Apparatus for extracting driving data of an autonomous vehicle and system and method thereof

Abstract

The present disclosure relates to an apparatus for extracting driving data of an autonomous vehicle, and a system and method thereof. The driving data extraction apparatus for the autonomous vehicle includes a storage module for storing driving data of the autonomous vehicle, a driving record module configured to manage recording of the driving data, divide the driving data into a plurality of pieces according to a frame size based on a unified diagnostic services (USD) diagnostic protocol, and output the divided driving data by using a regular ID (RID) service, a diagnosis module configured to receive a request for extracting the driving data from an external data extraction device, sequentially receive the divided driving data from the driving record module, and sequentially transmit the driving data to the data extraction device, and a diagnosis communication module configured to perform diagnosis communication between the data extraction device and the diagnosis module based on the USD diagnostic protocol.

Description

[0001] Cross-references to related applications

[0002] This application claims the benefit of Korean Patent Application No. 10-2021-0081148, filed on June 22, 2021, with the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to a driving data extraction apparatus for autonomous vehicles, and a system and method for extracting driving data, and more specifically, to an apparatus, system and method for extracting driving record data from autonomous vehicles. Background Technology

[0004] The device that records and stores data when a vehicle equipped with an autonomous driving system is driving in autonomous driving mode is called a data logger. Diagnostic communication is used to extract the data stored in the data logger and construct diagnostic messages based on the Unified Diagnostic Services (UDS) protocol.

[0005] UDS is used to extract autonomous driving data stored in the data logger and to perform stored data extraction between the diagnostic equipment (tester) and the data logger based on UDS. The UDS protocol and the data logger are based on a software platform, and the maximum capacity of the UDS frame is limited to 1.5KB.

[0006] Therefore, a method is needed to extract large amounts of autonomous driving data that are expected to be hundreds of KB.

[0007] The information disclosed in this background section is intended only to enhance the understanding of the background technology of this disclosure, and therefore may contain information that does not form prior art known to those skilled in the art in China. Summary of the Invention

[0008] Exemplary embodiments of this disclosure provide a driving data extraction apparatus for an autonomous vehicle, as well as a system and method for extracting driving data. The apparatus, system, and method are capable of extracting a large amount of driving record data from the autonomous vehicle and extracting driving record data from the on-board diagnostics (OBD) and controller unit. At the same time, the transmission limitations of the Unified Diagnostic Services (USD) diagnostic protocol are overcome by using the conventional control (RID) and diagnostic identifier (DID) based on the Unified Diagnostic Services (USD) diagnostic protocol to extract driving record data.

[0009] The technical objectives of this disclosure are not limited to those described above, and other technical objectives not mentioned may be clearly understood by those skilled in the art from the description of the claims.

[0010] An exemplary embodiment of the disclosure provides a driving data extraction device for an autonomous vehicle, including a storage module configured to store driving data of an autonomous vehicle, a driving record module configured to manage recording of the driving data to divide the driving data into a plurality of pieces according to a frame size based on a unified diagnostic services (USD) diagnostic protocol, and output the divided driving data by using a regular control (RID) service and an identifier read data (DID) service based on the USD diagnostic protocol, a diagnosis module configured to receive a request for extracting the divided driving data from an external data extraction device, sequentially receive the divided driving data from the driving record module, and sequentially transmit the driving data to the data extraction device, and a diagnosis communication module configured to perform diagnosis communication between the data extraction device and the diagnosis module based on the USD diagnostic protocol.

[0011] In an exemplary embodiment, the driving record module can define a single DID and a single RID, and can sequentially transmit the divided driving data through the single DID and the single RID.

[0012] In an exemplary embodiment, when a regular control request (RID) for extracting first driving data among the divided driving data is received from the data extraction device, the diagnosis communication module can transmit a regular service call to the diagnosis module.

[0013] In an exemplary embodiment, when the regular control request is received from the data extraction device, the diagnosis communication module can receive version information of the data extraction device, extraction state information of previously received driving data, and the number of previously extracted driving data together.

[0014] In an exemplary embodiment, when the regular service call is received, the diagnosis module can request the read data to the driving record module.

[0015] In an exemplary embodiment, the driving record module can transmit the first driving data to the diagnosis module.

