Data evaluation method, device, system, electronic equipment and vehicle

Abstract

The present disclosure provides a data evaluation method, device, system, electronic device, vehicle and storage medium, which relate to the field of artificial intelligence, especially to the fields of autonomous driving, intelligent transportation, etc. The specific implementation scheme is: obtaining the mirror data of the collected data of the current period from the first port through the target port; wherein, the target port is the mirror port of the first port, the first port is used to connect the sensor equipment of the vehicle, and the collected data of the current period is collected by the sensor equipment of the vehicle; when the mirror data of the control data of the current period is obtained from the second port through the target port, the current evaluation result is obtained based on the mirror data of the collected data of the current period and the mirror data of the control data of the current period. The above method can monitor the vehicle in real time and accurately without affecting the normal processing of data by the vehicle.

Description

Technical Field

[0001] The present disclosure relates to the field of artificial intelligence, and in particular to the fields of autonomous driving, intelligent transportation, etc. Background Art

[0002] With the advancement of computer technology, artificial intelligence fields such as intelligent transportation have also experienced rapid growth. In particular, technologies such as autonomous vehicles have become increasingly widely used. Autonomous driving requires processing real-time collected data to control the vehicle. However, the challenge is how to accurately monitor the vehicle in real time while maintaining normal data processing. Summary of the Invention

[0003] The present disclosure provides a data evaluation method, device, system, electronic device, vehicle, and storage medium.

[0004] According to a first aspect of the present disclosure, there is provided a data evaluation method, comprising:

[0005] Obtaining mirror data of the collected data of the current period from the first port through the target port; wherein the target port is a mirror port of the first port, the first port is used to connect to a sensor device of the vehicle, and the collected data of the current period is collected by the sensor device of the vehicle;

[0006] In the case where the mirror data of the control data of the current time period is obtained from the second port through the target port, the current evaluation result is obtained based on the mirror data of the collected data of the current time period and the mirror data of the control data of the current time period; wherein, the target port is the mirror port of the second port, the second port is used to connect to the control domain of the vehicle, the control data of the current time period is generated by the control domain of the vehicle based on the planning result of the previous time period, and the planning result of the previous time period is obtained based on the collected data of the previous time period.

[0007] According to a second aspect of the present disclosure, there is provided a data evaluation device, comprising:

[0008] a data acquisition module, configured to acquire mirror data of the collected data for the current period from the first port via a target port; wherein the target port is a mirror port of the first port, the first port is configured to connect to a sensor device of the vehicle, and the collected data for the current period is collected by the sensor device of the vehicle;

[0009] An evaluation module is used to obtain a current evaluation result based on the mirror data of the collected data of the current time period and the mirror data of the control data of the current time period when the mirror data of the control data of the current time period is obtained from the second port through the target port; wherein the target port is a mirror port of the second port, the second port is used to connect to the control domain of the vehicle, the control data of the current time period is generated by the control domain of the vehicle based on the planning result of the previous time period, and the planning result of the previous time period is obtained based on the collected data of the previous time period.

[0010] According to a third aspect of the present disclosure, there is provided a data evaluation system, comprising:

[0011] A data evaluation device, used to obtain mirror data of collected data of a current time period from a first port through a target port; wherein the target port is a mirror port of the first port, the first port is used to connect to a sensing device of a vehicle, and the collected data of the current time period is collected by the sensing device of the vehicle; in the case of obtaining mirror data of control data of the current time period from a second port through the target port, a current evaluation result is obtained based on the mirror data of the collected data of the current time period and the mirror data of the control data of the current time period; wherein the target port is a mirror port of the second port, the second port is used to connect to a control domain of the vehicle, and the control data of the current time period is generated by the control domain of the vehicle based on a planning result of a previous time period, and the planning result of the previous time period is obtained based on the collected data of the previous time period.

[0012] According to a fourth aspect of the present disclosure, there is provided an electronic device, including:

[0013] at least one processor; and

[0014] a memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the data evaluation method of the first aspect.

[0016] According to a fifth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to execute the aforementioned method.

[0017] According to a sixth aspect of the present disclosure, a computer program product is provided, comprising a computer program, which implements the aforementioned method when executed by a processor.

[0018] According to a seventh aspect of the present disclosure, a vehicle is provided, comprising the electronic device according to the above-mentioned first embodiment.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description.

[0020] The solution provided in this embodiment can obtain mirror data of the collected data for the current period through the mirror relationship between the target port and the first port, and obtain mirror data of the control data for the current period through the mirror relationship between the target port and the second port; and obtain the current evaluation result based on the mirror data of the collected data for the current period and the mirror data of the control data for the current period. Because the data transmitted in real time by each processing domain of the vehicle is obtained through the mirror relationship between the ports, the solution provided in this embodiment can ensure the real-time and accuracy of data obtained by other domains. At the same time, because the current evaluation result is obtained based on the mirror data of the collected data for the current period and the mirror data of the control data for the current period, real-time and accurate monitoring of the vehicle is guaranteed, ensuring vehicle safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0022] Figure 1 is a flowchart of a data evaluation method according to an embodiment of the present disclosure;

[0023] Figure 2 is a schematic diagram of a scenario of multiple ports included in a first chip according to an embodiment of the present disclosure;

[0024] Figure 3 is a schematic diagram of a scenario illustrating data flow between a first chip and various processing domains of a vehicle according to yet another embodiment of the present disclosure;

