Trigger configuration methods, devices, equipment and storage media

Abstract

This application discloses a trigger configuration method, apparatus, device, and storage medium. The method includes: obtaining the target functional requirements of a target vehicle; determining a set of triggers to be determined that are set in a domain controller and match the target functional requirements based on the target functional requirements; obtaining real-time operating parameters of the target vehicle; filtering the set of triggers to be determined that match the target functional requirements based on the real-time operating parameters to obtain a target trigger set; wherein the real-time operating parameters include hardware resources, the remaining rate of hardware resources, and the target functional requirement level; obtaining a configuration parameter set for each target trigger in the target trigger set; wherein the configuration parameter set includes a first configuration parameter and a second configuration parameter; and sending the configuration parameter set of each target trigger to the corresponding target trigger to obtain target data based on the target trigger. The technical solution of this application realizes flexible online configuration of triggers.

Description

Technical Field

[0001] This application belongs to the field of data processing technology, and in particular relates to a trigger configuration method, apparatus, device and storage medium. Background Technology

[0002] In autonomous driving scenarios, driving data is used to train, test, and evaluate autonomous driving algorithms and functions, thereby enabling iterative upgrades of algorithms and functions and improving the safety and stability of autonomous driving. When collecting driving data, a common approach is to pre-embed multiple triggers in the mass-produced domain controller platform. When the triggers meet the relevant conditions, the relevant data is collected and uploaded.

[0003] However, due to the large variety of triggers and the large amount of data uploaded, the use of triggers places high demands on many hardware resources and may even affect the normal operation of autonomous driving functions. Summary of the Invention

[0004] This application aims to at least partially address one of the technical problems in the related art. Therefore, one objective of this application is to provide a trigger configuration method, apparatus, device, and storage medium.

[0005] To address the aforementioned technical problems, embodiments of this application provide the following technical solutions:

[0006] A trigger configuration method, comprising:

[0007] Obtain the target functional requirements of the target vehicle, and determine the set of triggers to be determined that are set in the domain controller and match the target functional requirements based on the target functional requirements of the target vehicle;

[0008] The real-time operating parameters of the target vehicle are obtained, and the set of triggers to be determined that match the target functional requirements are filtered according to the real-time operating parameters to obtain the target trigger set; wherein, the real-time operating parameters include hardware resources, the remaining rate of the hardware resources, and the target functional requirement level;

[0009] Obtain the configuration parameter set for each target trigger in the target trigger set; wherein the configuration parameter set includes a first configuration parameter and a second configuration parameter;

[0010] The configuration parameter set of each target trigger is sent to the corresponding target trigger to obtain target data based on the target trigger.

[0011] Optionally, the step of obtaining the real-time operating parameters of the target vehicle and filtering the set of triggers to be determined that match the target functional requirements based on the real-time operating parameters to obtain the target trigger set includes:

[0012] The hardware resources and their remaining percentage are defined as a first real-time operating parameter, and the target functional requirement level is defined as a second real-time operating parameter; wherein, the priority of the first real-time operating parameter is greater than the priority of the second real-time operating parameter; the remaining percentage of the hardware resources is obtained based on the difference between the hardware resource utilization threshold and the real-time utilization of the hardware resources; the real-time utilization of the hardware resources is the sum of the real-time utilization of the hardware resources of the domain controller and the real-time utilization of the hardware resources of the autonomous driving system;

[0013] The priority of each category in the set of triggers to be determined is determined, and the sub-utilization rate of the hardware resources of each category of the triggers to be determined in the set of triggers to be determined is calculated; wherein, determining the priority of each category in the set of triggers to be determined includes: determining the priority of each category according to the importance level of each category to the target functional requirement or the sub-utilization rate of the hardware resources of each category; the set of triggers to be determined includes M categories of triggers to be determined, where M is a positive integer;

[0014] The sum of the sub-utilization rates of the M hardware resources corresponding to the M categories of triggers to be determined is compared with the remaining rate of the hardware resources to obtain the comparison result;

[0015] The set of triggers to be determined is filtered based on the comparison results to obtain the target set of triggers.

[0016] Optionally, the step of filtering the set of triggers to be determined based on the comparison results to obtain the target set of triggers includes:

[0017] If the comparison result is that the sum of the sub-utilization rates of the M hardware resources is less than or equal to the remaining rate of the hardware resources, then the set of triggers to be determined is determined as the initial set of triggers.

[0018] The initial set of triggers is filtered according to the target functional requirement level to obtain the target set of triggers.

[0019] Optionally, the step of filtering the set of triggers to be determined based on the comparison results to obtain the target set of triggers further includes:

[0020] If the comparison result is that the sum of the sub-utilization rates of the M hardware resources is greater than the remaining rate of the hardware resources, then the priorities of the M categories are determined.

[0021] Calculate the sum of the sub-utilization rates of the M-1 hardware resources corresponding to the M-1 categories of the triggers to be determined corresponding to the first M-1 priorities;

[0022] The sum of the sub-utilization rates of M-1 hardware resources is compared with the remaining rate of the hardware resources. If the sum of the sub-utilization rates of M-1 hardware resources is less than or equal to the remaining rate of the hardware resources, then the M-1 categories of the undetermined triggers are determined as the initial trigger set.

[0023] The initial set of triggers is filtered according to the target functional requirement parameters to obtain the target set of triggers.

[0024] Optionally, the step of filtering the set of triggers to be determined based on the comparison results to obtain the target set of triggers further includes:

[0025] If the sum of the sub-utilization rates of M-1 hardware resources is greater than the remaining rate of the hardware resources, then the sum of the sub-utilization rates of the M-2 hardware resources corresponding to the M-2 categories of the triggers to be determined for the first M-2 priorities is calculated, and the sum of the sub-utilization rates of the M-2 hardware resources is compared with the remaining rate of the hardware resources, until the sum of the sub-utilization rates of MN hardware resources is less than or equal to the remaining rate of the hardware resources, and then the initial trigger set is obtained; where 1≤N≤M-1, and N is an integer;

[0026] The initial set of triggers is filtered according to the target functional requirement level parameters to obtain the target set of triggers.

