Data Processing Method and System, Storage Medium, and Electronic Device

Abstract

The present application provides a data processing method, system, storage medium, and electronic device, which relate to the field of communications and solve the problem that the data communication of the vehicle-mounted assisted driving system has poor capabilities in controlling and defending against data error risks. The data processing method includes: creating a verification data chain for verifying the vehicle-mounted data of a target vehicle, where the verification data chain includes multiple verification bits; and in the case where it is determined based on the verification data chain that there is a communication error in the vehicle-mounted data of the target vehicle, processing the communication error. Through the solution in the present application, when the data transmission process is interfered with or maliciously attacked, it is possible to detect whether there is a communication error in the communication data through the verification bits and record the communication error, thereby achieving the purpose of controlling and defending against data error risks.

Description

Technical Field

[0001] This application relates to the field of communications, and in particular, to a data processing method and system, a storage medium, and an electronic device. Background Art

[0002] The vehicle-mounted assisted driving system realizes the exchange and sharing of information among various devices such as vehicle-mounted sensors, controllers, and actuators through the vehicle-mounted Ethernet network, so as to achieve safe, efficient, comfortable, and energy-saving automatic or semi-automatic driving.

[0003] During the communication process of the vehicle-mounted Ethernet network, potential system random physical failures or logical failures may lead to data communication errors. In the existing related technologies, in order to ensure the real-time performance of communication, the communication data stream is fused to reduce the communication load, but the communication data is not considered for error detection and the communication errors are not used to control and defend against data error risks, so the anti-interference ability cannot be improved. Summary of the Invention

[0004] In view of this, the embodiments of this application are committed to providing a data processing method and system, a storage medium, and an electronic device to solve the problem that the data communication of the vehicle-mounted assisted driving system has poor ability in controlling and defending against data error risks in the existing technology.

[0005] In a first aspect, an embodiment of this application provides a data processing method, including: creating a check data chain for checking the vehicle-mounted data of a target vehicle, where the check data chain includes multiple check bits; and processing a communication error in the case where it is determined based on the check data chain that there is a communication error in the vehicle-mounted data of the target vehicle.

[0006] In combination with the first aspect, in some implementation manners of the first aspect, before processing the communication error in the case where it is determined based on the check data chain that there is a communication error in the vehicle-mounted data of the target vehicle, the method further includes at least one of the following items: detecting whether there is a communication error in the vehicle-mounted data of the target vehicle according to the multiple check bits of the check data chain; detecting whether there is a communication error in the vehicle-mounted data of the target vehicle according to the data information of the check data chain; detecting whether there is a communication error in the vehicle-mounted data of the target vehicle according to the reception situation of the check data chain.

[0007] In combination with the first aspect, in some implementations of the first aspect, the multiple check bits include at least one of the following: a data link header check bit, located at the head of the check data link, for describing the basic information of the check data link; a data link tail check bit, located at the tail of the check data link, for performing weighted calculation on the multiple check bits; a data link error check bit, for describing the error status of the check data link; and a data link feedback check bit, obtained by performing coupled calculation on the data link header check bit, the data link tail check bit, and the data link error check bit.

[0008] In combination with the first aspect, in some implementations of the first aspect, detecting whether there is a communication error in the in-vehicle data of the target vehicle according to the multiple check bits of the check data link includes: determining whether the payload ID of the check data link is correct through payload ID parity check to detect whether there is a communication error in the in-vehicle data of the target vehicle; checking the parameters of the check data link to detect whether there is a communication error in the in-vehicle data of the target vehicle; and determining whether the check data link is abnormal by checking the check bits of the check data link to detect whether there is a communication error in the in-vehicle data of the target vehicle.

[0009] In combination with the first aspect, in some implementations of the first aspect, detecting whether there is a communication error in the in-vehicle data of the target vehicle according to the data information of the check data link includes: if it is confirmed that the check data link is a data link communication that can be detected, comparing the information of the check data link with the check data link of the previous communication to obtain comparison data; and performing error information adaptation processing on the comparison data with a preset comparison threshold to detect whether there is a communication error in the in-vehicle data of the target vehicle.

[0010] In combination with the first aspect, in some implementations of the first aspect, determining whether a data frame of the check data link is received within a preset time includes: in the case of receiving an incorrect data signal, starting to count using a counter; and in the case where the count value of the counter reaches a preset count threshold, determining the communication error to be eliminated.

[0011] In combination with the first aspect, in some implementations of the first aspect, processing the communication error includes: storing the communication error in an error register, where the communication error includes an error status recorded in the form of an error code.

[0012] In combination with the first aspect, in some implementations of the first aspect, the check data link is transmitted through a check data link list, where the check data link list is dynamically expanded according to the size of the check data link.

[0013] In combination with the first aspect, in some implementations of the first aspect, when it is determined based on the verification data chain that there is a communication error in the vehicle-mounted data of the target vehicle, before processing the communication error, the method further includes: during the reset process or when writing to a register, performing a parity check on the verification data chain to detect whether there is a communication error in the vehicle-mounted data of the target vehicle.

[0014] In combination with the first aspect, in some implementations of the first aspect, when it is determined based on the verification data chain that there is a communication error in the vehicle-mounted data of the target vehicle, before processing the communication error, the method further includes: when the IP address of the verification data chain has a parity check requirement, performing a parity check on the IP address of the verification data chain to detect whether there is a communication error in the vehicle-mounted data of the target vehicle.

