Unmanned vehicle data processing method, device, equipment and storage medium

Abstract

The embodiment of the present invention discloses a method, device, equipment and storage medium for processing unmanned vehicle data. The method includes: accessing a target file associated with a data reading instruction; determining the recording time period of the data to be read according to the data reading instruction; determining the message block identifier whose recording time belongs to the recording time period according to the file header and file index of the target file; using the message block associated with the message block identifier as the target message block; reading the message content included in the target message block; if any channel block in the target file is detected to be defective, restoring the channel block according to the file index of the target file. The embodiment of the present invention realizes the effective reading of the historical operation data of the unmanned vehicle system by reading the message content in the message block of the target file, ensuring the traceability of the operation data of the unmanned vehicle system, and providing a basis for the analysis of later data and the improvement of the system.

Description

[0001] This application is a divisional application of patent application with application number 201810997644.0 (the filing date of the original application is August 29, 2018, and the name of the invention is method, device, equipment and storage medium for processing unmanned vehicle data). Technical Field

[0002] Embodiments of the present invention relate to the field of unmanned vehicle technology, and in particular, to a method, device, equipment and storage medium for processing unmanned vehicle data. Background Art

[0003] With the development of science and technology, more and more smart devices are pouring into people's lives to improve people's quality of life and user experience. Driverless cars are one of them.

[0004] Unmanned vehicles integrate radar, cameras, satellite positioning, autonomous navigation, and a variety of sensors. During the driving process, users only need to input the destination address into the unmanned vehicle system, and the unmanned vehicle can autonomously locate, determine the navigation route, automatically identify traffic signs and road conditions, and drive the unmanned vehicle to drive safely to the destination address through a large amount of data information. Among them, the data input into the unmanned vehicle system is the original data information transmitted by each sensor or electronic device, and the unmanned vehicle system outputs the control data of the unmanned vehicle through calculation to ensure that the unmanned vehicle adjusts its driving mode according to the real-time road conditions.

[0005] However, since the information in the real environment is constantly changing, the corresponding operating data in the unmanned vehicle system is also unique and non-renewable. Therefore, it is very necessary to effectively read the historical operating data of the unmanned vehicle system for later data analysis and unmanned vehicle improvement. Summary of the invention

[0006] The embodiments of the present invention provide a method, device, equipment and storage medium for processing unmanned vehicle data, which can effectively read data files in an unmanned vehicle system.

[0007] In a first aspect, an embodiment of the present invention provides a method for processing unmanned vehicle data, comprising:

[0008] Accessing a target file associated with the data read instruction according to information included in the data read instruction and file header information of the file;

[0009] The file stores message data generated when the unmanned vehicle system is running; the data reading instruction includes at least one of the start recording time, end recording time, message block information, channel block information or version number information of the message to be read;

[0010] Determining a recording time period of the data to be read according to the data reading instruction;

[0011] Determine, according to the file header and file index of the target file, a message block identifier whose recording time belongs to the recording time period;

[0012] Taking the message block associated with the message block identifier as the target message block;

[0013] Reading the message content included in the target message block;

[0014] If it is detected that any channel block in the target file is defective, the channel block is restored according to the file index of the target file.

[0015] In a second aspect, an embodiment of the present invention provides a device for processing unmanned vehicle data, including:

[0016] A file access module, used for accessing a target file associated with a data read instruction according to information included in the data read instruction and file header information of the file;

[0017] The file stores message data generated when the unmanned vehicle system is running; the data reading instruction includes at least one of the start recording time, end recording time, message block information, channel block information or version number information of the message to be read;

[0018] a reading requirement determination unit, configured to determine a recording time period of the data to be read according to the data reading instruction;

[0019] An identification determination unit, configured to determine, based on a file header and a file index of the target file, an identification of a message block whose recording time belongs to the recording time period;

[0020] a message block determining unit, configured to use the message block associated with the message block identifier as a target message block;

[0021] A message content reading module, used to read the message content included in the target message block;

[0022] The data recovery module is used to recover the channel block according to the file index of the target file if it is detected that any channel block in the target file is defective.