[0025] Figure 4 1 is a schematic diagram of a processing sequence of a vehicle sensing device, a vehicle control domain, a vehicle computing domain, and a vehicle monitoring domain according to an embodiment of the present disclosure;

[0026] Figure 5 is an exemplary scene graph according to an embodiment of the present disclosure;

[0027] Figure 6 is a schematic diagram of the structure of a data evaluation device according to another embodiment of the present disclosure;

[0028] Figure 7 is another structural diagram of a data evaluation device according to another embodiment of the present disclosure;

[0029] Figure 8 is a schematic diagram of a composition structure of a data evaluation system according to another embodiment of the present disclosure;

[0030] Figure 9 is another structural diagram of a data evaluation system according to another embodiment of the present disclosure;

[0031] Figure 10 It is a block diagram of an electronic device used to implement the data evaluation method according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0032] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0033] The first embodiment of the present disclosure provides a data evaluation method, such as Figure 1 As shown, including:

[0034] S101: Acquire mirror data of collected data for a current period from a first port via a target port; wherein the target port is a mirror port of the first port, the first port is used to connect to a sensor device of a vehicle, and the collected data for the current period is collected by the sensor device of the vehicle;

[0035] S102: When the mirror data of the control data of the current time period is obtained from the second port through the target port, the current evaluation result is obtained based on the mirror data of the collected data of the current time period and the mirror data of the control data of the current time period; wherein the target port is the mirror port of the second port, the second port is used to connect to the control domain of the vehicle, the control data of the current time period is generated by the control domain of the vehicle based on the planning result of the previous time period, and the planning result of the previous time period is obtained based on the collected data of the previous time period.

[0036] The data evaluation method provided in the first embodiment can be implemented by a data evaluation device; the data evaluation device can be an onboard device provided on a vehicle. For example, the data evaluation device can be a processing unit provided in the vehicle, for example, a processing unit provided in the monitoring domain of the vehicle, and the examples are not exhaustive.

[0037] By adopting the above solution, the mirror data of the collected data for the current period can be obtained through the mirror relationship between the target port and the first port, and the mirror data of the control data for the current period can be obtained through the mirror relationship between the target port and the second port. Furthermore, the current evaluation result can be obtained based on the mirror data of the collected data for the current period and the mirror data of the control data for the current period. In this way, because the data transmitted in real time by each processing domain of the vehicle is obtained through the mirror relationship between the ports, the real-time and accuracy of the data obtained by each processing domain is not affected. At the same time, because the current evaluation result is obtained in real time based on the mirror data of the collected data for the current period and the mirror data of the control data for the current period, the real-time monitoring of the vehicle and the safety of the vehicle are guaranteed.

[0038] In some possible implementations, acquiring the mirror data of the collected data in the current period from the first port through the target port may specifically refer to acquiring the mirror data of the collected data in the current period from the first port through the target port in real time.

[0039] When mirror data of the control data for the current period is acquired from the second port via the target port, obtaining a current evaluation result based on the mirror data of the collected data for the current period and the mirror data of the control data for the current period may include: determining in real time whether the mirror data of the control data for the current period is acquired from the second port via the target port; and if the mirror data of the control data for the current period is acquired, obtaining the current evaluation result based on the mirror data of the collected data for the current period and the mirror data of the control data for the current period. Furthermore, the method may also include: if the mirror data of the control data for the current period is not acquired, maintaining real-time determination of whether the mirror data of the control data for the current period is acquired from the second port via the target port.

[0040] The target port may be one of a plurality of ports of a first chip on the vehicle. The first chip is a chip with a switching function. In some possible examples, the first chip may be called a switching chip.

[0041] The function of each of the multiple ports of the first chip may be pre-configured.

[0042] The functions of each port of the first chip may include at least one of the following: the port is used to connect to an object; the port is used to output data to the object to which it is connected; the port is used to receive data input by the object to which it is connected; whether the port has a mirror port, and if so, the port is also used to transmit data to the mirror port; whether the port is a mirror port corresponding to a designated port, and if so, the port is used to obtain data from the designated port and transmit it to the object to which it is connected.

[0043] The object may refer to any one of the processing domains and / or sensor devices in the vehicle. When the port is equipped with a mirror port, the port is further configured to transmit data to the mirror port. This may mean that when the port is equipped with a mirror port, the port is further configured to transmit mirrored data of data input by the connected object to the mirror port. When the port is a mirror port corresponding to a designated port, the port is configured to obtain data transmitted by the designated port and transmit it to the connected object. This may mean that when the port is a mirror port corresponding to a designated port, the port is configured to obtain mirrored data of the designated port and transmit it to the connected object.

[0044] Assume that the first chip contains 8 ports, combined with Figure 2 For example explanation:

[0045] The port 201 in the first chip is configured as the aforementioned first port. The functional configuration of the port 201 includes: the port 201 is used to connect to the sensor device of the vehicle; the port 201 has two mirror ports, namely port 204 and port 202; the port 201 is used to transmit the mirror data of the current period of collected data input by the sensor device of the connected vehicle to port 204 and port 202 respectively. Figure 2 The solid arrow pointing to port 201 in FIG. 1 represents the collected data of the current period input by the sensor device of the vehicle connected to port 201. Figure 2 The two dotted arrows connected to the port 201 point to the port 204 and the port 202 respectively, indicating that the mirror data of the collected data in the current period is transmitted from the port 201 to the port 202 and the port 204 .