[0015] In a second aspect, an embodiment of the present application provides a data processing system, including: a creation module, configured to create a verification data chain for verifying the vehicle-mounted data of the target vehicle, where the verification data chain includes multiple check bits; a processing module, configured to process a communication error when it is determined based on the verification data chain that there is a communication error in the vehicle-mounted data of the target vehicle.

[0016] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, including computer-executable commands stored thereon, and the executable commands, when executed by a processor, implement the method mentioned in the first aspect above.

[0017] In a fourth aspect, an embodiment of the present application provides an electronic device, including: a processor, configured to execute the method mentioned in the first aspect above; a memory for storing processor-executable instructions.

[0018] In the data processing method of the embodiments of the present application, by creating a verification data chain, communication errors can be detected through the check bits in the verification data chain and the communication errors can be processed when detected, thereby controlling and defending against data error risks, ensuring the integrity and functional safety of the data chain, and at the same time ensuring the stability and consistency of the data communication function of the entire vehicle-mounted assisted driving system. Description of the Drawings

[0019] Figure 1 The figure shows a schematic flowchart of a data processing method provided by an embodiment of the present application.

[0020] Figure 2 The figure shows a schematic flowchart of a data processing method provided by another embodiment of the present application.

[0021] Figure 3 The figure shows a schematic flowchart of a data processing method provided by yet another embodiment of the present application.

[0022] Figure 4 The following shows the schematic diagram of the process for verifying the data link according to the Figure 3 data processing method provided.

[0023] Figure 5 The following shows the schematic diagram of the process of the data processing method provided by another embodiment of the present application.

[0024] Figure 6 The following shows the schematic diagram of the process of the data processing method provided by another embodiment of the present application.

[0025] Figure 7 The following shows the schematic diagram of the process of the data processing method provided by another embodiment of the present application.

[0026] Figure 8 The following shows the schematic diagram of the process of the data processing method provided by another embodiment of the present application.

[0027] Figure 9 The following shows the Figure 8 schematic diagram of the principle for detecting the data reception situation of the verification data link according to the data processing method provided.

[0028] Figure 10 The following shows the schematic diagram of the process of the data processing method provided by another embodiment of the present application.

[0029] Figure 11 The following shows the schematic diagram of the error code of an embodiment of the present application.

[0030] Figure 12 The following shows the schematic diagram of the process of the data processing method provided by another embodiment of the present application.

[0031] Figure 13 The following shows the schematic diagram of the process of the data processing method provided by another embodiment of the present application.

[0032] Figure 14 The following shows the schematic diagram of the structure of the data processing system provided by another embodiment of the present application.

[0033] Figure 15 The following shows the schematic diagram of the structure of the electronic device provided by another embodiment of the present application. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0035] Overview of the Application

[0036] The vehicle-mounted assisted driving system, by cooperating with various vehicle-mounted sensors, controllers, actuators and other devices, performs data transmission between memory and memory, between memory and peripheral devices, between peripheral devices and memory, and between peripheral devices and peripheral devices, so as to achieve the purpose of perceiving the surrounding environment of the vehicle, and controls the steering and speed of the vehicle according to the information obtained by the perception, so that the vehicle can drive safely and reliably. Therefore, the correct transmission of communication data of various sensors, control systems and other vehicle-mounted systems is closely related to the normal and safe driving of the vehicle. However, in a complex driving environment, there may be various electromagnetic signal interferences, air static electricity or various internal and external interferences caused by the control strategy of the electronic control unit itself, resulting in communication anomalies. At the same time, due to the uncertainty of the working environment inside and outside the vehicle, the vehicle may encounter potential system random physical or logical failures, various electromagnetic signal interferences, signal crosstalk between PCB boards, air static electricity and other external interferences or communication anomalies caused by the control strategy of the electronic control unit itself, resulting in damage to lidar sensors, millimeter wave sensors, processors, etc. and the phenomenon of communication data loss. Therefore, the communication error detection of the data communication of the vehicle-mounted assisted driving system is also particularly important.

[0037] In the existing related technologies, in order to ensure the real-time performance of communication, the communication data stream is fused to reduce the communication load, but the error detection of data communication is not considered and the communication error is not used to control and defend against the data error risk. Therefore, it cannot be used in the working scenarios of actual vehicle-mounted assisted driving systems.

[0038] To solve the problem that the data communication of the vehicle-mounted assisted driving system in the existing technologies has poor ability in controlling and defending against the data error risk. The embodiment of the present application provides a data processing method.

[0039] It should be noted that the exemplary embodiment of the present application adopts a vehicle-mounted embedded system architecture. The system-on-chip (SOC) core processor is responsible for the operation of application software and security functions, and performs data transmission with the software and hardware of different modules scattered inside the vehicle to cooperate with the overall operation of the vehicle-mounted assisted driving system. The present application does not make specific limitations on the used processor and system architecture, and the mentioned SOC core processor is only used to illustrate the solution provided by the present application through exemplary embodiments.

[0040] Figure 1 The following is a schematic flow chart of the data processing method provided by an embodiment of the present application. As Figure 1 shown, the data processing method mentioned in the embodiment of the present application includes the following steps.

[0041] Step S100: Create a verification data chain for verifying the in-vehicle data of the target vehicle.

[0042] Specifically, the verification data chain includes multiple verification bits.

[0043] Exemplarily, the multiple verification bits include at least one of the following: a data chain head verification bit, a data chain tail verification bit, a data chain error verification bit, and a data chain feedback verification bit. The above-mentioned verification bits will be further described below.

[0044] The data chain head verification bit is located at the head of the verification data chain and is used to describe the basic information of the verification data chain.