[0023] In a third aspect, an embodiment of the present invention provides a computer device, including:

[0024] one or more processors;

[0025] A memory for storing one or more programs;

[0026] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for processing unmanned vehicle data described in any embodiment of the present invention.

[0027] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for processing unmanned vehicle data described in any embodiment of the present invention.

[0028] The embodiment of the present invention accesses the target file associated with the data reading instruction according to the information included in the data reading instruction and the file header information of the file, determines the recording time period of the data to be read according to the data reading instruction; determines the message block identifier whose recording time belongs to the recording time period according to the file header and file index of the target file; uses the message block associated with the message block identifier as the target message block; reads the message content included in the target message block; if any channel block in the target file is detected to be defective, restores the channel block according to the file index of the target file. The embodiment of the present invention realizes the effective reading of the historical operation data of the unmanned vehicle system by reading the message content in the message block of the target file, ensures the traceability of the operation data of the unmanned vehicle system, and provides a basis for the analysis of later data and the improvement of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A flowchart of a method for processing unmanned vehicle data provided in Embodiment 1 of the present invention;

[0030] Figure 2 This is an example diagram of the data format of a message block provided in Embodiment 1 of the present invention;

[0031] Figure 3 A schematic diagram of the data format of a file and data reading provided in the first embodiment of the present invention;

[0032] Figure 4 A flowchart of a method for processing unmanned vehicle data provided in Embodiment 2 of the present invention;

[0033] Figure 5 A schematic diagram of the structure of a device for processing unmanned vehicle data provided in Embodiment 3 of the present invention;

[0034] Figure 6 A schematic diagram of the structure of a computer device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0035] The embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the embodiments of the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the embodiments of the present invention are shown in the accompanying drawings, rather than all structures.

[0036] Embodiment 1

[0037] Figure 1 This is a flowchart of a method for processing unmanned vehicle data provided in Embodiment 1 of the present invention. This embodiment is applicable to the case of reading historical messages from a file pre-recorded for unmanned vehicle system operation data. The method can be executed by an unmanned vehicle data processing device. The method specifically includes the following steps:

[0038] S110 , accessing a target file associated with a data read instruction.

[0039] In a specific embodiment of the present invention, a data recording device (recorder) can be integrated into the unmanned vehicle system to record the message data generated during the operation of the unmanned vehicle system and generate an independent file for storage. Accordingly, when a user or staff member needs to query the historical data pre-recorded in the unmanned vehicle system, a data read instruction can be sent to the unmanned vehicle system or other memory that has copied or transmitted the storage file to access the historical data.

[0040] Specifically, the storage file in this embodiment may include a file header, and the file header may include multiple header data for describing file attributes. The length of the file header is fixed, and the length of each header data of the file header is fixed, and the length of the file header is greater than the sum of the lengths of each header data. Each header data in the file header can be the description information of the message stored in the file, for example: the start recording time, the end recording time, the message block information, the channel block information, the file generation threshold information, the block generation threshold information, and the version number and other attribute information. Then, when reading the file, the summary information of the file can be obtained according to the information in the file header. Usually, the file attribute information to be written in the file header is pre-specified. When the file is created during data recording, the header data corresponding to the file attribute is initialized in the file header according to the pre-specified provisions, and the file header is refreshed according to the written data. Among them, based on the fact that the length of the file header is greater than the sum of the lengths of each header data, the file header reserves a position for the later expansion of the file, for example, when a certain header data is added during the version upgrade, but at the same time, it can still ensure that the header data information in the old version can be used normally, thereby improving the scalability and versatility of the file.

[0041] In this embodiment, the data reading instruction may include at least one of the information of the start recording time, the end recording time, the message block information, the channel block information or the version number of the message to be read. Accordingly, according to the information included in the data reading instruction and the file header information of the file, the file corresponding to the file header with matching information may be used as the target file, so that the target file associated with the data reading instruction can be accessed.

