback rate of data can be adjusted by the base time difference. For example, double speed means adding 100ms to the base timestamp, and 0.5 speed means adding 25ms to the base timestamp.

[0104] After obtaining the latest data as playback data, fill the playback data into the corresponding protobuf protocol, and then transmit it directly to the vehicle's large screen through SOME / IP, so that the visual output of the vehicle operation can be simulated.

[0105] It should be noted that for the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0106] Reference Figure 5 , shows a structural block diagram of an embodiment of a data playback device of the present invention, which may specifically include the following modules:

[0107] The reading module 501 is used to read various types of data distribution service data queried on the vehicle to obtain structured data; the structured data at least includes a subject and a corresponding original timestamp;

[0108] A determination module 502 is configured to determine a reference timestamp based on the original timestamp;

[0109] A search module 503, configured to determine that data whose subject does not exceed the reference timestamp is playback data;

[0110] The playback module 504 is configured to playback the playback data.

[0111] In a preferred embodiment of the present invention, the determining module 502 includes:

[0112] The time reading submodule is used to read the original timestamp corresponding to the preset topic and generate a basic timestamp;

[0113] The reference timestamp determining submodule is configured to determine a reference timestamp based on the basic timestamp and a preset timer interruption period.

[0114] In a preferred embodiment of the present invention, the time reading submodule includes:

[0115] A time reading unit, configured to read the original timestamps corresponding to the preset topics and determine the time sequence of the original timestamps;

[0116] The basic timestamp determining unit is configured to determine the first original timestamp in the time sequence as the basic timestamp.

[0117] In a preferred embodiment of the present invention, the device further comprises:

[0118] A receiving module, configured to receive a data playback frequency adjustment instruction;

[0119] An adjustment module is used to determine the preset timer interrupt period according to the adjustment instruction.

[0120] In a preferred embodiment of the present invention, the search module 503 includes:

[0121] A sorting submodule, configured to determine, in accordance with the time sequence, the last timestamp of the original timestamps corresponding to the topics that does not exceed the reference timestamp;

[0122] The playback data determination submodule is configured to use the data corresponding to the end timestamp as the playback data.

[0123] In a preferred embodiment of the present invention, the playback module 504 includes:

[0124] A serialization submodule, used for serializing the playback data;

[0125] The transmission submodule is used to transmit the serialized playback data using a preset communication protocol;

[0126] The visualization submodule is used to visualize the serialized playback data.

[0127] In a preferred embodiment of the present invention, the data distribution service data includes vehicle chassis data, sensor detection data, and detection result data for the sensor detection data.

[0128] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0129] An embodiment of the present application also provides a vehicle, comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, the various processes of the above-mentioned data playback method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0130] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned data playback method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0131] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0132] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatus, or computer program products. Thus, embodiments of the present invention may take the form of a fully hardware embodiment, a fully software embodiment, or an embodiment combining software and hardware. Furthermore, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0133] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the process in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0134] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0135] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0136] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0137] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0138] The above is a detailed introduction to the data playback method, device, vehicle and storage medium provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A data playback method, characterized in that: include: Read various types of data distribution service data queried on the vehicle to obtain structured data; The structured data includes at least a subject and a corresponding original timestamp; determining a reference timestamp based on the original timestamp; Determine that data whose subject does not exceed the reference timestamp is playback data; Playing back the playback data; The step of determining a reference timestamp based on the original timestamp comprises: Read the original timestamp corresponding to the preset topic and generate a basic timestamp; A reference timestamp is determined according to the basic timestamp and a preset timer interruption period.

2. The method according to claim 1, characterized in that The step of reading the original timestamp corresponding to the preset topic and generating a basic timestamp includes: Reading the original timestamps corresponding to the preset topics and determining the time sequence of the original timestamps; The first original timestamp in the time sequence is determined as a base timestamp.

3. The method according to claim 1, characterized in that Before the step of determining the reference timestamp based on the basic timestamp and the preset timer interruption period, the method further includes: Receive data playback frequency adjustment instructions; The preset timer interrupt period is determined according to the adjustment instruction.

4. The method according to claim 2, characterized in that The step of determining that the data whose subject does not exceed the reference timestamp is the playback data comprises: Determine, in the time sequence, the last timestamp of the original timestamps corresponding to the subject that does not exceed the reference timestamp; The data corresponding to the end timestamp is used as the playback data.

5. The method according to claim 1, wherein The step of replaying the playback data comprises: serializing the playback data; Use the preset communication protocol to transmit serialized playback data; Visually output the serialized playback data.

6. The method according to claim 1, characterized in that The data distribution service data includes vehicle chassis data, sensor detection data, and detection result data for the sensor detection data.

7. A data playback device, characterized in that: include: A reading module is used to read various types of data distribution service data queried on the vehicle to obtain structured data; The structured data includes at least a subject and a corresponding original timestamp; a determining module, configured to determine a reference timestamp based on the original timestamp; A search module, configured to determine that data whose subject does not exceed the reference timestamp is playback data; A playback module, used for playing back the playback data; The determination module includes: The time reading submodule is used to read the original timestamp corresponding to the preset topic and generate a basic timestamp; The reference timestamp determining submodule is configured to determine a reference timestamp based on the basic timestamp and a preset timer interruption period.

8. A vehicle, characterized in that: include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the data playback method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the data playback method according to any one of claims 1 to 6.

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