[0027] Optionally, obtaining the configuration parameter set for each target trigger in the target trigger set includes:

[0028] Every first preset time interval, determine the first configuration parameter and the second configuration parameter of each target trigger;

[0029] The first configuration parameter includes disconnecting or enabling; the second configuration parameter includes triggering rules, thresholds, the type of data to be collected, and the duration of data collection.

[0030] Optional, also includes:

[0031] The operational accuracy of each target trigger is obtained every second preset time interval;

[0032] The operational accuracy of each target trigger is compared with an accuracy threshold;

[0033] If the running accuracy of the target trigger is less than the accuracy threshold, then the target trigger with the running accuracy less than the accuracy threshold is determined as a trigger to be trained.

[0034] Obtain a preset number of historical data uploaded by the triggers to be trained;

[0035] The trigger to be trained is trained based on the preset amount of historical data until the running accuracy of the trigger to be trained is greater than or equal to the accuracy threshold.

[0036] Embodiments of this application also provide a trigger configuration device, comprising:

[0037] The first acquisition module is used to acquire the target functional requirements of the target vehicle and determine a set of triggers to be determined that are set in the domain controller and match the target functional requirements based on the target functional requirements of the target vehicle.

[0038] The second acquisition module is used to acquire the real-time operating parameters of the target vehicle, and to filter the set of triggers to be determined that match the target functional requirements based on the real-time operating parameters to obtain the target trigger set; wherein, the real-time operating parameters include hardware resources, the remaining rate of the hardware resources, and the target functional requirement level;

[0039] A configuration module is configured to obtain a configuration parameter set for each target trigger in the target trigger set; wherein the configuration parameter set includes a first configuration parameter and a second configuration parameter;

[0040] The sending module is used to send the configuration parameter set of each target trigger to the corresponding target trigger, so as to obtain target data based on the target trigger.

[0041] Embodiments of this application also provide an electronic device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the method described above.

[0042] Embodiments of this application also provide a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the method described above.

[0043] The embodiments of this application have the following technical effects:

[0044] The technical solution described in this application, when it is necessary to adjust the configuration parameters of triggers related to a certain functional requirement, determines that functional requirement as the target functional requirement and determines multiple triggers associated with that target functional requirement as a set of triggers to be determined. Then, it determines the remaining rate of hardware resources based on the sum of the utilization rates of the domain controller and autonomous driving hardware resources and the hardware resource utilization rate threshold, and determines the initial set of triggers based on the remaining rate of hardware resources. Finally, it determines the target set of triggers based on the target functional requirement level, realizing online flexible configuration of triggers, avoiding the use of certain functions from affecting the normal operation of the domain controller or autonomous driving, thereby ensuring the normal operation of the domain controller and autonomous driving, preventing the target vehicle from colliding with other vehicles in the surrounding area, and improving the safety of autonomous driving.

[0045] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the structure of a trigger configuration system provided in an embodiment of this application;

[0047] Figure 2 This is a flowchart illustrating a trigger configuration method provided in an embodiment of this application;

[0048] Figure 3 This is a schematic diagram of the structure of a trigger configuration device provided in an embodiment of this application. Detailed Implementation

[0049] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0050] To facilitate understanding of the real-time example by those skilled in the art, some terms have been explained:

[0051] (1) TBOX: Telematics BOX, remote information processor.

[0052] (2) OTA: Over-the-Air Technology.

[0053] (3) GPS: Global Positioning System.

[0054] (4) ESC: Electronic Stability Control, a supplementary system for vehicle stability control and driving safety.

[0055] (5) ABS: antilock brake system.

[0056] (6) EPS: Electronic Power Steering, which uses the power generated by the electric motor to assist the driver in power steering.

[0057] (7)IPB: Intelligent Integrated Braking System.

[0058] (8) IMU: inertial measurement unit, inertial sensor.

[0059] (9) CPU: Central Processing Unit / Processor.

[0060] (10) GPU: Graphics Processing Unit.

[0061] like Figure 1 As shown, an embodiment of this application provides a trigger configuration system, including:

[0062] A domain controller, wherein the domain controller has multiple triggers;

[0063] The server can be a control platform, cloud, or client device with this function.

[0064] Domain controllers and servers can connect via a network (e.g., TBOX) to enable data exchange between them.

[0065] Specifically, in the embodiments of this application, the domain controller has multiple pre-embedded triggers, each trigger having a corresponding triggering rule, threshold, type of data to be collected, data collection duration, and running status, among other parameters.

[0066] The collected data may include, for example, scene data, intermediate algorithm results data, vehicle body data, and time signal data.

[0067] Specifically: (1) In the embodiments of this application, scene data may include: image data collected by camera, point cloud data of lidar, point cloud data collected by millimeter wave, GPS data and high-precision map data, etc. Scene data can be used to collect scene data perceived around the target vehicle, etc.

[0068] (2) In the embodiments of this application, the intermediate result data of the algorithm may include: perception results, positioning results, planning results and control results, etc. The intermediate result data of the algorithm can be used to facilitate the analysis of autonomous driving algorithms and functions.

[0069] (3) In the embodiments of this application, the vehicle body data may include: instrument speed, gear position, accelerator pedal opening, steering wheel angle, steering wheel angular velocity, steering wheel torque signal, turn signal stalk, brake pedal status, master cylinder pressure, ABS status signal, ESC status signal, driver's seat belt signal, 4 door signals, engine hood closing signal, rear hatch closing signal, ABS, ESC, EPS, IPB, IMU signals, actual vehicle speed, 4 wheel speeds, longitudinal acceleration, lateral acceleration, etc. The vehicle body data can be used to analyze the requirements of autonomous driving functions.

[0070] (4) In the embodiments of this application, the time signal data may include: timestamp information and the start and end times of data collection; for example, based on the timestamp information of a certain data to be collected, it is determined to collect data within 5 seconds before and after the data to be collected, etc. The embodiments of this application do not specifically limit the collection time of the data.