[0042] Exemplarily, it is pre-specified that the start recording time of the file is written into the file header of the file. Assuming that the data reading instruction indicates to read messages within a specific time period, then according to the time information contained in the data reading instruction and the file header information of each file, the file that matches the specific time period is determined as the target file.

[0043] S120 . Select a target message block that matches the data read instruction from each message block included in the target file according to the file header and the file index of the target file.

[0044] In a specific embodiment of the present invention, the file may also include a file body and a file index. The file body records the data when the unmanned vehicle system is running. Specifically, the file body may be composed of multiple data blocks, and the data blocks may include message blocks and channel blocks, and the number of message blocks or channel blocks is one or more. The message block records multiple monomer messages generated and transmitted during the operation of the unmanned vehicle system in a certain period of time, and each monomer message is attached with a corresponding time point and channel identifier. The time point refers to the generation time or transmission time of the corresponding message; the channel refers to the carrier for message transmission and playback, and the corresponding message content can be played through the channel corresponding to the message. The channel identifier refers to the unique identification information that can point to the channel, such as the channel name. Correspondingly, the channel block records the channel used by the unmanned vehicle system at the current moment for transmitting messages and its attribute information, which may at least include the channel name, channel type and channel interpretation, and may also include the corresponding time information. Then, according to the time point and channel identifier attached to the monomer message, the channel and its attribute information corresponding to the message can be found from the channel module for calling when playing the message.

[0045] Specifically, the data block may include a block header, block information and a block body. Among them, the block header may include multiple data information for describing the attributes of the message in the block. The block header length of the data block in the same file is fixed, and after the data block is written into the file, the information in the data block is fixed and cannot be appended. In order to improve the readability of the data information in the block header under any circumstances, this embodiment records the non-serialized original data information in the block header, which may include information such as the start recording time, the end recording time, and the block generation threshold information. Secondly, the block information is a serialized representation of the data information in the block header, which reduces the storage space occupied by the original data information in the form of binary data, and at the same time improves the compatibility of the data block with the unmanned vehicle system, which facilitates the storage and reading of data in the unmanned vehicle system. Finally, the block body records structured data information. Among them, the block body of the message block records the structured message, which may specifically include multiple monomer messages, each of which is attached with a corresponding time point and channel identifier; the block body of the channel block records the channel used at the current moment and its attribute information.

[0046] It should be noted that when there is a little damage in the block information, the block information can be restored based on the original data in the block header to ensure the normal reading of the data block by the unmanned vehicle system.

[0047] For example, Figure 2 The following is an example of the data format of a message block. The block header records the original data of the message block attribute information to improve the readability of the data and the recoverability of the data in the block information; the block information records the serialized original data to improve the compatibility with the unmanned vehicle system; and the block body records multiple pieces of monomer information.

[0048] In this embodiment, the file index records the index information of each data block in the file body. Specifically, the file index may include identification information, path information, and time information of each message block or channel block. In addition, since the amount of message data during the operation of the unmanned vehicle system is large, and the message itself occupies a large memory space, while the remaining attribute information occupies a small memory space, the file index may also include all information in the file body except the message itself, so that the data can be restored when part of the data in the file is damaged.

[0049] Specifically, after determining the target file according to the data reading instruction, this embodiment can find the corresponding target file according to the path information contained in the file header, and match the information contained in the data reading instruction with the file index of the target file, so as to obtain a message block that matches the data reading instruction, and find the message block as the target message block according to the path information of each message block in the file index.

[0050] Exemplarily, this embodiment can determine the recording time period of the data to be read based on the data reading instruction, and determine the message block identifier whose recording time belongs to the recording time period based on the file header and file index of the target file, thereby taking the message block associated with the message block identifier as the target message block.

[0051] S130: Read the message content included in the target message block.

[0052] In a specific embodiment of the present invention, since the individual messages recorded in the block body of the message block are all structured message contents, the compatibility with the unmanned vehicle system is good, so the message contents included in the target message block can be directly read.