[0045] The data chain tail verification bit is located at the tail of the verification data chain and is used to perform a weighted calculation on the multiple verification bits of the verification data chain.

[0046] The data chain error verification bit is used to describe the error status of the verification data chain. Exemplarily, the data chain error verification bit can be set to 1 when an error is detected in the verification data chain and set to 0 when no error is detected.

[0047] The data chain feedback verification bit is obtained by performing a coupling calculation on the data chain head verification bit, the data chain tail verification bit, and the data chain error verification bit. Exemplarily, the data chain feedback verification bit can be obtained by performing a coupling digital AND operation on the data chain head verification bit and the data chain tail verification bit, adding the obtained value to the value of the data chain error verification bit to obtain the value of the data chain feedback verification bit, and using it as the last bit of the data chain.

[0048] Pack the transmitted data into a chain, and add the above verification bits to the data chain to create a verification data chain for verifying the in-vehicle data of the target vehicle.

[0049] In an embodiment of the present application, the transmission of different verification data chains can be carried out through a verification data link list, and the verification data link list is dynamically expanded according to the size of the transmitted verification data chain and is independently configured, so that the transmission data inside the vehicle can also be protected, thereby preventing data transmission errors.

[0050] In addition, in an exemplary embodiment of the present application, the data transmission volume and priority level of each data transmission channel can be pre-adapted. For example, the burst transmission size of the programmable maximum Advanced Microcontroller Bus Architecture (AMBA) of each data transmission channel can be configured in a dedicated register, and channels with abnormal transmission data can also be disabled. These channels with abnormal transmission data can be restarted in a timely manner. After they can resume normal operation, the data channels that have resumed normal operation can be enabled. In this way, various malicious program attacks and abnormal data interruptions can be suppressed to ensure that data will not be abnormally lost and wrongly executed.

[0051] Step S200: When it is determined based on the check data chain that there is a communication error in the vehicle-mounted data of the target vehicle, process the communication error.

[0052] Specifically, different types of communication errors correspond to different processing methods. For example, when a check error occurs in the check data chain, the corresponding abnormal function addressing code space will be entered and the corresponding exception handling program will be run, or the communication error will be stored in the error register.

[0053] Through Figure 1 The data processing method provided by the embodiment shown, a check bit is added to the transmitted data and packed into a chain to create a check data chain. When the communication is affected by signal interference or malicious attack, through the added check bit, the correct data can be restored, and possible data communication errors can be quickly identified and the communication errors can be processed in a timely and effective manner, thus facilitating the subsequent correction or analysis of error problems.

[0054] Figure 2 The figure shows a schematic flowchart of a data processing method provided by another embodiment of the present application. Figure 2 The embodiment shown is Figure 1 extended based on the embodiment shown. The following will describe Figure 2 the differences between the embodiment shown and Figure 1 the embodiment shown. The same parts will not be repeated.

[0055] As Figure 2 shown, in the embodiment of the present application, before processing the communication error when it is determined based on the check data chain that there is a communication error in the vehicle-mounted data of the target vehicle, the following steps are further included.

[0056] Step S110: Detect whether there is a communication error in the vehicle-mounted data of the target vehicle according to multiple check bits of the check data chain.

[0057] In an exemplary embodiment of the present application, step S110: Detecting whether there is a communication error in the in-vehicle data of the target vehicle according to multiple check bits of the check data link includes Figure 3 the following steps shown in Figure 2 The same as those in the embodiment shown are not described again.

[0058] Step S112: Determine whether the payload ID of the check data link is correct through payload ID parity check to detect whether there is a communication error in the in-vehicle data of the target vehicle.

[0059] Specifically, the payload ID corresponds to the ID number of the data link sending end and is used to distinguish different sending devices. If the payload ID parity check is correct, continue with the next check; if the payload ID parity check is incorrect, it means that the data link check fails. The addressing code is used for the next program judgment, and the value of the data link error check bit is set to 1.

[0060] Step S114: Check the parameters of the check data link to detect whether there is a communication error in the in-vehicle data of the target vehicle.

[0061] Exemplarily, determine whether the value of the data link payload ID can support the transmission performance of the corresponding external device, so as to judge the consistency between the inherent redundant data link of the data link transmission protocol and the data link frame signal information. When the judgment result is no, a data link validity error occurs. In this embodiment, this error is reported to the fault controller. In addition, a corresponding IP value is defined for the data link validity error at the same time, and then queued to the processing queue of the fault controller. After being processed by the fault controller, a flag bit is defined. The data link error flag bit includes the error exception type and the IP value corresponding to the error exception.

[0062] If there is a data link validity error, the addressing code enters the next program judgment, and the value of the data link error check bit is set to 1; if there is no data link validity error, continue with the next judgment.

[0063] Exemplarily, check whether there is an abnormality in the data link length; check whether the parameters represented by the data link exceed the preset threshold; check whether the bad frame ratio of the data link exceeds the preset threshold, and enter different branches when an error occurs according to the judgment path, and set the value of the data link error check bit to 1; if no abnormality occurs, proceed to the next step.

[0064] Step S116: Determine whether the check data link is abnormal by checking the check bits of the check data link to detect whether there is a communication error in the in-vehicle data of the target vehicle.

[0065] Exemplarily, check whether there is an abnormality in the data link header check bit; check whether there is an abnormality in the data link tail check bit.

[0066] According to the verification results of the data link header check bit and the data link tail check bit, if there is an error, set the value of the data link error check bit to 1; if there is no error, set the value of the data link error check bit to 0.