[0046] The port 202 in the first chip is configured as the aforementioned target port. The functional configuration of the port 202 includes: the port 202 is used to connect to the monitoring domain of the vehicle; it is a mirror port of the port 201 and a mirror port of the port 203; the port 202 is used to obtain the mirror data of the collected data of the current period of the port 201 and transmit the mirror data of the collected data of the current period of the current period to the monitoring domain of the vehicle; and the port 202 is used to obtain the mirror data of the control data of the current period of the port 203 and transmit the mirror data of the control data of the current period of the current period to the monitoring domain of the vehicle. For example Figure 2 The solid arrow pointing to the outgoing direction of port 202 in FIG. 1 indicates that port 202 outputs data to the monitoring domain of the connected vehicle. The mirror data of the collected data of the current period of port 201 used by port 202 and the mirror data of the control data of the current period of port 203 used by port 202 are respectively as follows: Figure 2 It is indicated by the two dotted arrows shown in .

[0047] The port 203 in the first chip is configured as the aforementioned second port. The functional configuration of the port 203 includes: port 203 is used to connect to the control domain of the vehicle; it is a mirror port of port 204 and has a mirror port as port 202; port 203 is used to obtain the planning result of the current period output by the calculation domain of the vehicle from port 204 and transmit the mirror data of the planning result of the current period to the control domain of the vehicle; port 203 is used to transmit the mirror data of the control data of the current period generated by the control domain of the vehicle to port 202. For example, Figure 2 The dotted arrow from port 204 to port 203 in the diagram indicates that port 203 is used to obtain the planning result of the current period output by the vehicle's calculation domain from port 204; the solid arrow out of port 203 indicates that port 203 outputs the mirror data of the planning result of the current period to the control domain of the connected vehicle. For another example, Figure 2 The solid arrow pointing to port 203 in the figure indicates that port 203 receives the control data of the current period of the control domain of the vehicle to which it is connected; the dotted arrow pointing to port 202 indicates that port 203 transmits the mirror data of the control data of the current period to port 202.

[0048] The port 204 in the first chip is configured as the aforementioned third port. The functional configuration of the port 204 includes: port 204 is used to connect to the vehicle's computing domain; it is a mirror port of port 201 and has a mirror port as port 203; port 204 is used to obtain the mirror data of the collected data of the current period from port 201 and transmit the mirror data of the collected data of the current period to the vehicle's computing domain; port 204 is used to transmit the mirror data of the planning result of the current period generated by the vehicle's computing domain to port 203. For example, Figure 2 The solid arrow in the incoming direction of the port 204 shown in FIG. 2 represents that the port 204 receives the planning result of the current period of the calculation domain of the vehicle connected thereto; Figure 2 The dotted arrow from port 204 to port 203 in FIG. 2 indicates that port 204 transmits the planning result of the current period output by the vehicle's computational domain to port 203. For example, Figure 2 The dotted arrow from port 201 to port 204 indicates that port 201 transmits the mirror data of the collected data of the current period to port 204; the solid arrow in the outgoing direction of port 204 indicates that port 204 outputs the mirror data of the collected data of the current period to the computing domain of the vehicle connected to it.

[0049] exist Figure 2 There are also four remaining ports represented by dotted ovals that are not described. These ports may be common ports, and this embodiment does not limit the functions of the common ports.

[0050] Recombination Figure 3 The data flow between the vehicle's sensing devices, computing domain, control domain, and monitoring domain is illustrated as follows: Data 301 collected by the vehicle's sensing devices during the current period is mirrored to the vehicle's computing domain and monitoring domain via the first chip. The data received by the vehicle's computing domain is referred to as mirrored data 3011 of the collected data for the current period. The vehicle's computing domain performs planning based on mirrored data 3011 of the collected data for the current period, obtaining a planning result 302 for the current period. This planning result 302 is mirrored to the vehicle's control domain via the first chip. The data received by the vehicle's control domain is mirrored data 3021 of the planning result for the current period. The vehicle's control domain processes mirrored data 3021 of the planning result for the current period, obtaining control data 303 for the next period. This control data 303 is mirrored and transmitted to the vehicle's monitoring domain via the first chip. The vehicle's monitoring domain receives mirrored data 3031 of the control data for the next period via the first chip. Simultaneously, the vehicle's monitoring domain receives mirrored data 3031 of the collected data for the next period.

[0051] Furthermore, the vehicle's sensing equipment may include one or more sensors installed or set on the vehicle; here, the one or more sensors can be set according to actual conditions. Exemplarily, the one or more sensors may include at least one of the following: an image acquisition device, a point cloud acquisition device, a posture-related sensor, and other sensors. Among them, the image acquisition device may include but is not limited to at least one of the following: a camera, a surround-view camera, an infrared camera, a camera, a time-of-flight (ToF) camera, etc.; the point cloud acquisition device may be a lidar and / or a radar; the posture-related sensor may include but is not limited to at least one of the following: a global navigation satellite system (GNSS), an inertial measurement unit (IMU), etc.; other sensors may also include but are not limited to at least one of the following: a sonar sensor, an infrared sensor, an audio sensor (e.g., a microphone). The audio sensor can be configured to collect sound from the environment surrounding the autonomous vehicle.