[0053] For example, Figure 3 The figure is a schematic diagram of the data format of the file and data reading. As can be seen from the figure, the target file can be determined first according to the matching degree between the file header and the data reading instruction, and then the target message block can be determined according to the matching degree between the file index and the data reading instruction when reading the target file, so as to finally read the message content under the path where the target message block is located according to the path information in the file index.

[0054] It is worth noting that since the channel is the carrier of the message, it is impossible to actually play and obtain the content in the message without the channel. Therefore, after reading the target message content, the channel name contained in the single target message can be obtained, and the target channel and channel attributes can be determined from each channel block of the target file based on the channel name; based on the file index and channel attributes, the channel content of the target message content is obtained from each channel block included in the target file. Then, based on the message content read from the target message block and the channel content of the message content, the message content is played back.

[0055] In addition, in this embodiment, since the file index can include all file information except the message itself, that is, the file index can include all information in the channel block. Therefore, the channels, channel attributes and specific channel contents in the channel block are stored in at least two copies in the entire file. Furthermore, if it is detected that any channel block in the target file is defective, the channel block can be restored according to the file index of the target file, thereby ensuring the normal playback of the message content.

[0056] The technical solution of this embodiment is to access the target file associated with the data reading instruction, select the target message block matching the data reading instruction from each message block included in the target file according to the file header and file index in the target file, and thus read the message content in the target message block. The embodiment of the present invention realizes the effective reading of the historical operation data of the unmanned vehicle system by reading the message content in the message block of the target file, ensures the traceability of the operation data of the unmanned vehicle system, and provides a basis for the analysis of the later data and the improvement of the system.

[0057] Embodiment 2

[0058] Based on the above-mentioned embodiment 1, this embodiment provides a preferred implementation method of the unmanned vehicle data processing method, which can recover and expand the data of the file. Figure 4 A flowchart of a method for processing unmanned vehicle data provided in Embodiment 2 of the present invention is shown in FIG. Figure 4 As shown, the method comprises the following specific steps:

[0059] S410 , accessing a target file associated with a data read instruction.

[0060] In a specific embodiment of the present invention, a data recording device is integrated into the unmanned vehicle system to record the message data generated when the unmanned vehicle system is running and generate an independent file for storage. Accordingly, when a user or staff member needs to query the historical data pre-recorded in the unmanned vehicle system, a data reading instruction can be sent to the unmanned vehicle system or other memory that has copied or transmitted the storage file to access the historical data.

[0061] Specifically, the data read instruction may include at least one of the information such as the start recording time, the end recording time, the message block information, the channel block information or the version number of the message to be read. Accordingly, according to the information included in the data read instruction and the file header information of the file, the file corresponding to the file header matching the information may be used as the target file, so that the target file associated with the data read instruction can be accessed. The data read instruction in this embodiment may also include a specific access path, and then the target file is directly obtained according to the storage path saved in the file header of the file.

[0062] Optionally, the length of the file header is fixed, and the length of each piece of header data in the file header is fixed, and the length of the file header is greater than the sum of the lengths of each piece of header data.

[0063] In this embodiment, each header data in the file header can be a lot of descriptive information of the file, such as: start recording time, end recording time, message block information, channel block information, file generation threshold information, block generation threshold information, version number and other attribute information. Then, when reading a file, the summary information of the file can be obtained based on the information in the file header. Since the length of the file header is greater than the sum of the lengths of each header data, a position is reserved in the file header for the later expansion of the file, such as adding certain header data when upgrading the version, but at the same time, it can still ensure that the header data information in the old version can be used normally, thereby improving the scalability and versatility of the file.

[0064] For example, assuming that the length of the file header is 2048K, version 1 stipulates that 20 header data are stored in the file header, and the length of each header data is 50K, so 1048K of memory space is reserved in the file header. When the file version is upgraded, assuming that one header data is added to the file header based on the blank space, the corresponding length of the added header data is also 50K. Therefore, the file header is expanded, and the use of the file data before the expansion is not affected. Accordingly, the file body is variable in length, and the data blocks written therein are not affected.