[0071] In an embodiment of this application, when a trigger in the domain controller meets its own triggering rules, thresholds, or other conditions, it collects the target functional requirements of the target vehicle, obtains the collected data, and desensitizes, stores, or uploads the collected data to the server; at the same time, the domain controller also uploads the hardware resources and the utilization rate of the hardware resources to the server through the TBOX.

[0072] Furthermore, in order to improve the operational accuracy of each trigger, in an embodiment of this application, the server calculates the operational accuracy of each trigger. When the operational accuracy of a trigger is less than the accuracy threshold, the server obtains a preset number of historical data uploaded by the corresponding trigger to the corresponding trigger and performs training to improve the operational accuracy of the trigger until the operational accuracy of the trigger is greater than or equal to the accuracy threshold.

[0073] The server parses the collected data and obtains the target functional requirement level;

[0074] After receiving the hardware resources, hardware resource utilization, and target functional requirement level from the trigger uploads, the server determines the target trigger set and the configuration parameters of each target trigger in the target trigger set. Then, it sends the configuration parameters to the corresponding trigger in the domain controller via TBOX. The configuration parameters can be transmitted via configuration files, commands, or OTA.

[0075] The trigger responds based on the obtained configuration parameters, adjusts the original state parameters according to the obtained configuration parameters, and then runs based on the configuration parameters;

[0076] Generally, the trigger will automatically disconnect after running for one data collection period, waiting to be triggered again.

[0077] like Figure 2 As shown, an embodiment of this application provides a trigger configuration method applied to the above-described system, including:

[0078] Step S21: Obtain the target functional requirements of the target vehicle, and determine the set of triggers to be determined that are set in the domain controller and match the target functional requirements based on the target functional requirements of the target vehicle;

[0079] In the embodiments of this application, generally, the trigger itself carries the triggering rules / thresholds, the type of data to be collected, and the collection duration of the data before it is pre-embedded;

[0080] Once a trigger reaches the triggering rule / threshold, it will enter the enabled state, collect the corresponding real-time driving data within the collection time range, and then upload the collected data to the server or other data processing terminal. After the trigger completes the upload, it will disconnect and end the enabled state, and continuously cycle between the disconnected and enabled states.

[0081] Generally, some functional requirements are associated with certain triggers. Once the corresponding functional requirements are involved in the real-time driving data, the corresponding triggers will be activated.

[0082] In the embodiments of this application, every first preset time interval, the relevant parameters corresponding to the triggers that are associated with and matched with one or more functional requirements are adjusted according to the real-time operating parameters of the target vehicle, and one or more functional requirements are determined as target functional requirements, such as emergency braking, acceleration, turning or deceleration.

[0083] In the embodiments of this application, after adjusting the relevant parameters corresponding to the triggers that are associated with and matched with certain functional requirements, when the real-time driving data involves these functional requirements again, some triggers that were previously enabled may still be in the off state, the data type of the collected data may have changed, the data collection duration may have changed, the triggering rules may have changed, or the threshold may have changed.

[0084] Step S22: Obtain the real-time operating parameters of the target vehicle, and filter the set of triggers to be determined that match the target functional requirements according to the real-time operating parameters to obtain the target trigger set; wherein, the real-time operating parameters include hardware resources, the remaining rate of the hardware resources, and the target functional requirement level;

[0085] In embodiments of this application, hardware resources may specifically include CPU, GPU, memory, storage units, network bandwidth, peripheral sensor devices, and scheduling management, etc.

[0086] Specifically, the step of obtaining the real-time operating parameters of the target vehicle and filtering the set of triggers to be determined that match the target functional requirements based on the real-time operating parameters to obtain the target trigger set includes:

[0087] The hardware resources and their remaining percentage are defined as a first real-time operating parameter, and the target functional requirement level is defined as a second real-time operating parameter; wherein, the priority of the first real-time operating parameter is greater than the priority of the second real-time operating parameter; the remaining percentage of the hardware resources is obtained based on the difference between the hardware resource utilization threshold and the real-time utilization of the hardware resources; the real-time utilization of the hardware resources is the sum of the real-time utilization of the hardware resources of the domain controller and the real-time utilization of the hardware resources of the autonomous driving system;

[0088] The priority of each category in the set of triggers to be determined is determined, and the sub-utilization rate of the hardware resources of each category of triggers to be determined in the set of triggers to be determined is calculated; wherein, determining the priority of each category in the set of triggers to be determined includes: determining the priority of each category according to the importance level of each category to the target functional requirement or the sub-utilization rate of the hardware resources of each category; the set of triggers to be determined includes M categories of triggers to be determined, where M is a positive integer;

[0089] The sum of the sub-utilization rates of the M hardware resources corresponding to the M categories of triggers to be determined is compared with the remaining rate of the hardware resources to obtain the comparison result;

[0090] The set of triggers to be determined is filtered based on the comparison results to obtain the target set of triggers.

[0091] In the embodiments of this application, after the server obtains the target functional requirements of the target vehicle, it determines the set of triggers to be run based on the target functional requirements and obtains the sum of the hardware resource utilization rates of the set of triggers to be run.

[0092] The hardware resource utilization threshold is ≤100%, but this application does not impose a specific limitation on this.

[0093] Furthermore, since the operation of the target vehicle's domain controller itself requires certain hardware resources, i.e., the utilization rate of the domain controller's hardware resources; and when the target vehicle is in autonomous driving mode, the normal operation of autonomous driving also requires certain hardware resources, i.e., the utilization rate of autonomous driving's hardware resources; therefore, it is also necessary to obtain the current utilization rate of the domain controller's hardware resources based on the domain controller, and if the target vehicle is in autonomous driving mode, it is also necessary to obtain the utilization rate of autonomous driving's hardware resources to ensure the normal operation of the domain controller and autonomous driving; then, the remaining rate of hardware resources is determined based on the difference between the hardware resource utilization rate threshold and the hardware resource utilization rate.

[0094] In an embodiment of this application, after determining the remaining rate of hardware resources, the remaining rate of hardware resources is compared with the utilization rate of hardware resources of all triggers in the set of triggers to be determined, and the comparison result is obtained. Based on the specific circumstances of the comparison result, the target set of triggers is determined.