[0067] In an exemplary embodiment of the present application, the data link with the value of the data link error check bit set to 1 is stored in an error buffer (byte-length data). Such an error buffer can generate a certain number (default 2048) of memory blocks (Error Segment) in the error storage space according to the configuration, that is, a predefined available memory area.

[0068] Perform a coupling bit calculation on the data link header check bit, the data link tail check bit, and the data link error check bit. Exemplarily, perform a coupling digital AND operation on the data link header check bit and the data link tail check bit, and then add the value obtained to the value of the data link error check bit to obtain the value of the data link feedback check bit, which is located at the last bit. Send the value of the data link feedback check bit to an external device corresponding to the payload ID. The external device checks the device according to the value of the data link feedback check bit. If the data link has no error, it instructs the external device to continue sending data; if the data link has an error, it instructs the external device to pause sending and perform a reshaping of the data link, perform a self-check on the error code, and resend the data link.

[0069] Finally, only when the data link transmitted by the external device of the payload ID has no error in all verification processes will it be considered as correct data link information and can be adopted by the system and enter a positive response; otherwise, there is a communication error in the in-vehicle data of the target vehicle, and the communication error is processed, including: entering the corresponding abnormal function addressing code space, or not sending this data link, or obtaining a negative feedback response and performing a reshaping of the data link.

[0070] The solution provided by the above embodiment uses the check bits of the verification data link to perform a complete verification on the data for correct transmission, improving the accuracy and security of system data transmission. At the same time, different processing methods corresponding to different communication errors facilitate the classification of communication errors and subsequent error analysis and processing of communication errors.

[0071] Next, it will be combined with Figure 4 the following Figure 3 shown process schematic diagram to further illustrate the embodiment of the present application shown above.

[0072] As Figure 4 shown, in step S401: after receiving a data link transmission request from an external device, execute step S402: initialize to prepare for verifying the data link.

[0073] Exemplarily, during the initialization process, the physical layer connection of the data link communication is ensured to be normal through the check code. If the initialization link between the SOC core processor and other devices is unsuccessful, the device exception handling process will be entered, and the information of the device node error will be reported.

[0074] Step S403: Perform a data link payload ID check to confirm whether the payload ID is correct. If it is, execute step S404; if not, the addressing code makes the next judgment and executes step S412.

[0075] Step S404: Determine whether the value of the data link payload ID supports the transmission performance of the corresponding external device, that is, verify the consistency of the redundant data link and the data link frame signal information inherent in the data link transmission protocol. If it is, execute step S405; if not, the addressing code makes the next judgment and executes step S412.

[0076] Step S405: Determine whether there is an abnormality in the data link length. If not, execute step S406; if so, the addressing code makes the next judgment and executes step S412.

[0077] Step S406: Determine whether the parameters of the data link exceed the corresponding preset threshold. If not, execute step S407; if so, the addressing code makes the next judgment and executes step S412.

[0078] Step S407: Determine whether the proportion of bad frames in the data link exceeds the corresponding preset threshold. If not, execute step S408; if so, the addressing code makes the next judgment and executes step S412.

[0079] Step S408: Determine whether there is an abnormality in the data link header check bit. If not, execute step S409; if so, the addressing code makes the next judgment and executes step S412.

[0080] Step S409: Determine whether there is an abnormality in the data link tail check bit. If not, execute step S410; if so, the addressing code makes the next judgment and executes step S412.

[0081] Step S410: Set the value of the data link error check bit to 0 and execute step S411.

[0082] Step S411: Enter the positive response and normally load the data link.

[0083] Step S412: Set the value of the data link error check bit to 1 and execute step S413.

[0084] Step S413: Perform a coupling digit AND operation on the data link check bits to obtain the value of the data link feedback check bit and execute step S414.

[0085] Step S414: Send the value of the data link feedback check bit to the external device corresponding to the valid payload ID to instruct the external device to respond. If there is no error in the data link feedback check bit, continue to send the data link; if there is an error in the feedback data check bit, pause sending the data and reshape the data link, perform self-check for the error code, and resend the data link.

[0086] Figure 5 The figure shows a schematic flowchart of a data processing method provided by another embodiment of the present application. Figure 1 Based on the embodiment shown Figure 5 extends an embodiment shown Figure 5 The differences between the embodiment shown Figure 1 and the embodiment shown will be described below. The same parts will not be repeated.

[0087] As Figure 5 shown, in the embodiment of the present application, when it is determined that there is a communication error in the vehicle-mounted data of the target vehicle based on the verification data link, before processing the communication error, the following steps are further included.

[0088] Step S120: Detect whether there is a communication error in the vehicle-mounted data of the target vehicle according to the data information of the verification data link.

[0089] In an exemplary embodiment of the present application, step S120: Detecting whether there is a communication error in the vehicle-mounted data of the target vehicle according to the data information of the verification data link includes Figure 6 the following steps shown, and Figure 5 the same parts as the embodiment shown will not be repeated.

[0090] Step S122: If it is confirmed that the verification data link is a data link communication that can be detected, compare the information of the verification data link with the verification data link of the previous communication to obtain comparison data.

[0091] Exemplarily, when the system software runs, it will analyze according to the specific device signal input to confirm whether the currently communicated data is a detectable data link communication. And compare the communicated data with the data link of the previous communication, such as comparing communication data bits, communication data formats, and communication data check codes, and perform data information combination operations through the compared values.

[0092] Step S124: Perform error information adaptation processing on the comparison data with a preset comparison threshold to detect whether there is a communication error in the vehicle-mounted data of the target vehicle.