[0016] In an exemplary embodiment, when the first driving data is transmitted, the driving record module can transmit transmission state information thereof together, the information indicating whether data transmission is possible or not.

[0017] In an exemplary embodiment, the driving record module can transmit version information of the driving record module, the total number of the divided driving data, the number (count) of currently transmitted driving data, and the capacity of the currently transmitted driving data together.

[0018] In an exemplary embodiment, the diagnosis module can transmit the transmission state information of the driving record module and the transmission state information of the diagnosis module to the data extraction device together.

[0019] In an exemplary embodiment, when a read control request (DID) for extracting first driving data among divided driving data is received from the data extraction device, the diagnosis communication module can transmit a read service call to the diagnosis module.

[0020] In an exemplary embodiment, when performing regular control, the diagnosis module can transmit first driving data received from the driving record module to the data extraction device through the diagnosis communication module.

[0021] In an exemplary embodiment, when a regular control request (RID) for extracting second driving data among divided driving data is received from the data extraction device, the diagnosis communication module can transmit a regular service call to the diagnosis module.

[0022] In an exemplary embodiment, when a regular control request for extracting first driving data among divided driving data is received from the data extraction device, the diagnosis module can receive the first driving data by requesting transmission of the first driving data to the driving record module, and can notify that transmission of the first driving data to the data extraction device is possible.

[0023] In an exemplary embodiment, when a read control request for extracting the first driving data is received from the data extraction device, the diagnosis module can transmit the first driving data to the data extraction device.

[0024] In an exemplary embodiment, after extraction of the first driving data is completed, when a regular control request for extracting second driving data among divided driving data is received from the data extraction device, the diagnosis module can receive the second driving data by requesting transmission of the second driving data to the driving record module, and then notify that transmission of the second driving data to the data extraction device is possible.

[0025] In an exemplary embodiment, when a read control request for extracting the second driving data is received from the data extraction device, the diagnosis module can transmit the second driving data to the data extraction device.

[0026] An exemplary embodiment of the disclosure provides a driving data extraction system for an autonomous vehicle, including a data extraction device configured to extract driving data of an autonomous vehicle, and a driving data extraction apparatus configured to manage recording of the driving data to divide the driving data into a plurality of pieces according to a frame size based on a diagnosis protocol of a unified diagnostic services (USD), and transmit the divided driving data to the data extraction device by using a regular control (RID) service and an identifier read data (DID) service based on the diagnosis protocol of the USD.

[0027] An exemplary embodiment of the disclosure provides a driving data extraction method for an autonomous vehicle, including: recording driving data of the autonomous vehicle; when an external data extraction device requests to extract the driving data, dividing the driving data into a plurality of pieces according to a frame size based on a unified diagnostic services (USD) diagnostic protocol, and transmitting the divided driving data to the data extraction device by using a regular control (RID) service and an identifier read data (DID) service based on the USD diagnostic protocol.

[0028] In an exemplary embodiment, the transmitting can include: receiving a regular control request for extracting first driving data among the divided driving data from the data extraction device; extracting the first driving data and notifying that the transmission of the first driving data to the data extraction device is possible; receiving a read control request for extracting the first driving data from the data extraction device; and transmitting the first driving data to the data extraction device.

[0029] In an exemplary embodiment, the transmitting can include: receiving a regular control request for extracting second driving data among the divided driving data from the data extraction device after the extraction of the first driving data is completed; extracting the second driving data and notifying that the transmission of the second driving data to the data extraction device is possible; receiving a read control request for extracting the second driving data from the data extraction device; and transmitting the second driving data to the data extraction device.

[0030] According to the present technology, a large amount of driving record data of an autonomous vehicle can be extracted, and driving record data of the autonomous vehicle is extracted from an on-board diagnostic (OBD) and a controller unit while overcoming a transmission limit of a unified diagnostic services (USD) diagnostic protocol by extracting the driving record data of the autonomous vehicle together using regular control (RID) and diagnostic identifier (DID) based on the USD diagnostic protocol.

[0031] Furthermore, various effects can be provided by the present document, which can be directly or indirectly recognized. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 A block diagram illustrating a configuration of a driving data extraction system for an autonomous driving device according to an exemplary embodiment of the disclosure is shown.