[0095] That is, in the embodiments of this application, the number of target triggers in the target trigger set is less than or equal to the number of triggers in the trigger set to be determined.

[0096] In the embodiments of this application, since the triggers in the set of triggers to be determined may correspond to multiple categories, such as perception triggers, control triggers, prediction triggers, location triggers, function triggers, etc., the triggers of the Mth category are prioritized in order to optimize the response of the triggers to the target functional requirements as much as possible.

[0097] For example: if the priority of the target functional requirements is determined according to the importance level of each category, then:

[0098] Priority of control triggers > Priority of sensing triggers > Priority of predictive triggers > Priority of location triggers > Priority of function triggers ... > Priority of the Mth category of triggers; or

[0099] Priority of perception triggers > priority of location triggers > priority of function triggers > priority of control triggers ... > priority of triggers of the Mth category > priority of prediction triggers, etc.

[0100] In an optional embodiment of the present invention, priority can also be determined based on the sub-utilization rate of each category of hardware resources:

[0101] Priority of the sensing trigger > Priority of the predictive trigger > Priority of the control trigger > Priority of the location trigger > Priority of the function trigger ... > Priority of the trigger of the Mth category; or

[0102] Priority of control triggers > ... > Priority of sensing triggers > Priority of location triggers > Priority of function triggers > Priority of triggers of the Mth category > Priority of predictive triggers, etc.

[0103] In addition, in the embodiments of this application, each type of trigger can correspond to multiple triggers. For example, multiple control triggers and multiple sensing triggers are pre-embedded in the domain controller.

[0104] In an optional embodiment of this application, the step of filtering the set of triggers to be determined based on the comparison result to obtain the target set of triggers includes:

[0105] If the comparison result is that the sum of the sub-utilization rates of the M hardware resources is less than or equal to the remaining rate of the hardware resources, then the set of triggers to be determined is determined as the initial set of triggers.

[0106] The initial set of triggers is filtered according to the target functional requirement level to obtain the target set of triggers.

[0107] In an embodiment of this application, in order to ensure the normal operation of the target vehicle, the remaining rate of hardware resources is obtained, and the sum of the sub-utilization rates of hardware resources of all triggers that are about to be enabled is less than the remaining rate of hardware resources.

[0108] Specifically, if the sum of the sub-utilization rates of hardware resources of all triggers in the set of triggers to be determined is less than or equal to the remaining rate of hardware resources, then the set of triggers to be determined is determined as the initial set of triggers; then, the initial set of triggers is filtered according to the target functional requirement level to obtain the target set of triggers.

[0109] Specifically, the target functional requirement level is determined based on the target functional requirements:

[0110] For example, if the target function requirement is emergency braking, the target function requirement level is low; if the target function requirement is high-speed navigation, the target function requirement level is high.

[0111] Among them, (1) when the target functional requirement level is low, the number of triggers can be reduced, that is, the number of triggers included in the initial trigger set is greater than the number of the target trigger set.

[0112] (2) When the target function requirement level is high, since high-level functions involve more types of data and the operation process is more complex, it is not necessary to reduce the number of triggers. That is, the number of triggers included in the initial trigger set = the number of the target trigger set.

[0113] (3) When the target functional requirement level is medium, the number of initial triggers in the initial trigger set can be adjusted or kept unchanged according to the actual situation (real-time operating status of the target vehicle or real-time user needs, etc.), that is, the number of initial triggers included in the initial trigger set is ≥ the number of target trigger sets.

[0114] In an optional embodiment of this application, the step of filtering the set of triggers to be determined based on the comparison result to obtain the target set of triggers further includes:

[0115] If the comparison result is that the sum of the sub-utilization rates of the M hardware resources is greater than the remaining rate of the hardware resources, then the priorities of the M categories are determined.

[0116] Calculate the sum of the sub-utilization rates of the M-1 hardware resources corresponding to the M-1 categories of the triggers to be determined corresponding to the first M-1 priorities;

[0117] The sum of the sub-utilization rates of M-1 hardware resources is compared with the remaining rate of the hardware resources. If the sum of the sub-utilization rates of M-1 hardware resources is less than or equal to the remaining rate of the hardware resources, then the M-1 categories of the undetermined triggers are determined as the initial trigger set.

[0118] The initial set of triggers is filtered according to the target functional requirement parameters to obtain the target set of triggers.

[0119] In an embodiment of this application, if the sum of the sub-utilization rates of hardware resources of all triggers in the set to be determined is greater than the remaining rate of hardware resources, then the triggers to be determined in the set to be determined are filtered according to the priority corresponding to the categories included in the set to be determined. For example, the categories included in the set to be determined include sensing triggers, control triggers, prediction triggers, positioning triggers and functional triggers, that is, M=5.

[0120] When the target functional requirement is emergency braking, the priority ranking of the categories included in the set of triggers to be determined is as follows:

[0121] Sensing trigger > Control trigger > Predictive trigger > Location trigger > Functional trigger;

[0122] Therefore, since the sum of the sub-utilization rates of hardware resources of all triggers in the set of triggers to be determined is greater than the remaining rate of hardware resources, the functional triggers in the set of triggers to be determined are deleted, and the sum of the sub-utilization rates of hardware resources of the remaining sensing triggers, control triggers, prediction triggers and positioning triggers is compared with the remaining rate of hardware resources.

[0123] If the sum of the sub-utilization rates of the remaining sensing triggers, control triggers, prediction triggers, and location triggers is less than the remaining rate of hardware resources, then the remaining sensing triggers, control triggers, prediction triggers, and location triggers are determined as the initial trigger set.

[0124] Then, determine the target functional requirement level based on the target functional requirements:

[0125] For example, if the target function requirement is emergency braking, then the target function requirement level is low, and the number of target triggers in the initial trigger set can be further reduced to save the utilization rate of hardware resources in the initial trigger set.

[0126] Assuming the initial trigger set includes 30 perception triggers, 30 control triggers, 30 prediction triggers, and 30 location triggers, then when the target functional requirement level is low, the number of prediction triggers and location triggers can be reduced from 30 to 20.