[0093] Exemplarily, the value obtained through combined operations is processed for error information adaptation with a configurable preset comparison threshold. This is related to communication transmission data, and corresponding high and low security priority levels will be set. Therefore, the threshold may be smaller in high-security and high-reliability communication devices, so as to detect whether there is a communication error in the in-vehicle data of the target vehicle.

[0094] In an exemplary embodiment of the present application, during the process of processing the error information by comparing the value obtained through combined operations with a configurable preset comparison threshold, if the value after combined operations is outside the standard threshold, it indicates that a communication error in the in-vehicle data of the target vehicle is detected, and the data link does not output; if the value after combined operations is within the standard threshold, the adapted data is, on the one hand, output; on the other hand, it is self-checked by the signal test unit and fed back to the real-time signal processing unit. The real-time signal processing unit will optimize the data, and the optimized data is used again as the previous value data to re-compare with the subsequent input data.

[0095] In this way, through repeated cycling of the communication data, the process of judging communication errors achieves a closed-loop design. In addition, through the combined operations of three comparisons: data link bit comparison, data link format comparison, and data link check code comparison, the judgment of data errors is made more accurate and refined. At the same time, the output signal is optimized and feedback processed, realizing the comparison between the previous value data and the current data, and enhancing the stability of data error detection.

[0096] Figure 7 The following shows a schematic flowchart of the data processing method provided by another embodiment of the present application. Figure 7 The shown embodiment is Figure 1 extended based on the shown embodiment. The following will describe Figure 7 the differences between the shown embodiment and Figure 1 the shown embodiment. The same parts will not be elaborated again.

[0097] As Figure 7 shown, in the embodiment of the present application, when it is determined that there is a communication error in the in-vehicle data of the target vehicle based on the verification data link, before processing the communication error, the following steps are further included.

[0098] Step S130: Detect whether there is a communication error in the in-vehicle data of the target vehicle according to the reception situation of the verification data link.

[0099] Exemplarily, if the SOC core processor does not receive communication data sent by the sensor within a preset time, it notifies the external detection device to establish a detection communication connection with the control system through regular detection communication and select corresponding detection measures. For example, when a certain amount of blank areas appear in the 3D image scanned by the lidar sensor during operation, this fault information will be read out and displayed in the upper-layer protocol stack of the system software.

[0100] In an exemplary embodiment of the present application, step S130: Detecting whether there is a communication error in the in-vehicle data of the target vehicle according to the reception situation of the verification data link includes Figure 8 the following steps shown in, and Figure 7 the same parts as those in the embodiment shown in will not be described in detail.

[0101] Step S132: When an error data signal is received, start counting using a counter.

[0102] Exemplarily, as Figure 9 shown, communication error detection is performed in a standard time period. When the system software starts communication, every standard time period, such as 50 ms, an error monitoring of the communication will be performed. At this time, the counter starts counting from the 0 position. If no communication error is detected in a standard time period, the value of the counter is decremented by 1 and this action is repeated in the next standard time period; when the counter continuously decrements to reach a preset lower threshold, such as Figure 9 -128 shown in, the decrement operation will no longer be performed, but the value will always be maintained at -128, as Figure 9 shown at serial number 3 in.

[0103] When a data error signal is detected, the counter is reset to zero. At this time, counting starts from 0 again. If a continuous error signal of the data link is detected, the value of the counter keeps accumulating.

[0104] Step S134: When the count value of the counter reaches a preset count threshold, determine the communication error to be eliminated.

[0105] Exemplarily, as Figure 9 shown at serial number 5 in, until the preset count threshold 127 is reached. At this time, it is necessary to adjust the communication to eliminate the communication error. When the communication error is eliminated, the counter is reset to zero. At the end of a data link communication, the counter is reset to zero; at the start of the next data link communication, the counter starts counting again, as Figure 9 shown in driving cycle 2. Additionally, if the error register detection stops during a certain period, the count remains unchanged.

[0106] Exemplarily, obtaining the images of the camera sensor within a certain period of time can be used as a data link communication. A driving cycle represents cyclically obtaining the images of the camera sensor for a certain length of time.

[0107] Preferably, for different vehicle systems, different counting range values can be set. When there are more data error signals, the counting range value is set smaller, for example, set within the range of (-256, 255); when there are fewer communication errors, the counting range value is set larger, for example, set within the range of (-1024, 1023). At the same time, setting and modifying the set range value of the counter requires the highest authority of the system.

[0108] The solution provided by the embodiments of the present application provides a detection for verifying the reception of the data link, which can timely detect communication errors such as data loss problems during reception, and can flexibly set the counting range value according to different data transmission situations to ensure the safety and reliability of the system, and specifically solve communication errors under different security requirements.

[0109] After detecting a communication error through the above embodiments, it is necessary to process the communication error.

[0110] Figure 10 An exemplary method for processing a communication error is shown, as Figure 10 shown, based on the embodiment shown in Figure 1 the embodiment shown in Figure 10 extends the embodiment shown in Figure 10 The differences between the embodiment shown in Figure 1 and the embodiment shown in

[0111] will be described below, and the same parts will not be repeated.

[0112] The communication error includes an error status recorded in the form of an error code.

[0113] Exemplarily, when a communication error occurs, in addition to using a counter to record the communication error, in order to solve the problem of the occurrence of the communication error, it is necessary to analyze and classify the communication error.