[0033] Figure 2 A diagram for describing a driving data extraction method for an autonomous driving device according to an exemplary embodiment of the disclosure is shown.

[0034] Figure 3 A flowchart illustrating a driving data extraction operation for an autonomous driving device according to an exemplary embodiment of the disclosure is shown.

[0035] Figure 4 A diagram for describing a driving data extraction method for an autonomous driving device according to another exemplary embodiment of the present disclosure is illustrated.

[0036] Figure 5 A flowchart illustrating a driving data extraction operation for an autonomous driving device according to another exemplary embodiment of the present disclosure is illustrated.

[0037] Figure 6A A table including option information when a general control for extracting driving data of an autonomous driving vehicle is requested according to another embodiment of the present disclosure is illustrated.

[0038] Figure 6B A table including status information when a general control for extracting driving data of an autonomous driving vehicle is requested according to another embodiment of the present disclosure is illustrated.

[0039] Figure 7 A flowchart for describing a driving data extraction method for an autonomous driving device according to another exemplary embodiment of the present disclosure is illustrated.

[0040] Figure 8 A computing system according to an exemplary embodiment of the present disclosure is illustrated. DETAILED DESCRIPTION

[0041] It should be understood that the term "vehicle" or "vehicular" or other similar terminology used herein includes a general motor vehicle such as a passenger car including sport utility vehicles (SUV), a bus, a truck, various commercial vehicles, a watercraft including various ships and boats, an aircraft, and the like, and includes a hybrid vehicle, an electric vehicle, a plug-in hybrid electric vehicle, a hydrogen electric vehicle, and other alternative fuel vehicles (e.g., those that use a fuel other than petroleum). As used herein, a hybrid vehicle is a vehicle that has more than two power sources, such as a gasoline-powered vehicle and an electric-powered vehicle.

[0042] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. As used herein, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. As used herein the term "and / or" includes any and all combinations of one or more of the associated listed items. Throughout the specification, unless explicitly described otherwise, the word "comprise" and variations such as "comprises" or "comprising" will be understood to imply the inclusion of stated elements but not the exclusion of any other elements. In addition, the terms "unit", "device", "body" and "module" described in the specification refer to a unit for processing at least one function and operation, and can be implemented by a hardware component or a software component, and combinations thereof.

[0043] Further, the control logic of the present disclosure can be embodied as a non-transitory computer readable medium on a computer readable medium containing executable program instructions executed by a processor, controller, or the like. Examples of the computer readable medium include, but are not limited to, ROM, RAM, compact disc (CD)-ROM, magnetic tapes, floppy disks, flash drives, smart cards, and optical data storage devices. The computer readable medium can also be distributed over network-coupled computer systems so that the computer readable medium is stored and executed in a distributed fashion, e.g., by a remote information processing server or a controller area network (CAN).

[0044] Hereinafter, some exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. It should be noted that, when adding reference numerals to constituent elements of each drawing, the same reference numerals are used as much as possible even if the same constituent elements are represented in different drawings. Also, in describing the exemplary embodiments of the present disclosure, when it is determined that a detailed description of related well-known configurations or functions interferes with the understanding of the exemplary embodiments of the present disclosure, a detailed description thereof will be omitted.

[0045] In describing constituent elements of the exemplary embodiments according to the disclosure, terms such as first, second, A, B, (a), and (b) can be used. These terms are used only to distinguish the constituent elements from other constituent elements, and the nature, order, or sequence of the constituent elements is not limited by the terms. Also, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the disclosure pertains (those skilled in the art), unless they are defined differently in the present specification. Terms defined in a general dictionary should be interpreted to have meanings matching the contextual meanings in the relevant technology, and should not be interpreted to have ideal or excessively formal meanings unless they are clearly defined in the present specification.

[0046] Hereinafter, the driving data extraction system for an autonomous driving vehicle according to the exemplary embodiments of the disclosure will be described with reference to Figures 1 to 8 The exemplary embodiments of the disclosure are described in detail.

[0047] Figure 1 A block diagram illustrating a configuration of a driving data extraction system for an autonomous driving device according to the exemplary embodiments of the disclosure is shown.