[0052] The vehicle's computational domain may be used to process the collected data for the current time period to obtain a planning result for the current time period. Specifically, the vehicle's computational domain may be used to input the collected data for the current time period into a planning model, and obtain a planning result for the current time period output by the planning model. The training and composition of the planning model are not limited in this embodiment. The planning result may include at least one of the following: a planning result for adjusting the vehicle's driving direction, a planning result for adjusting the vehicle's driving speed, and the like, which are not exhaustively listed here.

[0053] The vehicle's control domain may be used to process planning results obtained from the vehicle's computational domain to obtain control data. The aforementioned control data for the current period may specifically be: control data obtained during the current period; the control data for the current period may include at least one of the following: the vehicle's steering wheel adjustment direction and / or adjustment angle during the current period, the vehicle's throttle position during the current period, the vehicle's brake position during the current period, and the like.

[0054] The monitoring domain of the vehicle may be provided with a data evaluation device for executing the data evaluation method provided in this embodiment. For the sake of brevity, the monitoring domain of the vehicle will be used to refer to the aforementioned data evaluation device unless otherwise specified.

[0055] In some possible implementations, the current evaluation result is obtained based on the mirror data of the collected data of the current time period and the mirror data of the control data of the current time period, including: obtaining the location of the vehicle and environmental information of the location of the vehicle based on the mirror data of the collected data of the current time period; in a case where it is determined based on the environmental information that there are one or more obstacles, determining the positional relationship between each of the one or more obstacles and the vehicle based on the location of the vehicle; and performing an evaluation based on the positional relationship between each obstacle and the vehicle and the mirror data of the control data of the current time period to obtain the current evaluation result.

[0056] Exemplarily, the aforementioned obtaining of the vehicle's location and environmental information of the vehicle's location based on the mirror data of the collected data of the current time period may refer to: determining the vehicle's location based on the positioning data contained in the mirror data of the collected data of the current time period; and determining the environmental information of the vehicle's location based on at least one of the image data and point cloud data contained in the mirror data of the collected data of the current time period.

[0057] The vehicle location may refer to the vehicle's geographical location, for example, it may be represented by longitude and latitude.

[0058] The environmental information of the vehicle's location may include: spatial environmental information within a first range corresponding to the vehicle's location; wherein, the first range corresponding to the vehicle's location may be a first range formed by taking the vehicle's location as the center and a first length as the radius; the first length is related to the acquisition range of the sensor equipment provided on the vehicle, and is not numerically limited here. The spatial environmental information may refer to three-dimensional environmental information; illustratively, the spatial environmental information within the first range corresponding to the vehicle's location may include at least one of the following: ground elements and positions within the first range corresponding to the vehicle's location, and types and positions of obstacles within the first range corresponding to the vehicle's location; ground elements may refer to traffic elements on the ground, such as straight lines, left turn lines, etc.; the types of obstacles may refer to: movable obstacles, fixed obstacles, etc.; the positions of obstacles may include: the geographical locations of obstacles.

[0059] The vehicle's sensing equipment has been described in detail in the aforementioned embodiments. In this embodiment, the vehicle's sensing equipment can extract positioning data, image data, point cloud data, and other sensor data from the mirror data of the collected data in the current time period. Among them, the positioning data can be collected by the aforementioned posture-related sensors, such as GNSS. The image data can be collected by an image acquisition device, such as a camera. The point cloud data can be collected by the aforementioned lidar. The distance and position between one or more obstacles and the vehicle can be collected by at least one of a sonar sensor and an infrared sensor. It should be understood that this is only an exemplary description. In actual processing, the sensors used may be more than the sensors described above, and in actual processing, more sensors can be set to collect more types of data to obtain more accurate vehicle location and environmental information of the vehicle's location.

[0060] The aforementioned determining, based on the vehicle's position, of the positional relationship between each of the one or more obstacles and the vehicle when the presence of one or more obstacles is determined based on the environmental information, may include: determining whether the environmental information contains one or more obstacles; and if so, determining, based on the vehicle's position and the position of each of the one or more obstacles, the positional relationship between each obstacle and the vehicle. The positional relationship between each obstacle and the vehicle may include at least one of the following: an angle between the obstacle and the vehicle's direction of travel, or a distance between the obstacle and the vehicle.

[0061] The aforementioned current evaluation result may refer to: the evaluation result obtained in the current time period. Specifically, the current evaluation result may be used to indicate whether the planning result of the previous time period is correct. This is because the current evaluation result is determined based on the mirror data of the collected data of the current time period and the mirror data of the control data of the current time period, and the processing of the vehicle's computing domain and the vehicle's control domain requires some time. Therefore, when the vehicle's monitoring domain obtains the mirror data of the control data of the current time period, the mirror data of the control data of the current time period is actually generated based on the planning result of the previous time period.

[0062] For example, the generation of the control data of the current period needs to go through at least two processes, one of which is that the calculation domain of the vehicle first obtains the planning result of the previous period based on the collected data (mirror data) of the previous period, and the other is that the control domain of the vehicle processes the planning result of the previous period and obtains the control data in the current period (i.e., the control data of the current period). Figure 4, the temporal relationship between the data processed or acquired by the aforementioned vehicle computing domain, vehicle control domain, vehicle sensor equipment, and vehicle monitoring domain is explained. Assume that the current period is represented by Figure 4 The i-th period in , where i is a positive integer:

[0063] The sensor equipment of the aforementioned vehicle can collect data in real time and send the mirror data of the collected data of the i-th period (in Figure 4 The first black box in the row of sensor devices in the vehicle is shown in FIG. 1 ) and is transmitted to the target port and the third port (in FIG. Figure 4 In the figure, the first black box of the vehicle's sensor device points to a row of the vehicle's computational domain and a row of the vehicle's monitoring domain, respectively. The first port is used to connect to the vehicle's sensor device, the target port is used to connect to the vehicle's monitoring domain, and the third port is used to connect to the vehicle's computational domain.