[0114] The data information interaction of the vehicle-mounted assisted driving system has a functional safety communication protocol, which is used to define error judgment communication specifications for each sensor device according to its special function. The embodiments of the present application utilize the communication specifications to provide an error analysis mechanism.

[0115] When a communication error occurs, the error information is recorded in different forms in the error register and transmitted to the internal detection program in the form of error communication. The internal detection program inside the system can read the error information by detecting the communication form.

[0116] When a communication error occurs, the error information is stored in the error register in the form of an error code. The internal detection program can identify the error through the error information corresponding to the error code. Different error codes are set for different data link communication errors.

[0117] In an exemplary embodiment of the present application, the error register also stores information such as the specific failure mode and failure flag of the error. For example, there are differences in the records of millimeter-wave sensor failures and lidar sensor failures in the vehicle body system, and they cannot be confused in the records. The data error status indicates what state the current data error is in. It consists of 8 data bits, and each bit represents different failure status information.

[0118] The set of error codes in the error register represents that different systems of the vehicle-mounted system have error problems. The sensor types defined by the error register are not restricted. For example, lidar sensors, high-definition camera sensors, millimeter-wave sensors, integrated navigation sensors, etc. With the rapid development of the overall complexity of the vehicle assisted driving system, more communication error codes and types can be defined.

[0119] Figure 11 It is a schematic diagram of the error code for an exemplary embodiment of the present application. Specifically, as Figure 11 shown, each error code consists of 8 bytes, and each byte represents a different meaning. Specifically, the first byte represents the error register status mask, which is used to represent the status of the error register. The second and third bytes represent the service request types of the data link communication. The fourth and fifth bytes represent the error register with all Bits set to 1 read. The sixth and seventh bytes represent the communication record bits of the communication error. The eighth byte represents the readable and writable status of the data link error.

[0120] Figure 11 The content represented by the code shown is described as follows.

[0121] The first byte is A, indicating the communication error status register of the camera sensor.

[0122] The second and third bytes are 1 and 4 respectively, indicating that the service request types of the camera sensor data link communication are in the non-coded state and the coded value exceeds the coded range status value.

[0123] The fourth and fifth bytes are 7 and E respectively, indicating that the 7E of the communication error status register of this camera sensor is the error register with the Bit set to 1.

[0124] The sixth and seventh bytes are 8 and 8 respectively, indicating that the communication error count of the camera sensor is 8 and the communication error of the eighth camera sensor.

[0125] The eighth byte is 0, indicating that the read-write state of the communication error of the camera sensor is only readable.

[0126] By reading the error code from the error register, the status of the communication error can be read, and each byte and each bit of the communication error can be analyzed, thus improving the vehicle data communication error detection and recording strategy and greatly enhancing the reliability and constraint of in-vehicle Ethernet network communication.

[0127] Figure 12 The following shows a schematic diagram of the data processing method provided by another embodiment of the present application. On the basis of the embodiment shown in Figure 1 the embodiment shown is extended to Figure 12 the embodiment shown. The differences between the embodiment shown below and the embodiment shown in Figure 12 will be emphasized, and the same parts will not be elaborated. Figure 1 shown will be emphasized, and the same parts will not be elaborated.

[0128] As Figure 12 shown, in the embodiment of the present application, when it is determined that there is a communication error in the vehicle data of the target vehicle based on the check data link, before processing the communication error, the following steps are further included.

[0129] Step S140: During the reset process or when writing to the register, perform parity check on the check data link to detect whether there is a communication error in the vehicle data of the target vehicle.

[0130] Specifically, use the Network on Chip (NOC) parity check technology to provide a parity check protection mechanism to detect single-bit flips that may occur over time due to transient errors in the register storage elements. NOC parity check is performed during the reset process or whenever software writes to the register. When the clock of the device is active, the parity check value is checked in each clock cycle, thus ensuring the integrity and functional safety of the transmission data link.

[0131] In an exemplary embodiment of the present application, if a burst or transient failure occurs during the transmission through NOC parity check (including all NOC transmission units), some failures occurring during the data link refinement process can also be detected through the data link firewall or data link disconnection, and a dedicated recovery mechanism for the two data links can be formed using this.

[0132] Mechanism 1: Perform parity check on the payload ID through the data link header check bit or the data link tail check bit, or perform parity check on the payload ID through the data link header check bit and perform parity check through the data link tail check bit. To ensure the validity check of the data link header check bit or the data link tail check bit, a validity check procedure for the payload ID is also required to activate the confirmation.

[0133] Mechanism 2: Perform parity check redundancy on the data link header check bit, the data link tail check bit, and the payload ID parity check, that is, insert some separate data link fields during the data link refinement process, and perform parity check on the data link header check bit, parity check on the data link tail check bit, and parity check on the payload ID.

[0134] Figure 13 The following is a schematic diagram of a data processing method provided by another embodiment of the present application. Figure 1 Based on the embodiment shown Figure 13 extends the embodiment shown Figure 13 The differences between the embodiment shown Figure 1 and the embodiment shown will be described in detail below. The same parts will not be repeated.

[0135] As Figure 13 shown, in the embodiment of the present application, in the case where it is determined that there is a communication error in the in-vehicle data of the target vehicle based on the verification data link, before processing the communication error, the following steps are further included.

[0136] Step S150: When the IP address of the verification data link has a parity check requirement, perform a parity check on the IP address of the verification data link to detect whether there is a communication error in the in-vehicle data of the target vehicle.

[0137] Exemplarily, add parity check protection to the IP address with parity check requirements. If a parity check error is detected, a parity check interrupt is immediately generated, and the parity check status will also be recorded. After processing the interrupt event, the parity check status is cleared.