[0065] S420 . Select a target message block that matches the data read instruction from each message block included in the target file according to the file header and the file index of the target file.

[0066] In a specific embodiment of the present invention, after determining the target file according to the data read instruction, the corresponding target file can be found according to the path information contained in the file header, and the information contained in the data read instruction is matched with the file index of the target file, so as to obtain a message block matching the read requirement in the data read instruction, and find the message block that meets the read requirement according to the path information of each message block in the file index as the target message block. The read requirement contained in the data instruction can be to read all the data blocks in the file, or to read the data blocks that meet specific requirements, such as a specified time period requirement, a version requirement, or a channel requirement.

[0067] Optionally, determine the recording time period of the data to be read based on the data reading instruction; determine the message block identifier whose recording time belongs to the recording time period based on the file header and file index of the target file; and use the message block associated with the message block identifier as the target message block.

[0068] In this embodiment, if the data reading instruction indicates the recording time period of the data to be read, the time information in the file header and the file index is matched with the recording time period to determine the message block whose recording time belongs to the recording time period, and the identifier or path information of the message block is determined based on the file index, and the message block associated with the message block identifier is used as the target message block.

[0069] S430: Read the message content included in the target message block.

[0070] In a specific embodiment of the present invention, since the individual messages recorded in the block body of the message block are all structured message contents, the compatibility with the unmanned vehicle system is good, so the message contents included in the target message block can be directly read.

[0071] S440: Obtain channel attributes of each target message in the target message block.

[0072] In a specific embodiment of the present invention, the target message is the message content determined above, and the target message can be one or more messages. The target message is a single message in the block body of the message block, which not only contains the specific message content, but also includes the time point and channel identifier of the single message, such as the start recording time, end recording time or channel name of the single message. Then, the corresponding channel name can be obtained from the target message in the target message block, and the corresponding channel and its attribute information can be found from each channel block of the target file according to the channel name, which can be used for calling when playing the message content later.

[0073] S450: Acquire the channel content of the message content from each channel block included in the target file according to the file index and the channel attribute.

[0074] In a specific embodiment of the present invention, the information recorded in the file index can be matched with the determined channel attributes to determine that the channel block containing the successfully matched channel is the target channel block, and the path information of the target channel is determined based on the file index, and the channel content corresponding to the message content is obtained from the target channel block based on the path information.

[0075] S460: Play back the message content according to the message content read from the target message block and the channel content of the message content.

[0076] In a specific embodiment of the present invention, since the determined channel content matches the message content, that is, the original message is transmitted via the channel, the message content can be replayed using the channel content to obtain real, readable original data information.

[0077] Exemplarily, assuming that the data reading instruction includes a specific access path, the target file is directly obtained according to the storage path saved in the file header of the file. The data reading instruction may also include the time period of the message to be accessed, such as the data within 1 minute from 10:00 to 10:01 on August 1, and then according to the information recorded in the file header and file index of the target file, the target message block that records the data within the 1 minute is locked as message block No. 3, and the message content in message block No. 3 is obtained according to the path information of message block No. 3 recorded in the file index, and the target channel of the message content is determined to be channel block No. 7 according to the channel attributes of each target message in message block No. 3. Therefore, the path information of channel block No. 7 is determined according to the information recorded in the file index, and the channel content of the message content is obtained from channel block No. 7 according to the path. Finally, the message content is played back using the channel content to obtain the real and readable original data information.

[0078] Optionally, if it is detected that any channel block in the target file is defective, the channel block is restored according to the file index of the target file.

[0079] In this embodiment, since the file index can include all file information except the message itself, that is, the file index can include all information in the channel block. Therefore, the channels, channel attributes and specific channel content in the channel block are stored in at least two copies in the entire file. Furthermore, if the channel or its information in the target file is damaged, the channel block can be restored according to the file index of the target file, thereby ensuring the normal playback of the message content.