[0064] The vehicle's computational domain receives the mirror data of the collected data of the i-th period in real time through the third port (in Figure 4 The vehicle's computational domain starts processing based on the mirror data of the collected data of the i-th period to obtain the planning result of the i-th period; the vehicle's computational domain transmits the mirror data of the planning result of the i-th period to the second port (in the third port) through the third port. Figure 4 In the figure, the dashed arrow in the left oblique shadow box in the computational domain of the vehicle points to the diamond-shaped shadow box in the control domain of the vehicle. The second port is used to connect to the control domain of the vehicle.

[0065] The control domain of the vehicle receives the mirror data of the planning result of the i-th period through the second port, processes the mirror data based on the planning result, and Figure 4 The control data is obtained in the i+1th period shown in FIG, and the control data is referred to as the control data of the i+1th period (in Figure 4 The time required for the processing performed by the control domain of the vehicle and the time period thereof are represented as a diamond-shaped shaded box); the control domain of the vehicle transmits the mirror data of the control data of the i+1th time period to the target port through the second port (in Figure 4 In the figure, the diamond-shaped shadow box is represented as a dotted arrow pointing to the right-slashed shadow box in the monitoring area of the vehicle);

[0066] The monitoring domain of the vehicle obtains the mirror data of the control data of the i+1th period through the target port, and can obtain the mirror data of the collection data of the i+1th period through the target port (in Figure 4In the figure, the collected data of the i+1th time period is represented as the second black box, and the mirror data of the collected data of the i+1th time period is represented as the dotted arrow in the right diagonal shaded box). The monitoring domain of the vehicle obtains the evaluation result of the i+1th time period, that is, the current evaluation result, based on the mirror data of the collected data of the i+1th time period and the mirror data of the control data of the i+1th time period.

[0067] It can be seen from the above time series relationship that the current evaluation result obtained by the monitoring domain of the vehicle is the evaluation result of the current period, and the evaluation result of the current period is used to indicate whether the planning result of the previous period is correct.

[0068] In addition, the method may further include: if it is determined based on the environmental information that one or more obstacles are absent, directly determining that the current evaluation result is the correct planning result for the previous time period. This is because the vehicle's environmental information does not contain any obstacles, and therefore, regardless of the vehicle's current driving direction and current speed indicated by the control data for the current time period, the likelihood of a dangerous driving situation is low, and therefore the current evaluation result can be directly determined to be the correct planning result for the previous time period.

[0069] As can be seen, by adopting the above scheme, the vehicle's location and surrounding environmental information can be determined based on the mirror data of the collected data in the current time period. Furthermore, if one or more obstacles are present around the vehicle based on the vehicle's location and surrounding environmental information, the current assessment result can be obtained based on the positional relationship between each obstacle and the vehicle and the mirror data of the control data. In this way, the assessment can be performed using the current real-time collected data and control data, resulting in efficient and accurate real-time assessment results for each time period.

[0070] In some possible implementations, the performing of the evaluation based on the positional relationship between each obstacle and the vehicle and the mirror data of the control data of the current period to obtain the current evaluation result includes:

[0071] When it is determined that a target obstacle exists in the current traveling direction of the vehicle based on the positional relationship between each obstacle and the vehicle, first information is obtained; wherein the first information indicates that the vehicle needs to reduce its traveling speed;

[0072] An evaluation is performed based on the first information and the mirror data of the control data of the current period to obtain the current evaluation result.

[0073] The aforementioned embodiment has described that the positional relationship between each obstacle and the vehicle may include at least one of the following: an angle between the obstacle and the driving direction of the vehicle, and a distance between the obstacle and the vehicle.

[0074] Optionally, based on the positional relationship between each obstacle and the vehicle, determining whether there is a target obstacle in the vehicle's current direction of travel may include: determining whether the angle between each obstacle and the vehicle's direction of travel is less than a preset angle threshold; if the angle between the obstacle and the vehicle's direction of travel is less than the preset angle threshold, determining the obstacle as a target obstacle in the vehicle's current direction of travel. The preset angle threshold can be set based on actual circumstances, such as 10 degrees, 5 degrees, or a larger or smaller value, which is not exhaustive here.

[0075] Optionally, based on the positional relationship between each obstacle and the vehicle, determining whether there is a target obstacle in the vehicle's current direction of travel may include: determining whether the angle between each obstacle and the vehicle's direction of travel is less than a preset angle threshold; if the angle between the obstacle and the vehicle's direction of travel is less than the preset angle threshold, determining whether the distance between the obstacle and the vehicle is less than a preset distance threshold; and if the distance between the obstacle and the vehicle is less than the preset distance threshold, determining that the obstacle is a target obstacle in the vehicle's current direction of travel. The preset distance threshold may be set based on actual circumstances, such as 5 meters, 2 meters, 10 meters, or a larger or smaller value, which is not exhaustive here.