[0138] In an exemplary embodiment of the present application, the IP address parity check function has a dedicated parity check control register, including parity check enable, parity check interrupt status, interrupt clear, and error injection. In addition, the IP address parity check is before initialization.

[0139] Figure 14 The following is a schematic structural diagram of a data processing system provided by an embodiment of the present application. As Figure 14 shown, the data processing system 300 provided by the embodiment of the present application includes: a creation module 310 and a processing module 320.

[0140] Specifically, a creation module 310 is configured to create a verification data chain for verifying in-vehicle data of a target vehicle, and the verification data chain includes a plurality of verification bits. A processing module 320 is configured to process a communication error in the case where it is determined based on the verification data chain that there is a communication error in the in-vehicle data of the target vehicle.

[0141] In an embodiment of the present application, before the processing module 320 executes the step of processing a communication error in the case where it is determined based on the verification data chain that there is a communication error in the in-vehicle data of the target vehicle, the processing module 320 is further configured to execute at least one of the following items:

[0142] Detect whether there is a communication error in the in-vehicle data of the target vehicle according to a plurality of verification bits of the verification data chain;

[0143] Detect whether there is a communication error in the in-vehicle data of the target vehicle according to data information of the verification data chain;

[0144] Detect whether there is a communication error in the in-vehicle data of the target vehicle according to the reception condition of the verification data chain.

[0145] In an embodiment of the present application, the creation module 310 creates a verification data chain for verifying in-vehicle data of a target vehicle, and the verification data chain includes at least one of the following items:

[0146] A data chain head verification bit, located at the head of the verification data chain, is used to describe basic information of the verification data chain;

[0147] A data chain tail verification bit, located at the tail of the verification data chain, is used to perform weighted calculation on a plurality of verification bits;

[0148] A data chain error verification bit is used to describe an error state of the verification data chain;

[0149] A data chain feedback verification bit is obtained by performing coupled calculation on the data chain head verification bit, the data chain tail verification bit, and the data chain error verification bit.

[0150] In an embodiment of the present application, before the processing module 320 executes the step of processing a communication error in the case where it is determined based on the verification data chain that there is a communication error in the in-vehicle data of the target vehicle, the processing module 320 is further configured to:

[0151] Determine whether the payload ID of the verification data chain is correct through payload ID parity check to detect whether there is a communication error in the in-vehicle data of the target vehicle;

[0152] Verify parameters of the verification data chain to detect whether there is a communication error in the in-vehicle data of the target vehicle; and

[0153] Determine whether the verification data chain is abnormal by verifying the verification bits of the verification data chain, so as to detect whether there is a communication error in the vehicle-mounted data of the target vehicle.

[0154] In an embodiment of the present application, before the processing module 320 executes the step of processing the communication error when it is determined based on the verification data chain that there is a communication error in the vehicle-mounted data of the target vehicle, it is further used for:

[0155] If it is confirmed that the verification data chain is a data chain communication that can be detected, compare the information of the verification data chain with the verification data chain of the previous communication to obtain comparison data;

[0156] Perform error information adaptation processing on the comparison data and the preset comparison threshold to detect whether there is a communication error in the vehicle-mounted data of the target vehicle.

[0157] In an embodiment of the present application, before the processing module 320 executes the step of processing the communication error when it is determined based on the verification data chain that there is a communication error in the vehicle-mounted data of the target vehicle, it is further used for:

[0158] When an error data signal is received, start counting using a counter;

[0159] When the count value of the counter reaches the preset count threshold, determine the communication error to be eliminated.

[0160] In an embodiment of the present application, the processing module 320 is further used for: storing the communication error in an error register, where the communication error includes an error state recorded in the form of an error code.

[0161] In an embodiment of the present application, before the processing module 320 executes the step of processing the communication error when it is determined based on the verification data chain that there is a communication error in the vehicle-mounted data of the target vehicle, it is further used for: performing parity check on the verification data chain during the reset process or when writing to the register to detect whether there is a communication error in the vehicle-mounted data of the target vehicle.

[0162] In an embodiment of the present application, the processing module 320 is further used for: generating a parity check interrupt to process the communication error.

[0163] In an embodiment of the present application, before the processing module 320 executes the step of processing the communication error when it is determined based on the verification data chain that there is a communication error in the vehicle-mounted data of the target vehicle, it is further used for:

[0164] When the IP address of the verification data chain has a parity check requirement, perform parity check on the IP address of the verification data chain to detect whether there is a communication error in the vehicle-mounted data of the target vehicle.

[0165] Figure 15 The following is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 15 shown, the electronic device 400 includes one or more processors 410 and a memory 420.

[0166] The processor 410 may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 400 to perform desired functions.

[0167] The memory 420 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 410 may run the program instructions to implement the data processing methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as communication errors including check data chains may also be stored in the computer-readable storage medium.

[0168] In one example, the electronic device 400 may further include: an input device 430 and an output device 440, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0169] The input device 430 may include, for example, a keyboard, a mouse, and so on.

[0170] The output device 440 may output various information to the outside, including communication errors of the check data chain, etc. The output device 440 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, and so on.

[0171] Of course, for simplicity, Figure 15 only some of the components related to the present application in the electronic device 400 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device 400 may further include any other appropriate components.

[0172] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions that, when run by a processor, cause the processor to execute the steps of the data processing methods according to various embodiments of the present application described in this specification.