[0048] Referring to Figure 1 The driving data extraction system for an autonomous driving vehicle according to the embodiments of the disclosure can include an autonomous driving data extraction device 100 and a data extraction apparatus 200.

[0049] The autonomous driving data extraction device 100 according to the exemplary embodiments of the disclosure can be implemented inside a vehicle. In this case, the autonomous driving data extraction device 100 can be integrally formed with an internal control unit of the vehicle, or can be implemented as a separate apparatus connected to the control unit of the vehicle through a separate connection member.

[0050] The autonomous driving data extraction device 100 can store driving-related data during autonomous driving, and can transmit the driving-related data stored based on RID and DID to the external data extraction apparatus 200 according to a request of the external data extraction apparatus 200.

[0051] As shown in Table 1, the autonomous driving data extraction device 100 can extract data of an autonomous driving vehicle by using an identifier reading data (DID) service and a regular control (RID) service together.

[0052] Table 1

[0053]

[0054] As shown in Table 1, the identifier reading data (DID) service reads data according to DID, and the regular control (RID) service performs a predefined routine (logic) and obtains a result.

[0055] ReferringFigure 1 The autonomous driving data extraction device 100 can include a diagnosis module 110, a driving record module 120, a storage module 130, a diagnosis communication module 140, and a runtime environment (RTE) 150. Each component of the autonomous driving data extraction device 100 can be a circuit that executes software commands, thereby performing various data processing and calculations described later.

[0056] The diagnosis module 110, which is a diagnosis software component (DSC), can perform diagnosis-related operations of the autonomous driving vehicle and can perform communication between the diagnosis communication module 140 and the driving record module 120. For example, the diagnosis module 110 can be an electronic control unit (ECU), a microcontroller unit (MCU), or other sub-controllers installed in the vehicle.

[0057] When a request to extract driving data is received from the data extraction apparatus 200, the diagnosis module 110 can sequentially receive driving data divided into a plurality of pieces from the driving record module 120 and can sequentially transmit the driving data to the data extraction apparatus 200.

[0058] The driving record module 120, which is a data recorder, can acquire driving states, vehicle data, sensors, and map data, etc. of the autonomous driving vehicle to store them in the storage module 130 and manage them. For example, the driving record module 120 can be implemented as a central processing unit (CPU) or the like and can perform overall management such as recording and deleting driving-related data.

[0059] The driving record module 120 can divide driving data of the autonomous driving vehicle into a plurality of pieces according to frame sizes based on a diagnosis protocol of a unified diagnostic services (USD) and can transmit the divided driving data to the data extraction apparatus 200 outside the vehicle by using a regular identifier data (RID) service and a diagnostic identifier data (DID) service based on the diagnosis protocol of the USD.

[0060] The storage module 130 can store driving information extracted by the driving record module 120, and data and / or algorithms required for operations of the driving record module 120 and the diagnosis module 110.

[0061] As an example, the storage module 130 can store driving data such as sensing results of sensors during autonomous driving, a current vehicle speed, obstacle information, map information, driving states of the vehicle, and vehicle data. Driving-related data stored in the storage module 130 can include large-capacity data of about 200 KB or more.

[0062] The storage module 130 can include at least one of a storage medium of various types of memory such as a flash memory, a hard disk, a micro card, a card (e.g., a secure digital (SD) card or an extreme digital (XD) card), a random access memory (RAM), a static RAM (SRAM), a read only memory (ROM), a programmable ROM (PROM), an electrically erasable PROM (EEPROM), a magnetic memory (MRAM), a magnetic disk, and an optical disk, etc., an embedded multimedia card (eMMC), etc.

[0063] The diagnostic communication module 140, which is a diagnostic communication manager (DCM), can be implemented based on a software platform and can perform a diagnostic function based on AUTOSAR.

[0064] The RTE 150 can perform communication between the software platform of the diagnostic communication module 140 and the diagnostic module 110, and communication between the diagnostic module 110 and the drive record module 120.

[0065] The data extraction device 200 requests extraction of autonomous driving data to the autonomous driving data extraction apparatus 100 through an external module diagnostic message, which can perform interaction through a predefined diagnostic protocol, and can receive stored data in response to a request from the drive record module 120, which is a data recorder.