[0127] That is, the final set of target triggers includes 30 perception triggers, 30 control triggers, 20 prediction triggers, and 20 location triggers.

[0128] In an optional embodiment of this application, when the target functional requirement level is medium, the number of target triggers in the initial trigger set can be reduced to save on the utilization rate of hardware resources of the initial trigger set.

[0129] Assuming the initial trigger set includes 30 perception triggers, 30 control triggers, 30 prediction triggers, and 30 location triggers, then when the target functional requirement level is medium, the number of prediction triggers and location triggers can be reduced from 30 to 25.

[0130] That is, the final set of target triggers includes 30 perception triggers, 30 control triggers, 25 prediction triggers, and 25 location triggers.

[0131] In an optional embodiment of this application, when the target functional requirement is high-speed navigation, the target functional requirement level is high, and the number of target triggers in the initial trigger set is not reduced.

[0132] Assume the initial trigger set includes 30 sensing triggers, 30 control triggers, 30 predictive triggers, and 30 positioning triggers;

[0133] That is, the target trigger set includes 30 perception triggers, 30 control triggers, 30 prediction triggers, and 30 location triggers.

[0134] It should be noted that when the target functional requirement level parameter is low or medium, the number of triggers in the target trigger set can be adjusted according to the actual needs of the user. The specific number of adjustments is not specifically limited in the embodiments of this application.

[0135] In an optional embodiment of this application, the step of filtering the set of triggers to be determined based on the comparison result to obtain the target set of triggers further includes:

[0136] If the sum of the sub-utilization rates of M-1 hardware resources is greater than the remaining rate of the hardware resources, then the sum of the sub-utilization rates of the M-2 hardware resources corresponding to the M-2 categories of the triggers to be determined for the first M-2 priorities is calculated, and the sum of the sub-utilization rates of the M-2 hardware resources is compared with the remaining rate of the hardware resources, until the sum of the sub-utilization rates of MN hardware resources is less than or equal to the remaining rate of the hardware resources, and then the initial trigger set is obtained; where 1≤N≤M-1, and N is an integer;

[0137] The initial set of triggers is filtered according to the target functional requirement level parameters to obtain the target set of triggers.

[0138] If, at this point, the sum of the sub-utilization rates of the sensing trigger, the control trigger, the prediction trigger, and the location trigger is greater than the remaining hardware resource rate, then the location trigger in the set of triggers to be determined is deleted, and the sum of the sub-utilization rates of the remaining sensing trigger, the control trigger, and the prediction trigger is compared with the remaining hardware resource rate; if the sum of the sub-utilization rates of the remaining sensing trigger, the control trigger, and the prediction trigger is less than the remaining hardware resource rate, then the remaining sensing trigger, the control trigger, and the prediction trigger are determined as the initial trigger set.

[0139] Then, determine the target functional requirement level based on the target functional requirements:

[0140] For example, if the target function requirement is emergency braking, then the target function requirement level is low, and the number of target triggers in the initial trigger set can be further reduced to save the utilization rate of hardware resources in the initial trigger set.

[0141] Assuming the initial trigger set includes 30 perception triggers, 30 regulatory triggers, and 30 predictive triggers, then when the target functional requirement level is low, the number of regulatory triggers and predictive triggers can be reduced from 30 to 20.

[0142] That is, the final set of target triggers includes 30 perception triggers, 20 regulation triggers, and 20 prediction triggers.

[0143] In an optional embodiment of this application, when the target functional requirement level is medium, the number of target triggers in the initial trigger set can be reduced to save on the utilization rate of hardware resources of the initial trigger set.

[0144] Assuming the initial trigger set includes 30 perception triggers, 30 regulatory triggers, and 30 predictive triggers, then when the target functional requirement level is medium, the number of regulatory triggers and predictive triggers can be reduced from 30 to 25.

[0145] That is, the final set of target triggers includes 30 perception triggers, 25 regulation triggers, and 25 prediction triggers.

[0146] In an optional embodiment of this application, when the target functional requirement is high-speed navigation, the target functional requirement level is high, and the number of target triggers in the initial trigger set is not reduced.

[0147] Assume the initial trigger set includes 30 sensing triggers, 30 regulatory triggers, and 30 predictive triggers;

[0148] That is, the target trigger set includes 30 perception triggers, 30 regulation triggers, and 30 prediction triggers.

[0149] In the embodiments of this application, the remaining rate of hardware resources is determined by the sum of the utilization rate of the hardware resources of the domain controller and the utilization rate of the hardware resources of autonomous driving and the hardware resource utilization rate threshold. The configuration parameters of the trigger are determined based on the remaining rate of hardware resources. Under the premise of ensuring the normal operation of domain control and autonomous driving, the parameters of the trigger are configured, which improves the adaptability of the trigger operation with the domain controller and autonomous driving, thereby improving the safety of autonomous driving.

[0150] Step S23: Obtain the configuration parameter set for each target trigger in the target trigger set; wherein the configuration parameter set includes a first configuration parameter and a second configuration parameter;

[0151] Specifically, obtaining the configuration parameter set for each target trigger in the target trigger set includes:

[0152] Every first preset time interval, determine the first configuration parameter and the second configuration parameter of each target trigger;

[0153] The first configuration parameter includes disconnecting or enabling; the second configuration parameter includes triggering rules, thresholds, the type of data to be collected, and the duration of data collection.

[0154] In embodiments of this application, both the first configuration parameter and the second configuration parameter of the target trigger can be adjusted simultaneously.

[0155] For example: For a certain target trigger:

[0156] The first configuration parameter is the enabled state;

[0157] Second configuration parameter: Triggering rule, distance from the vehicle in front changed from 10 meters to 20 meters;

[0158] Threshold: Turning angle adjusted from 20 degrees to 10 degrees;

[0159] Data type collected: Prediction results will no longer be collected;

[0160] Collection duration: changed from 5 seconds before and after the original timestamp to 3 seconds before and after.