[0076] The first information may at least be used to indicate that the vehicle needs to reduce its speed.

[0077] It can be seen that by adopting the above scheme, it is determined whether there is a target obstacle in the vehicle's driving direction based on the collected data of the current time period. If so, the first information that the vehicle needs to reduce its driving speed can be obtained. Since obtaining this first information does not require performing a large amount of calculation, it saves computing resources while also ensuring the accuracy and efficiency of the evaluation results.

[0078] In some possible implementations, performing the evaluation based on the first information and the mirror data of the control data in the current period to obtain the current evaluation result includes one of the following:

[0079] If the mirror data of the control data for the current time period indicates that the vehicle is controlled to be adjusted from the current driving speed to a first driving speed, and the first driving speed is less than the current driving speed, determining that the mirror data of the control data for the current time period matches the first information, and determining that the current evaluation result is a first evaluation result; the first evaluation result indicates that the planning result for the previous time period is correct;

[0080] When the mirror data of the control data for the current period indicates that the current driving speed of the vehicle is controlled to remain unchanged, determining that the mirror data of the control data for the current period does not match the first information, and determining that the current evaluation result is a second evaluation result; the second evaluation result indicates that the planning result for the previous period is erroneous;

[0081] When the mirror data of the control data of the current time period indicates that the current driving speed is adjusted to the second driving speed, and the second driving speed is greater than the current driving speed, it is determined that the mirror data of the control data of the current time period does not match the first information, and the current evaluation result is determined to be the second evaluation result; the second evaluation result indicates that the planning result of the previous time period is wrong.

[0082] The mirror data of the control data for the current period may include at least one of the following: steering wheel angle adjustment data, brake position adjustment data, and accelerator position adjustment data. Based on the mirror data of the control data for the current period, the mirror data of the control data for the current period may be determined to control an action performed by the vehicle.

[0083] For example, if the mirror data of the control data for the current period includes steering wheel angle adjustment data, such as the steering wheel angle adjustment data specifically being the steering wheel left turning angle A1, then the mirror data of the control data for the current period can be determined to control the vehicle to adjust from the current driving direction to the driving direction A2; the relationship between the steering wheel angle adjustment data and the adjustment angle of the driving direction can be determined based on actual conditions, and this embodiment does not limit it. If the mirror data of the control data for the current period includes brake position adjustment data, and the brake position adjustment data specifically being the brake downward movement distance B1, then the mirror data of the control data for the current period can be determined to control the vehicle to adjust from the current driving speed to the driving speed B2; and the driving speed B2 is less than the current driving speed; the relationship between the brake downward movement distance and the magnitude of the reduction in driving speed can be determined based on actual conditions, and this embodiment does not limit it. If the mirror data of the control data for the current time period includes throttle position adjustment data, and the throttle position adjustment data is specifically the throttle downward movement distance C1, then the mirror data of the control data for the current time period can be determined to control the vehicle to adjust from the current driving speed to the driving speed C2; and the driving speed C2 is greater than the current driving speed; the relationship between the throttle downward movement distance and the increase in driving speed can be determined according to actual conditions, and this embodiment does not limit it.

[0084] When the mirror data of the control data in the current time period indicates that the vehicle is controlled to be adjusted from the current driving speed to the first driving speed, and the first driving speed is less than the current driving speed, determining that the mirror data of the control data in the current time period matches the first information, and determining that the current evaluation result is the first evaluation result, may specifically include: when the mirror data of the control data in the current time period includes the first downward movement distance of the brake, determining that the mirror data of the control data in the current time period indicates that the vehicle is controlled to be adjusted from the current driving speed to the first driving speed; when the first driving speed is less than the current driving speed, determining that the mirror data of the control data in the current time period matches the first information, and determining that the current evaluation result is the first evaluation result.

[0085] When the mirror data of the control data in the current time period indicates that the current driving speed of the vehicle is controlled to remain unchanged, determining that the mirror data of the control data in the current time period does not match the first information, and determining that the current evaluation result is the second evaluation result, can specifically include: if the mirror data of the control data in the current time period includes that the throttle is not adjusted and the brake is not adjusted, then determining that the mirror data of the control data in the current time period indicates that the current driving speed of the vehicle is controlled to remain unchanged, and further determining that the mirror data of the control data in the current time period does not match the first information, and determining that the current evaluation result is the second evaluation result.

[0086] When the mirror data of the control data in the current time period indicates that the vehicle is controlled to be adjusted from the current driving speed to the second driving speed, and the second driving speed is greater than the current driving speed, determining that the mirror data of the control data in the current time period does not match the first information, and determining that the current evaluation result is the second evaluation result, may specifically include: when the mirror data of the control data in the current time period includes a second downward movement distance of the throttle, determining that the mirror data of the control data in the current time period indicates that the vehicle is controlled to increase from the current driving speed to the second driving speed; when the second driving speed is greater than the current driving speed, determining that the mirror data of the control data in the current time period does not match the first information, and determining that the current evaluation result is the second evaluation result.