[0066] The diagnostic module 110, the drive record module 120, and the diagnostic communication module 140 can be implemented in the form of hardware, software, or a combination of hardware and software, or can be, for example, an electronic control unit (ECU), a micro controller unit (MCU), or other sub-controllers installed in a vehicle.

[0067] Accordingly, according to the present disclosure, by defining a single DID and a single RID, the driving data divided into a plurality of pieces can be sequentially transmitted through a single DID and a single RID.

[0068] Figure 2 A diagram for describing a driving data extraction method for an autonomous driving apparatus according to an exemplary embodiment of the present disclosure is shown, and Figure 3 A flowchart illustrating a driving data extraction operation for an autonomous driving apparatus according to an exemplary embodiment of the present disclosure is shown.

[0069] A method of extracting driving data of a vehicle using a DID-based identifier reading data service will be described in Figure 2 and Figure 3

[0070] Referring to Figure 2 ​In an embodiment of the disclosure, when the driving data of the vehicle is extracted based on the DID, in order to extract the log data, a memory needs to be allocated for each DID. In this case, since a memory needs to be allocated for each of the CPU of the driving record module 120 and the MCU of the diagnosis module 110, a capacity twice as large as the total number of each memory (memory #N) is required. This can cause a system memory shortage.

[0071] The log data is transmitted by being divided into a frame size that can be transmitted at a time, and for example, after the log data is divided into 1500 bytes as a frame size that can be transmitted at a time, the log data can be transmitted. Therefore, a DID definition is required for each block that is individually divided data, and for example, a DID definition is required for each 1500 bytes of individually divided data.

[0072] For example, when the total size of the driving data is 200K bytes, 200K bytes is divided by 1500 bytes to obtain 133, and thus 133 DID definitions are required in total, and thus for every 133 blocks, one identification number, for example, DID #1, DID #2, …, and DID #133, can be allocated.

[0073] The individual DID can be formed to include an array of up to 1500 bytes, and in order to secure N DID, 1500 bytes x N memory allocation is required, and the memory must be allocated to both the CPU and the MCU, and thus it becomes difficult to secure the memory.

[0074] Referring to Figure 3 When the data extraction device 200 requests a data read control of a first block (#1 block) to the diagnosis communication module 140 of the autonomous driving data extraction apparatus 100 in the vehicle to extract the driving data of the autonomous driving vehicle (S101), the diagnosis communication module 140 requests a read service call to the diagnosis module 110 (S102). In this case, the call refers to an operation in which a terminal device connected to a communication network calls a peer device to communicate as a call.

[0075] Therefore, the diagnosis module 110 called by the diagnosis communication module 140 requests the driving record module 120 to read the vehicle driving related data (S103), and the driving record module 120 reads the data of the first block (#1 block) from the storage module 130 and writes the data of the first block (#1 block) to the diagnosis module 110 (S104). Then, the diagnosis module 110 can transmit the data of the first block (#1 block) received from the driving record module 120 to the diagnosis communication module 140 (S105), and the diagnosis communication module 140 can transmit the received data of the first block (#1) to the external data extraction device 200 of the autonomous driving data extraction apparatus 100 (S106).

[0076] Then, the data extraction device 200 performs a data read control request to the diagnosis communication module 140 to extract data of the second block (block #2) (S107). Subsequent processes are the same as the data extraction processes S102 to S106 as the above first block, and the above processes can be repeated for the third block, the fourth block,..., and the nth block.

[0077] Accordingly, in the case of the identifier read data (0x22) service, when the required data (result value) is acquired from the controller through the diagnosis identifier (DID) and there is a large amount of divided data, the DID of the memory region must be newly defined for each divided data.