[0173] The computer program product can be written in any combination of one or more programming languages for executing the program code of the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, executed as an independent software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0174] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations. It cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for illustrative and easy-to-understand purposes, rather than limitations. The above details do not limit the present application to necessarily adopt the above specific details for implementation.

[0175] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any way. Words such as "including", "comprising", "having", etc. are open-ended terms, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used herein refer to the word "and / or", and can be used interchangeably with each other, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to", and can be used interchangeably with each other.

[0176] It should also be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0177] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects are very obvious to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but to the broadest scope consistent with the principles and novel features disclosed herein.

[0178] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

[0179] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A data processing method, characterized in that Including: Create a verification data chain for verifying in-vehicle data of a target vehicle, where the verification data chain includes multiple verification bits; In the case where it is determined based on the verification data chain that there is a communication error in the in-vehicle data of the target vehicle, process the communication error; Among them, the multiple verification bits include at least one of the following: A data chain head verification bit, located at the head of the verification data chain, used to describe the basic information of the verification data chain; A data chain tail verification bit, located at the tail of the verification data chain, used to perform weighted calculation on the multiple verification bits; A data chain error verification bit, used to describe the error status of the verification data chain; A data chain feedback verification bit, obtained by performing coupled calculation on the data chain head verification bit, the data chain tail verification bit, and the data chain error verification bit.

2. The data processing method according to claim 1, wherein Before processing the communication error in the case where it is determined based on the verification data chain that there is a communication error in the in-vehicle data of the target vehicle, it further includes at least one of the following: Detect whether there is a communication error in the in-vehicle data of the target vehicle according to the multiple verification bits of the verification data chain; Detect whether there is a communication error in the in-vehicle data of the target vehicle according to the data information of the verification data chain; Detect whether there is a communication error in the in-vehicle data of the target vehicle according to the reception situation of the verification data chain.

3. The data processing method according to claim 2, wherein When performing the detection of whether there is a communication error in the in-vehicle data of the target vehicle according to the multiple verification bits of the verification data chain, the detection of whether there is a communication error in the in-vehicle data of the target vehicle according to the multiple verification bits of the verification data chain includes: Determine whether the payload ID of the verification data chain is correct through payload ID parity check to detect whether there is a communication error in the in-vehicle data of the target vehicle; Verify the parameters of the verification data chain to detect whether there is a communication error in the in-vehicle data of the target vehicle; and Determine whether the verification data chain is abnormal by verifying the verification bits of the verification data chain to detect whether there is a communication error in the in-vehicle data of the target vehicle.

4. The data processing method according to claim 2, wherein When performing the detection of whether there is a communication error in the in-vehicle data of the target vehicle according to the data information of the verification data chain, the detection of whether there is a communication error in the in-vehicle data of the target vehicle according to the data information of the verification data chain includes: If it is confirmed that the verification data chain is a data chain communication that can be detected, compare the information of the verification data chain with the verification data chain of the previous communication to obtain comparison data; Perform error information adaptation processing on the comparison data and a preset comparison threshold to detect whether there is a communication error in the in-vehicle data of the target vehicle.

5. The data processing method according to claim 2, wherein When performing the detection of whether there is a communication error in the in-vehicle data of the target vehicle according to the reception situation of the verification data chain, the detection of whether there is a communication error in the in-vehicle data of the target vehicle according to the reception situation of the verification data chain includes: When receiving an error data signal, start counting using a counter; When the count value of the counter reaches a preset count threshold, determine the communication error to be eliminated.

6. The data processing method according to claim 1 or 2, characterized in that The processing of the communication error includes: Store the communication error in an error register, where the communication error includes an error state recorded in the form of an error code.

7. The data processing method according to claim 1 or 2, characterized in that The verification data chain is transmitted through a verification data linked list, where the verification data linked list is dynamically expanded according to the size of the verification data chain.

8. The data processing method according to claim 1 or 2, before processing the communication error when it is determined based on the verification data chain that there is a communication error in the in-vehicle data of the target vehicle, further includes: During the reset process or when writing to the register, perform parity check on the verification data chain to detect whether there is a communication error in the in-vehicle data of the target vehicle.

9. The data processing method according to claim 8, wherein The processing of the communication error further includes: generating a parity check interrupt to process the communication error.

10. The data processing method according to claim 1 or 2, characterized in that, Before processing the communication error when it is determined based on the verification data chain that there is a communication error in the in-vehicle data of the target vehicle, further includes: When the IP address of the verification data chain has a parity check requirement, perform parity check on the IP address of the verification data chain to detect whether there is a communication error in the in-vehicle data of the target vehicle.

11. A data processing system, characterized in that, Includes: A creation module for creating a verification data chain for verifying the in-vehicle data of a target vehicle, the verification data chain including a plurality of check bits; A processing module for processing the communication error when it is determined based on the verification data chain that there is a communication error in the in-vehicle data of the target vehicle Wherein, the plurality of check bits includes at least one of the following items: A data chain head check bit, located at the head of the verification data chain, for explaining the basic information of the verification data chain; A data chain tail check bit, located at the tail of the verification data chain, for performing weighted calculation on the plurality of check bits; A data chain error check bit for explaining the error state of the verification data chain; A data chain feedback check bit obtained by performing coupled calculation on the data chain head check bit, the data chain tail check bit, and the data chain error check bit.

12. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is used to execute the data processing method according to any one of claims 1 to 10 above.

13. An electronic device, characterized in that, Includes: A processor; A memory for storing instructions executable by the processor; The processor is used to execute the data processing method according to any one of claims 1 to 10 above.

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