[0161] That is, the first configuration parameter obtained by a certain target trigger is: the enable state;

[0162] Second configuration parameter: Trigger rule, distance from the vehicle in front is 20 meters;

[0163] Threshold: Turning angle is 10 degrees;

[0164] Data type to be collected: Prediction result data will no longer be collected;

[0165] Collection duration: 3 seconds before and after the timestamp.

[0166] That is, when the distance to the vehicle in front is 20 meters, the trigger is activated and enters the enabled state. However, it no longer collects prediction result data. The collection time is 6 seconds. After the collection time reaches 6 seconds, the target trigger enters the disconnected state and waits to be triggered again, and the above process is repeated.

[0167] In embodiments of this application, the second configuration parameter can be adjusted according to the user's comfort requirements. For example, reducing the turning angle or threshold can improve driving comfort.

[0168] Step S24: Send the configuration parameter set of each target trigger to the corresponding target trigger to obtain target data based on the target trigger.

[0169] In embodiments of this application, after obtaining the configuration parameters, the server can send the configuration parameters to the corresponding target trigger in the domain controller based on the following data transmission method:

[0170] (1) Configuration file: Fill in the configuration parameters such as the status of the target trigger (disabled or enabled), triggering rules, threshold, data type of data to be collected, and collection duration into the configuration file. The configuration file can be in protocol format such as json / xml. The server supports multiple transmission protocols (e.g., HTTP / HTTPS / FTP / FTPS / SFTP / AFTP). The server distributes the configuration file to the target trigger corresponding to the domain controller based on a certain transmission protocol.

[0171] (2) Instruction set: The server generates instructions from the configuration parameters and sends the configuration parameters such as the status (disabled or enabled), triggering rules, threshold, data type and collection duration of the target trigger to the target trigger of the domain controller by issuing instructions.

[0172] (3) OTA: The configuration parameters such as the status (disabled or enabled), triggering rules, threshold, data type and collection duration of the target trigger are sent to the corresponding target trigger of the domain controller via OTA.

[0173] The embodiments of this application have configuration parameters applicable to various distribution methods and support multiple transmission protocols, making them widely applicable and highly flexible.

[0174] In the embodiments of this application, when it is necessary to adjust the configuration parameters of triggers related to a certain functional requirement, the functional requirement is identified as the target functional requirement, and multiple triggers associated with the target functional requirement are identified as the set of triggers to be determined. Then, the remaining rate of hardware resources is determined based on the sum of the utilization rates of the domain controller and the autonomous driving hardware resources and the hardware resource utilization rate threshold. An initial set of triggers is determined based on the remaining rate of hardware resources. Finally, the target set of triggers is determined based on the target functional requirement level. This realizes online flexible configuration of triggers, avoids the use of certain functions from affecting the normal operation of the domain controller or autonomous driving, thereby ensuring the normal operation of the domain controller and autonomous driving, preventing the target vehicle from colliding with other vehicles in the surrounding area, and improving the safety of autonomous driving.

[0175] An optional embodiment of this application further includes:

[0176] The operational accuracy of each target trigger is obtained every second preset time interval;

[0177] The operational accuracy of each target trigger is compared with an accuracy threshold;

[0178] If the running accuracy of the target trigger is less than the accuracy threshold, then the target trigger with the running accuracy less than the accuracy threshold is determined as a trigger to be trained.

[0179] Obtain a preset number of historical data uploaded by the triggers to be trained;

[0180] The trigger to be trained is trained based on the preset amount of historical data until the running accuracy of the trigger to be trained is greater than or equal to the accuracy threshold.

[0181] In the embodiments of this application, in order to achieve the stability of autonomous driving algorithms and functions, the accuracy of trigger operation is tested through a large number of scenario library tests, simulation tests, large-scale road tests, and other testing methods. When the test finds that the accuracy of a certain trigger operation is less than the accuracy threshold, a preset number of relevant historical data previously collected by the trigger are obtained, and the trigger is iteratively trained based on these preset number of relevant historical data. During this period, the trigger's automatic response and entry into the enabled state are stopped until the trigger's operation accuracy is greater than or equal to the accuracy threshold. Then, the trigger is allowed to be triggered normally and automatically respond and enter the enabled state, thereby improving the accuracy of trigger operation and thus improving the safety of autonomous driving.

[0182] In the embodiments of this application, after the parameter configuration of the target trigger associated with a certain target functional requirement is completed, when the trigger rule is met, such as emergency braking, the target trigger associated with this target functional requirement enters the enabled state, collects data of the preset data collection type, and uploads the obtained data to the server to prevent the target vehicle from colliding with vehicles in front, thereby improving the safety of the target vehicle's autonomous driving.

[0183] After the first preset time interval, the server can again adjust the configuration parameters of the target trigger associated with this target functional requirement or other target functional requirements;

[0184] Similarly, in the embodiments of this application, based on the above method, multiple triggers in the domain controller can be flexibly adjusted online.

[0185] It should be noted that the first preset time and the second preset time involved in this application can be set according to actual needs, and the embodiments of this application do not impose specific limitations on them.

[0186] like Figure 3 As shown, embodiments of this application also provide a trigger configuration device 30, including:

[0187] The first acquisition module 31 is used to acquire the target functional requirements of the target vehicle and determine a set of triggers to be determined that are set in the domain controller and match the target functional requirements based on the target functional requirements of the target vehicle.

[0188] The second acquisition module 32 is used to acquire the real-time operating parameters of the target vehicle, and to filter the set of triggers to be determined that match the target functional requirements according to the real-time operating parameters to obtain the target trigger set; wherein, the real-time operating parameters include hardware resources, the remaining rate of the hardware resources, and the target functional requirement level;

[0189] Configuration module 33 is used to obtain a configuration parameter set for each target trigger in the target trigger set; wherein the configuration parameter set includes a first configuration parameter and a second configuration parameter;

[0190] The sending module 34 is used to send the configuration parameter set of each target trigger to the corresponding target trigger, so as to obtain target data based on the target trigger.