[0078] Figure 4 A diagram for describing a driving data extraction method for an autonomous driving device according to another exemplary embodiment of the disclosure is shown, and Figure 5 A flowchart illustrating a driving data extraction operation for an autonomous driving device according to another exemplary embodiment of the disclosure is shown. The method of extracting driving data of a vehicle using a combination of a DID-based identifier read data service and a RID-based identifier read data service will be described in Figure 4 and Figure 5

[0079] Referring to Figure 4 When the driving data is extracted by combining the RID and the DID, the driving data can be extracted by defining the RID and the DID one by one, so that it is not necessary to allocate a memory corresponding to the total data size. That is, the CPU and the MCU each allocate one memory region of 1500 bytes, and 330 pieces of 1500-byte divided log data can be transmitted one by one through one allocated memory region (DID #1), so that it is not necessary to allocate 330 memory regions. That is, there is one array required for newly defining the DID, and by allocating one memory region for 1500-byte log data, the memory load can be overcome and a large amount of data can be extracted as a diagnosis service.

[0080] Referring to Figure 5 , the data extraction device 200 requests a regular control for data extraction of the first block (block #1) to the diagnosis communication module 140 (S201). In this case, the data extraction device 200 can transmit option information to the diagnosis communication module 140, as shown in Figure 6A Figure 6A A table including option information when a regular control for extracting driving data of an autonomous driving vehicle is requested according to another embodiment of the disclosure is shown. As shown in Figure 6A ​​As shown, the option information can include version information of the driving record module, state information of the previous block, and count information of the previously transmitted block. In this case, the diagnosis module 110 can check the version information of the driving record module and the version information of the data extraction device 200. Also, the state information of the previous block can include information about whether the block is normally received. The count information of the previously transmitted block indicates the number of blocks that are previously transmitted.

[0081] Then, the diagnosis communication module 140 performs a regular service call to the diagnosis module 110 (S202).

[0082] Accordingly, the diagnosis module 110 requests data reading to the driving record module 120 (S203), and the driving record module 120 obtains data from the storage module 130 and writes the data to the diagnosis module 110 (S204). In this case, the data writing of the first block can be performed through one memory area allocated to the CPU and the MCU.

[0083] Also, the driving record module 120 transmits regular control state information indicating that data transmission can be performed to the diagnosis module 110 (S205). Accordingly, the diagnosis module 110 is in a pending state until a data reading control request (read DID) is received from the diagnosis communication module 140.

[0084] In this case, the regular control state information can include version information of the driving record module, the total number of blocks to be transmitted (the total number of divided data), count information of the currently transmitted block (the number of currently transmitted blocks), and the capacity of the currently transmitted block, etc., as shown. Figure 6B Figure 6B A table including state information when a regular control for extracting driving data of an autonomous vehicle is requested according to another embodiment of the disclosure is illustrated.

[0085] The diagnosis module 110 transmits regular control state information (e.g., status: OK) indicating that data can be transmitted to the diagnosis communication module 140 (S206), and the diagnosis communication module 140 transmits the regular control state information to the data extraction device 200 (S207). Accordingly, the data extraction device 200 can check whether the data transmission preparation state of the diagnosis module 110 and the driving record module 120 is normal.

[0086] Accordingly, when the data transmission preparation state of the diagnosis module 110 and the driving record module 120 is normal, the data extraction device 200 requests data reading control to extract data of the first block (block #1) (read DID) (S208).

[0087] The diagnosis communication module 140 requests a read service call to the diagnosis module 110 (S209).​

[0088] Accordingly, the diagnosis module 110 called by the diagnosis communication module 140 transmits the data of the first block (Block #1) received from the driving record module 120 in step S204 to the diagnosis communication module 140 (S210). The diagnosis communication module 140 can transmit the received data of the first block (Block #1) to the external data extraction device 200 outside the autonomous driving data extraction apparatus 100 (S211).

[0089] Then, the data extraction device 200 performs a regular control request to the diagnosis communication module 140 to extract the data of the second block (Block #2) (S212). The subsequent processes are the same as S202 to S211 which are the data extraction processes of the above-described first block, and the above-described processes can be repeated for the third block, the fourth block, …, and the nth block.

[0090] Hereinafter, a driving data extraction method for an autonomous driving apparatus according to another exemplary embodiment of the disclosure will be described with reference to Figure 7 Figure 7 A flowchart for describing a driving data extraction method for an autonomous driving apparatus according to another exemplary embodiment of the disclosure is illustrated.

[0091] Hereinafter, it is assumed that Figure 1 the data extraction system of the autonomous driving vehicle performs Figure 7 the processes.Further, in the description of Figure 7 it can be understood that the operations described as performed by each module are controlled by a processor.