[0080] The technical solution of this embodiment is to access the target file with a fixed file header length associated with the data reading instruction, select the target message block matching the data reading instruction from each message block included in the target file according to the file header and file index in the target file, and read the message content in the target message block. And obtain the channel attribute corresponding to the message content from the target message, determine to obtain the channel content corresponding to the message content according to the file index and channel attribute, so as to replay the message content using the channel content. And the file index can be used to restore the channel information in the file. The embodiment of the present invention obtains the message content from a file with a fixed file header length and greater than the sum of all header data lengths, and the file index stores part of the data information in the file, and then through the acquisition of the message content in the message block of the target file and the channel content corresponding to the message content, the historical operation data of the unmanned vehicle system is effectively replayed, which provides a basis for the analysis of later data and the improvement of the system, ensures the traceability and readability of the operation data of the unmanned vehicle system, and improves the scalability, system compatibility and recoverability of the file.

[0081] Embodiment 3

[0082] Figure 5 This is a schematic diagram of the structure of a device for processing unmanned vehicle data provided in Embodiment 3 of the present invention. This embodiment can be applied to the case of reading historical messages from a file pre-recorded for unmanned vehicle system operation data. The device can implement the method for processing unmanned vehicle data described in any embodiment of the present invention. The device specifically includes:

[0083] A file access module 510, used to access a target file associated with a data read instruction;

[0084] A message block determination module 520, configured to select a target message block matching the data read instruction from each message block included in the target file according to a file header and a file index of the target file;

[0085] The message content reading module 530 is configured to read the message content included in the target message block.

[0086] Optionally, the message block determination module 520 includes:

[0087] a reading requirement determination unit, configured to determine a recording time period of the data to be read according to the data reading instruction;

[0088] An identification determination unit, configured to determine, based on a file header and a file index of the target file, an identification of a message block whose recording time belongs to the recording time period;

[0089] The message block determining unit is used to take the message block associated with the message block identifier as the target message block.

[0090] Furthermore, the device also includes:

[0091] A channel attribute determination module 540, configured to obtain the channel attribute of each target message in the target message block after reading the message content included in the target message block;

[0092] The channel content acquisition module 550 is used to acquire the channel content of the message content from each channel block included in the target file according to the file index and the channel attribute.

[0093] Furthermore, the device also includes:

[0094] The message playback module 560 is used to play back the message content according to the message content read from the target message block and the channel content of the message content after acquiring the channel content of the message content from each channel block included in the target file.

[0095] Furthermore, the device also includes:

[0096] The data recovery module 570 is used to recover any channel block in the target file according to the file index of the target file if it is detected that any channel block in the target file is defective.

[0097] Optionally, the length of the file header is fixed, and the length of each piece of header data in the file header is fixed, and the length of the file header is greater than the sum of the lengths of each piece of header data.

[0098] The technical solution of this embodiment realizes the functions of receiving data reading instructions, matching file information, determining target files, determining target message blocks, reading message content, acquiring channel attributes, determining channel blocks, acquiring channel content, playing message content, and recovering data through the mutual cooperation between various functional modules. The embodiment of the present invention acquires message content from a file with a fixed file header length that is greater than the sum of all header data lengths, and the file index stores part of the data information in the file, and then through the acquisition of the message content in the message block of the target file and the channel content corresponding to the message content, the historical operation data of the unmanned vehicle system is effectively replayed, providing a basis for the analysis of later data and the improvement of the system, ensuring the traceability and readability of the operation data of the unmanned vehicle system, and improving the scalability, system compatibility and recoverability of the file.

[0099] Embodiment 4

[0100] Figure 6 A schematic diagram of the structure of a computer device provided in Embodiment 4 of the present invention is shown in FIG. Figure 6A block diagram of an exemplary computer device suitable for implementing an exemplary embodiment of the present invention is shown. Figure 6 The computer device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0101] Figure 6 The computer device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0102] like Figure 6 As shown, the computer device 12 is in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processor 16).

[0103] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0104] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0105] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 6 not shown, usually called a "hard drive"). Although Figure 6 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0106] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods of the embodiments described in the embodiments of the present invention.