[0087] Combine Figure 5 , the above embodiment is exemplified as follows: vehicle 501 is currently turning left, that is, the current driving direction of vehicle 501 is turning left; based on the mirror data of the collected data of the current period, the location of vehicle 501 and the environmental information of the location of vehicle 501 can be obtained. The environmental information of the location of vehicle 501 can be Figure 5 Environmental information within the indicated range 500; based on the environmental information, it is determined that there is an obstacle 502, and then based on the position of the vehicle 501, the positional relationship between the obstacle 502 and the vehicle 501 can be determined; based on the positional relationship between the obstacle 502 and the vehicle 501, it is determined that the obstacle 502 is a target obstacle in the current driving direction of the vehicle, and then first information that the vehicle needs to reduce its speed is obtained; a matching evaluation is performed based on the processing performed by the control vehicle 501 represented by the first information and the mirror data of the control data of the current time period. If the mirror data of the control data of the current time period is used to control the vehicle 501 to decelerate, the current evaluation result is the first evaluation result, that is, the planning result of the previous time period is correct; otherwise, the current evaluation result is determined to be the second evaluation result, that is, the planning result of the previous time period is wrong.

[0088] It can be seen that by adopting the above scheme, computing resources can be saved because the first information does not need to perform large-scale calculations; and based on the first information, the mirror data of the control data of the current period can be quickly used to determine whether the processing performed by the vehicle matches the first information, which can ensure the accuracy of the evaluation results and the efficiency of the evaluation results.

[0089] In some possible implementations, the method further includes: when the current evaluation result is the second evaluation result, reporting the second evaluation result to a server; wherein the server is configured to optimize the planning algorithm of the vehicle based on the second evaluation result.

[0090] Specifically, when reporting the second evaluation result to the server, the server may also report the mirror data of the control data for the current period and the mirror data of the collected data for the current period. By reporting the second evaluation result, the mirror data of the control data for the current period, and the mirror data of the collected data for the current period to the server, the server can accurately further evaluate the vehicle's planning algorithm. If the server also determines that the vehicle's planning result is incorrect, the server can optimize the vehicle's planning algorithm based on the mirror data of the control data for the current period and the mirror data of the collected data for the current period. For example, the server can optimize the vehicle's planning algorithm based on the mirror data of the control data for the current period and the mirror data of the collected data for the current period. This may include: the server obtaining a planning model related to the vehicle; iteratively training the planning model related to the vehicle based on the mirror data of the control data for the current period and the mirror data of the collected data for the current period to obtain a new planning model; testing the new planning model, and upon passing the test, issuing the new planning model to the vehicle. Accordingly, upon receiving the new planning model, the vehicle can replace the original planning model in the computational domain with the new planning model.

[0091] It can be seen that by adopting the above solution, when the current evaluation result is the second evaluation result, the second evaluation result can be reported to the server, so that the server can optimize the vehicle planning algorithm, thereby ensuring the safety of the vehicle in subsequent autonomous driving processing.

[0092] A second aspect of the present disclosure provides a data evaluation device, such as Figure 6 As shown, including:

[0093] A data acquisition module 601 is configured to acquire mirror data of collected data for a current period from a first port via a target port; wherein the target port is a mirror port of the first port, the first port is configured to connect to a sensor device of a vehicle, and the collected data for the current period is collected by the sensor device of the vehicle;

[0094] The evaluation module 602 is used to obtain the current evaluation result based on the mirror data of the collected data of the current time period and the mirror data of the control data of the current time period when the mirror data of the control data of the current time period is obtained from the second port through the target port; wherein the target port is the mirror port of the second port, the second port is used to connect to the control domain of the vehicle, the control data of the current time period is generated by the control domain of the vehicle based on the planning result of the previous time period, and the planning result of the previous time period is obtained based on the collected data of the previous time period.

[0095] The evaluation module is configured to obtain the vehicle's location and environmental information about the vehicle's location based on the mirror data of the collected data during the current time period; determine, based on the vehicle's location, a positional relationship between each of the one or more obstacles and the vehicle when the presence of one or more obstacles is determined based on the environmental information; and perform an evaluation based on the positional relationship between each obstacle and the vehicle and the mirror data of the control data during the current time period to obtain the current evaluation result.

[0096] The evaluation module is configured to obtain first information when determining that a target obstacle exists in the current traveling direction of the vehicle based on a positional relationship between each obstacle and the vehicle; wherein the first information indicates that the vehicle needs to reduce its traveling speed; and perform an evaluation based on the first information and the mirror data of the control data of the current time period to obtain the current evaluation result.

[0097] The evaluation module is configured to perform one of the following:

[0098] If the mirror data of the control data for the current time period indicates that the vehicle is controlled to be adjusted from the current driving speed to a first driving speed, and the first driving speed is less than the current driving speed, determining that the mirror data of the control data for the current time period matches the first information, and determining that the current evaluation result is a first evaluation result; the first evaluation result indicates that the planning result for the previous time period is correct;

[0099] When the mirror data of the control data for the current period indicates that the current driving speed of the vehicle is controlled to remain unchanged, determining that the mirror data of the control data for the current period does not match the first information, and determining that the current evaluation result is a second evaluation result; the second evaluation result indicates that the planning result for the previous period is erroneous;

[0100] When the mirror data of the control data of the current time period indicates that the current driving speed is adjusted to the second driving speed, and the second driving speed is greater than the current driving speed, it is determined that the mirror data of the control data of the current time period does not match the first information, and the current evaluation result is determined to be the second evaluation result; the second evaluation result indicates that the planning result of the previous time period is wrong.