[0092] Referring to Figure 7 , when the external data extraction device 200 (tester) requests a regular control to the driving record module 120 of the autonomous driving data extraction apparatus 100 (S301), the driving record module 120 performs a regular control response to the data extraction device 200 (tester) (S302). In this case, the regular control response is a response to whether it is possible to perform a regular control, that is, whether it is possible to perform a data transmission.

[0093] Referring to Figure 7 , when the regular control is possible, the data extraction device 200 (tester) requests a read control to the driving record module 120 of the autonomous driving data extraction apparatus 100 (S303), and the driving record module 120 extracts and transmits the data of the first block to the data extraction device 200 (tester) (S304).

[0094] The data extraction device 200 (tester) can determine whether the received block is the last block of the driving data to be extracted, and when it is not the last block, steps S301 to S304 can be repeated.

[0095] Accordingly, according to the disclosure, when driving data is extracted using only a DID, a large amount of autonomous driving data can be extracted while solving a memory allocation limit problem, and driving data of an autonomous driving vehicle can be extracted from a vehicle OBD and a controller unit.

[0096] Figure 8 A computing system according to an exemplary embodiment of the disclosure is illustrated.

[0097] Referring to Figure 8 The computing system 1000 can include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage 1600, and a network interface 1700 connected through a bus 1200.

[0098] The processor 1100 can be a central processing unit (CPU) or a semiconductor device that performs processing on commands stored in the memory 1300 and / or the storage 1600. The memory 1300 and the storage 1600 can include various types of volatile or non-volatile storage media. For example, the memory 1300 can include read-only memory (ROM) 1310 and random access memory (RAM) 1320.

[0099] Accordingly, the steps of the methods or algorithms described in connection with the exemplary embodiments disclosed herein can be directly implemented by hardware executed by the processor 1100, software modules, or a combination of the two. The software modules can reside in a storage medium (i.e., the memory 1300 and / or the storage 1600), such as a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, and a CD-ROM.

[0100] The exemplary storage medium is coupled to the processor 1100, which can read information from and write information to the storage medium. Alternatively, the storage medium can be integrated with the processor 1100. The processor and the storage medium can reside within an application-specific integrated circuit (ASIC). The ASIC can reside within a user terminal. Alternatively, the processor and the storage medium can reside as separate components in the user terminal.

[0101] The above description is merely an illustration of the technical idea of the disclosure, and those skilled in the art to which the disclosure pertains can make various modifications and changes without departing from the essential characteristics of the disclosure.

[0102] Therefore, the exemplary embodiments disclosed in the present disclosure are not intended to limit the technical idea of the present disclosure, but to explain them, and the scope of the technical idea of the present disclosure is not limited by these exemplary embodiments. The scope of protection of the present disclosure should be based on the appended claims, and all technical ideas within the equivalent scope should be understood to be included in the scope of the present disclosure.

Claims

1. A driving data extraction device for an autonomous vehicle, the driving data extraction device comprising: The storage module is configured to store driving data of autonomous vehicles; The driving record module is configured to manage the recording of the driving data, and to divide the driving data into multiple segments based on the frame size according to the diagnostic protocol of the unified diagnostic service, and to output the segmented driving data by using the regular control service and the identifier read data service based on the diagnostic protocol of the unified diagnostic service. The diagnostic module is configured to receive a request from an external data extraction device to extract the segmented driving data, to sequentially receive the segmented driving data from the driving record module, and the diagnostic module sequentially transmits the segmented driving data to the data extraction device. as well as A diagnostic communication module is configured to perform diagnostic communication between the data extraction device and the diagnostic module based on the diagnostic protocol of the unified diagnostic service. The driving record module and the diagnostic module are configured to sequentially transmit the segmented driving data via a memory area allocated by defining a single identifier for reading data and a single routine control.

2. The driving data extraction device according to claim 1, wherein, When a routine control request for extracting the first driving data from the segmented driving data is received from the data extraction device, the diagnostic communication module transmits a routine service call to the diagnostic module.

3. The driving data extraction device according to claim 2, wherein, When the routine control request is received from the data extraction device, the diagnostic communication module receives the version information of the data extraction device, the extraction status information of the previously received driving data, and the quantity information of the previously extracted driving data.