[0107] The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), may communicate with one or more devices that enable a user to interact with the computer device 12, and / or may communicate with any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with other modules of the computer device 12 via a bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the computer device 12, including, but not limited to, microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0108] The processor 16 executes various functional applications and data processing by running at least one program among the multiple programs stored in the system memory 28, such as implementing the method for processing unmanned vehicle data provided in an embodiment of the present invention.

[0109] Embodiment 5

[0110] Embodiment 5 of the present invention further provides a computer-readable storage medium on which a computer program (or computer-executable instructions) is stored. When the program is executed by a processor, it is used to execute a method for processing unmanned vehicle data. The method includes:

[0111] Access the target file associated with the data read instruction;

[0112] Selecting a target message block matching the data read instruction from each message block included in the target file according to the file header and the file index of the target file;

[0113] The message content included in the target message block is read.

[0114] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0115] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0116] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0117] Computer program code for performing the operation of embodiments of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0118] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the embodiments of the present invention are described in more detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for processing unmanned vehicle data, characterized in that: include: Accessing a target file associated with the data read instruction according to information included in the data read instruction and file header information of the file; The file stores message data generated when the unmanned vehicle system is running; the data reading instruction includes at least one of the start recording time, end recording time, message block information, channel block information or version number information of the message to be read; Determining a recording time period of the data to be read according to the data reading instruction; Determine, according to the file header and file index of the target file, a message block identifier whose recording time belongs to the recording time period; Taking the message block associated with the message block identifier as the target message block; Reading the message content included in the target message block; If it is detected that any channel block in the target file is defective, the channel block is restored according to the file index of the target file; wherein the file index includes the channels, channel attributes and specific channel contents in the channel block.

2. The method according to claim 1, characterized in that After reading the message content included in the target message block, the method further includes: Acquire the channel attribute of each target message in the target message block; The channel content of the message content is acquired from each channel block included in the target file according to the file index and the channel attribute.

3. The method according to claim 2, characterized in that After acquiring the channel content of the message content from each channel block included in the target file, the method further includes: The message content is played back according to the message content read from the target message block and the channel content of the message content.

4. The method according to claim 1, characterized in that: The length of the file header is fixed, and the length of each piece of header data in the file header is fixed, and the length of the file header is greater than the sum of the lengths of each piece of header data.

5. A device for processing data of an unmanned vehicle, characterized in that: include: A file access module, used for accessing a target file associated with a data read instruction according to information included in the data read instruction and file header information of the file; The file stores message data generated when the unmanned vehicle system is running; the data reading instruction includes at least one of the start recording time, end recording time, message block information, channel block information or version number information of the message to be read; a reading requirement determination unit, configured to determine a recording time period of the data to be read according to the data reading instruction; An identification determination unit, configured to determine, based on a file header and a file index of the target file, an identification of a message block whose recording time belongs to the recording time period; a message block determining unit, configured to use the message block associated with the message block identifier as a target message block; A message content reading module, used to read the message content included in the target message block; The data recovery module is used to recover any channel block in the target file according to the file index of the target file if it is detected that any channel block in the target file is defective; wherein the file index includes the channels, channel attributes and specific channel contents in the channel block.

6. The device according to claim 5, characterized in that Also includes: A channel attribute determination module, configured to obtain the channel attribute of each target message in the target message block after reading the message content included in the target message block; The channel content acquisition module is used to acquire the channel content of the message content from each channel block included in the target file according to the file index and the channel attribute.

7. The device according to claim 6, characterized in that Also includes: The message playback module is used to play back the message content according to the message content read from the target message block and the channel content of the message content after acquiring the channel content of the message content from each channel block included in the target file.

8. The device according to claim 5, characterized in that The length of the file header is fixed, and the length of each piece of header data in the file header is fixed, and the length of the file header is greater than the sum of the lengths of each piece of header data.

9. A computer device, characterized in that: include: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method for processing unmanned vehicle data as described in any one of claims 1 to 4.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for processing unmanned vehicle data as described in any one of claims 1 to 4 is implemented.

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