[0191] Optionally, the step of obtaining the real-time operating parameters of the target vehicle and filtering the set of triggers to be determined that match the target functional requirements based on the real-time operating parameters to obtain the target trigger set includes:

[0192] The hardware resources and their remaining percentage are defined as a first real-time operating parameter, and the target functional requirement level is defined as a second real-time operating parameter; wherein, the priority of the first real-time operating parameter is greater than the priority of the second real-time operating parameter; the remaining percentage of the hardware resources is obtained based on the difference between the hardware resource utilization threshold and the real-time utilization of the hardware resources; the real-time utilization of the hardware resources is the sum of the real-time utilization of the hardware resources of the domain controller and the real-time utilization of the hardware resources of the autonomous driving system;

[0193] The priority of each category in the set of triggers to be determined is determined, and the sub-utilization rate of the hardware resources of each category of triggers to be determined in the set of triggers to be determined is calculated; wherein, determining the priority of each category in the set of triggers to be determined includes: determining the priority of each category according to the importance level of each category to the target functional requirement or the sub-utilization rate of the hardware resources of each category; the set of triggers to be determined includes M categories of triggers to be determined, where M is a positive integer;

[0194] The sum of the sub-utilization rates of the M hardware resources corresponding to the M categories of triggers to be determined is compared with the remaining rate of the hardware resources to obtain the comparison result;

[0195] The set of triggers to be determined is filtered based on the comparison results to obtain the target set of triggers.

[0196] Optionally, the step of filtering the set of triggers to be determined based on the comparison results to obtain the target set of triggers includes:

[0197] If the comparison result is that the sum of the sub-utilization rates of the M hardware resources is less than or equal to the remaining rate of the hardware resources, then the set of triggers to be determined is determined as the initial set of triggers.

[0198] The initial set of triggers is filtered according to the target functional requirement level to obtain the target set of triggers.

[0199] Optionally, the step of filtering the set of triggers to be determined based on the comparison results to obtain the target set of triggers further includes:

[0200] If the comparison result is that the sum of the sub-utilization rates of the M hardware resources is greater than the remaining rate of the hardware resources, then the priorities of the M categories are determined.

[0201] Calculate the sum of the sub-utilization rates of the M-1 hardware resources corresponding to the M-1 categories of the triggers to be determined corresponding to the first M-1 priorities;

[0202] The sum of the sub-utilization rates of M-1 hardware resources is compared with the remaining rate of the hardware resources. If the sum of the sub-utilization rates of M-1 hardware resources is less than or equal to the remaining rate of the hardware resources, then the M-1 categories of the undetermined triggers are determined as the initial trigger set.

[0203] The initial set of triggers is filtered according to the target functional requirement parameters to obtain the target set of triggers.

[0204] Optionally, the step of filtering the set of triggers to be determined based on the comparison results to obtain the target set of triggers further includes:

[0205] If the sum of the sub-utilization rates of M-1 hardware resources is greater than the remaining rate of the hardware resources, then the sum of the sub-utilization rates of the M-2 hardware resources corresponding to the M-2 categories of the triggers to be determined for the first M-2 priorities is calculated, and the sum of the sub-utilization rates of the M-2 hardware resources is compared with the remaining rate of the hardware resources, until the sum of the sub-utilization rates of MN hardware resources is less than or equal to the remaining rate of the hardware resources, and then the initial trigger set is obtained; where 1≤N≤M-1, and N is an integer;

[0206] The initial set of triggers is filtered according to the target functional requirement level parameters to obtain the target set of triggers.

[0207] Optionally, obtaining the configuration parameter set for each target trigger in the target trigger set includes:

[0208] Every first preset time interval, determine the first configuration parameter and the second configuration parameter of each target trigger;

[0209] The first configuration parameter includes disconnecting or enabling; the second configuration parameter includes triggering rules, thresholds, the type of data to be collected, and the duration of data collection.

[0210] Optional, also includes:

[0211] The operational accuracy of each target trigger is obtained every second preset time interval;

[0212] The operational accuracy of each target trigger is compared with an accuracy threshold;

[0213] If the running accuracy of the target trigger is less than the accuracy threshold, then the target trigger with the running accuracy less than the accuracy threshold is determined as a trigger to be trained.

[0214] Obtain a preset number of historical data uploaded by the triggers to be trained;

[0215] The trigger to be trained is trained based on the preset amount of historical data until the running accuracy of the trigger to be trained is greater than or equal to the accuracy threshold.

[0216] Embodiments of this application also provide an electronic device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the method described above.

[0217] Embodiments of this application also provide a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the method described above.

[0218] Furthermore, other configurations and functions of the apparatus in the embodiments of this application are known to those skilled in the art, and will not be described in detail here to reduce redundancy.

[0219] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0220] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0221] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0222] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0223] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0224] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. For those skilled in the art, they can be understood according to the specific circumstances.

[0225] Understand the specific meaning of the above terms in this application.

[0226] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0227] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A trigger configuration method, characterized in that, include: Obtain the target functional requirements of the target vehicle, and determine the set of triggers to be determined that are set in the domain controller and match the target functional requirements based on the target functional requirements of the target vehicle; The real-time operating parameters of the target vehicle are obtained, and the set of triggers to be determined that match the target functional requirements are filtered according to the real-time operating parameters to obtain the target trigger set; wherein, the real-time operating parameters include hardware resources, the remaining rate of the hardware resources, and the target functional requirement level; Obtain the configuration parameter set for each target trigger in the target trigger set; wherein the configuration parameter set includes a first configuration parameter and a second configuration parameter; The configuration parameter set of each target trigger is sent to the corresponding target trigger to obtain target data based on the target trigger; The step of obtaining the real-time operating parameters of the target vehicle and filtering the set of triggers to be determined that match the target functional requirements based on the real-time operating parameters to obtain the target trigger set includes: The hardware resources and their remaining percentage are defined as a first real-time operating parameter, and the target functional requirement level is defined as a second real-time operating parameter; wherein, the priority of the first real-time operating parameter is greater than the priority of the second real-time operating parameter; the remaining percentage of the hardware resources is obtained based on the difference between the hardware resource utilization threshold and the real-time utilization of the hardware resources; the real-time utilization of the hardware resources is the sum of the real-time utilization of the hardware resources of the domain controller and the real-time utilization of the hardware resources of the autonomous driving system; The priority of each category in the set of triggers to be determined is determined, and the sub-utilization rate of the hardware resources of each category of triggers to be determined in the set of triggers to be determined is calculated; wherein, determining the priority of each category in the set of triggers to be determined includes: determining the priority of each category according to the importance level of each category to the target functional requirement or the sub-utilization rate of the hardware resources of each category; the set of triggers to be determined includes M categories of triggers to be determined, M>2, and M is an integer; The sum of the sub-utilization rates of the M hardware resources corresponding to the M triggers to be determined in the M categories is compared with the remaining rate of the hardware resources to obtain the comparison result; The set of triggers to be determined is filtered based on the comparison results to obtain the target set of triggers.