4. The driving data extraction device according to claim 2, wherein, When the routine service call is received, the diagnostic module requests to read data from the driving record module.

5. The driving data extraction device according to claim 4, wherein, The driving record module transmits the first driving data to the diagnostic module.

6. The driving data extraction device according to claim 5, wherein, When transmitting the first driving data, the driving record module also transmits the transmission status information of the first driving data, which indicates whether data transmission is possible.

7. The driving data extraction device according to claim 6, wherein, The driving record module transmits its version information, the total number of driving data segments, the number of currently transmitted driving data segments, and the capacity of the currently transmitted driving data segments together.

8. The driving data extraction device according to claim 6, wherein, The diagnostic module transmits the transmission status information of the driving record module and the transmission status information of the diagnostic module together to the data extraction device.

9. The driving data extraction device according to claim 1, wherein, When the data extraction device receives a read control request for extracting the first driving data from the segmented driving data, the diagnostic communication module transmits a read service call to the diagnostic module.

10. The driving data extraction device according to claim 8, wherein, When performing routine control, the diagnostic module transmits the first driving data received from the driving record module to the data extraction device via the diagnostic communication module.

11. The driving data extraction device according to claim 10, wherein, When a routine control request for extracting second driving data from the segmented driving data is received from the data extraction device, the diagnostic communication module transmits a routine service call to the diagnostic module.

12. The driving data extraction device according to claim 1, wherein, When a routine control request for extracting first driving data from the segmented driving data is received from the data extraction device, the diagnostic module receives the first driving data by requesting that the first driving data be transmitted to the driving record module, and the diagnostic module notifies that the transmission of the first driving data to the data extraction device is possible.

13. The driving data extraction device according to claim 12, wherein, When the diagnostic module receives a read control request from the data extraction device to extract the first driving data, it transmits the first driving data to the data extraction device.

14. The driving data extraction device according to claim 13, wherein, After the extraction of the first driving data is completed, when a routine control request for extracting the second driving data from the segmented driving data is received from the data extraction device, the diagnostic module receives the second driving data by requesting that the second driving data be transmitted to the driving record module, and then the diagnostic module notifies that the transmission of the second driving data to the data extraction device can be performed.

15. The driving data extraction device according to claim 14, wherein, When the diagnostic module receives a read control request from the data extraction device to extract the second driving data, it transmits the second driving data to the data extraction device.

16. A driving data extraction system for autonomous vehicles, the driving data extraction system comprising: Data extraction equipment is configured to extract driving data from autonomous vehicles; as well as A driving data extraction device is configured to manage the recording of the driving data, divide the driving data into multiple segments based on frame size according to the diagnostic protocol of the unified diagnostic service, and transmit the segmented driving data to the data extraction device using a conventional control service and an identifier read data service, based on the diagnostic protocol of the unified diagnostic service. The data extraction device is further configured to sequentially transmit the segmented driving data via a memory region allocated by defining a single identifier for reading data and a single routine control.

17. A method for extracting driving data for an autonomous vehicle, the driving data extraction method comprising: Record the driving data of the autonomous vehicle; When an external data extraction device requests to extract the driving data Based on the diagnostic protocol of the unified diagnostic service, the driving data is divided into multiple segments according to frame size. Limit data reading to a single identifier and a single general control, and The segmented driving data is sequentially transmitted to the data extraction device via a memory area allocated by defining a single identifier for reading data and a single routine control.

18. The driving data extraction method according to claim 17, wherein, The transmission includes: Receive a routine control request from the data extraction device for extracting first driving data from the segmented driving data; Extract the first driving data and notify that the first driving data can be transmitted to the data extraction device; Receive a read control request from the data extraction device for extracting the first driving data; as well as The first driving data is transmitted to the data extraction device.

19. The driving data extraction method according to claim 18, wherein, The transmission includes: After the first driving data is extracted... Receive a routine control request from the data extraction device for extracting second driving data from the segmented driving data; Extract the second driving data and notify that the second driving data can be transmitted to the data extraction device; Receive a read control request from the data extraction device for extracting the second driving data; and The second driving data is transmitted to the data extraction device.

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