2. The method according to claim 1, characterized in that, The step of filtering the set of triggers to be determined based on the comparison results to obtain the target set of triggers includes: If the comparison result is that the sum of the sub-utilization rates of the M hardware resources is less than or equal to the remaining rate of the hardware resources, then the set of triggers to be determined is determined as the initial set of triggers. The initial set of triggers is filtered according to the target functional requirement level to obtain the target set of triggers.

3. The method according to claim 2, characterized in that, The step of filtering the set of triggers to be determined based on the comparison results to obtain the target set of triggers further includes: If the comparison result is that the sum of the sub-utilization rates of the M hardware resources is greater than the remaining rate of the hardware resources, then the priorities of the M categories are determined. Calculate the sum of the sub-utilization rates of the M-1 hardware resources corresponding to the M-1 categories of the triggers to be determined corresponding to the first M-1 priorities; The sum of the sub-utilization rates of M-1 hardware resources is compared with the remaining rate of the hardware resources. If the sum of the sub-utilization rates of M-1 hardware resources is less than or equal to the remaining rate of the hardware resources, then the M-1 categories of the undetermined triggers are determined as the initial trigger set. The initial set of triggers is filtered according to the target functional requirement parameters to obtain the target set of triggers.

4. The method according to claim 3, characterized in that, The step of filtering the set of triggers to be determined based on the comparison results to obtain the target set of triggers further includes: If the sum of the sub-utilization rates of M-1 hardware resources is greater than the remaining rate of the hardware resources, then the sum of the sub-utilization rates of the M-2 hardware resources corresponding to the M-2 categories of the triggers to be determined for the first M-2 priorities is calculated, and the sum of the sub-utilization rates of the M-2 hardware resources is compared with the remaining rate of the hardware resources, until the sum of the sub-utilization rates of MN hardware resources is less than or equal to the remaining rate of the hardware resources, and then the initial trigger set is obtained; where 1≤N≤M-1, and N is an integer; The initial set of triggers is filtered according to the target functional requirement level parameters to obtain the target set of triggers.

5. The method according to claim 1, characterized in that, Obtaining the configuration parameter set for each target trigger in the target trigger set includes: Every first preset time interval, determine the first configuration parameter and the second configuration parameter of each target trigger; The first configuration parameter includes disconnecting or enabling; the second configuration parameter includes triggering rules, thresholds, the type of data to be collected, and the duration of data collection.

6. The method according to any one of claims 1 to 5, characterized in that, Also includes: The operational accuracy of each target trigger is obtained every second preset time interval; The operational accuracy of each target trigger is compared with an accuracy threshold; If the running accuracy of the target trigger is less than the accuracy threshold, then the target trigger with the running accuracy less than the accuracy threshold is determined as a trigger to be trained. Obtain a preset number of historical data uploaded by the triggers to be trained; The trigger to be trained is trained based on the preset amount of historical data until the running accuracy of the trigger to be trained is greater than or equal to the accuracy threshold.

7. A trigger configuration device, characterized in that, include: The first acquisition module is used to acquire the target functional requirements of the target vehicle and determine a set of triggers to be determined that are set in the domain controller and match the target functional requirements based on the target functional requirements of the target vehicle. The second acquisition module is used to acquire the real-time operating parameters of the target vehicle, and to filter the set of triggers to be determined that match the target functional requirements based on the real-time operating parameters to obtain the target trigger set; wherein, the real-time operating parameters include hardware resources, the remaining rate of the hardware resources, and the target functional requirement level; A configuration module is configured to obtain a configuration parameter set for each target trigger in the target trigger set; wherein the configuration parameter set includes a first configuration parameter and a second configuration parameter; The sending module is used to send the configuration parameter set of each target trigger to the corresponding target trigger, so as to obtain target data based on the target trigger; The step of obtaining the real-time operating parameters of the target vehicle and filtering the set of triggers to be determined that match the target functional requirements based on the real-time operating parameters to obtain the target trigger set includes: The hardware resources and their remaining percentage are defined as a first real-time operating parameter, and the target functional requirement level is defined as a second real-time operating parameter; wherein, the priority of the first real-time operating parameter is greater than the priority of the second real-time operating parameter; the remaining percentage of the hardware resources is obtained based on the difference between the hardware resource utilization threshold and the real-time utilization of the hardware resources; the real-time utilization of the hardware resources is the sum of the real-time utilization of the hardware resources of the domain controller and the real-time utilization of the hardware resources of the autonomous driving system; The priority of each category in the set of triggers to be determined is determined, and the sub-utilization rate of the hardware resources of each category of triggers to be determined in the set of triggers to be determined is calculated; wherein, determining the priority of each category in the set of triggers to be determined includes: determining the priority of each category according to the importance level of each category to the target functional requirement or the sub-utilization rate of the hardware resources of each category; the set of triggers to be determined includes M categories of triggers to be determined, M>2, and M is an integer; The sum of the sub-utilization rates of the M hardware resources corresponding to the M triggers to be determined in the M categories is compared with the remaining rate of the hardware resources to obtain the comparison result; The set of triggers to be determined is filtered based on the comparison results to obtain the target set of triggers.

8. An electronic device, characterized in that, The method includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the method as claimed in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to perform the method as described in any one of claims 1 to 6.

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