[0101] exist Figure 6 On the basis of Figure 7 As shown, the device also includes:

[0102] The communication module 701 is used to report the second evaluation result to the server when the current evaluation result is the second evaluation result; wherein the server is used to optimize the planning algorithm of the vehicle based on the second evaluation result.

[0103] The third aspect of the present disclosure provides a data evaluation system, such as Figure 8 As shown, including:

[0104] A data evaluation device 801 is used to obtain mirror data of the collected data of the current time period from the first port through a target port; wherein the target port is a mirror port of the first port, the first port is used to connect to the vehicle's sensor equipment, and the collected data of the current time period is collected by the vehicle's sensor equipment; in the case of obtaining the mirror data of the control data of the current time period from the second port through the target port, a current evaluation result is obtained based on the mirror data of the collected data of the current time period and the mirror data of the control data of the current time period; wherein the target port is a mirror port of the second port, the second port is used to connect to the control domain of the vehicle, and the control data of the current time period is generated by the control domain of the vehicle based on the planning result of the previous time period, and the planning result of the previous time period is obtained based on the collected data of the previous time period.

[0105] The data evaluation device is used to obtain the vehicle's location and environmental information about the vehicle's location based on the mirror data of the collected data in the current time period; when it is determined based on the environmental information that there are one or more obstacles, determine the positional relationship between each of the one or more obstacles and the vehicle based on the vehicle's location; and perform an evaluation based on the positional relationship between each obstacle and the vehicle and the mirror data of the control data in the current time period to obtain the current evaluation result.

[0106] The data evaluation device is used to obtain first information when it is determined that there is a target obstacle in the current driving direction of the vehicle based on the positional relationship between each obstacle and the vehicle; wherein the first information indicates that the vehicle needs to reduce its driving speed; and perform evaluation based on the first information and the mirror data of the control data of the current time period to obtain the current evaluation result.

[0107] The data evaluation device is configured to perform one of the following:

[0108] If the mirror data of the control data for the current time period indicates that the vehicle is controlled to be adjusted from the current driving speed to a first driving speed, and the first driving speed is less than the current driving speed, determining that the mirror data of the control data for the current time period matches the first information, and determining that the current evaluation result is a first evaluation result; the first evaluation result indicates that the planning result for the previous time period is correct;

[0109] When the mirror data of the control data for the current period indicates that the current driving speed of the vehicle is controlled to remain unchanged, determining that the mirror data of the control data for the current period does not match the first information, and determining that the current evaluation result is a second evaluation result; the second evaluation result indicates that the planning result for the previous period is erroneous;

[0110] When the mirror data of the control data of the current time period indicates that the current driving speed is adjusted to the second driving speed, and the second driving speed is greater than the current driving speed, it is determined that the mirror data of the control data of the current time period does not match the first information, and the current evaluation result is determined to be the second evaluation result; the second evaluation result indicates that the planning result of the previous time period is wrong.

[0111] exist Figure 8 On the basis of Figure 9 As shown, the system further includes:

[0112] Server 901, configured to receive the second evaluation result, and optimize the vehicle planning algorithm based on the second evaluation result;

[0113] The data evaluation device 801 is configured to report the second evaluation result to the server when the current evaluation result is the second evaluation result.

[0114] Specifically, the data evaluation device is further configured to report the mirror data of the control data in the current time period and the mirror data of the collected data in the current time period to the server when reporting the second evaluation result to the server.

[0115] Correspondingly, the server is used to evaluate the planning algorithm of the vehicle based on the mirror data of the control data of the current time period and the mirror data of the collected data of the current time period. If it is determined that the planning result of the vehicle is wrong, the planning algorithm of the vehicle is optimized based on the mirror data of the control data of the current time period and the mirror data of the collected data of the current time period.

[0116] The server is used to obtain a planning model related to the vehicle; iteratively train the planning model related to the vehicle based on the mirror data of the control data of the current period and the mirror data of the collected data of the current period to obtain a new planning model.

[0117] The server is also used to test the new planning model and send the new planning model to the vehicle after passing the test. Accordingly, the vehicle can replace the original planning model in the computing domain with the new planning model upon receiving the new planning model.

[0118] In the technical solutions disclosed herein, the acquisition, storage, and application of user personal information involved comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0119] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0120] Figure 10 A schematic block diagram of an example electronic device 1000 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0121] like Figure 10As shown, the electronic device 1000 includes a computing unit 1001, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1002 or a computer program loaded from a storage unit 1008 into a random access memory (RAM) 1003. Various programs and data required for the operation of the electronic device 1000 can also be stored in the RAM 1003. The computing unit 1001, the ROM 1002, and the RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0122] Multiple components in the electronic device 1000 are connected to the I / O interface 1005, including an input unit 1006, such as a keyboard, a mouse, etc.; an output unit 1007, such as various types of displays, speakers, etc.; a storage unit 1008, such as a magnetic disk, an optical disk, etc.; and a communication unit 1009, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1009 allows the electronic device 1000 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0123] The computing unit 1001 can be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1001 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 1001 performs the various methods and processes described above. For example, in some embodiments, the various methods described above can be implemented as computer software programs that are tangibly contained in a machine-readable medium, such as a storage unit 1008. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 1000 via the ROM 1002 and / or the communication unit 1009. When the computer program is loaded into the RAM 1003 and executed by the computing unit 1001, one or more steps of the various methods described above can be performed. Alternatively, in other embodiments, the computing unit 1001 can be configured to perform the various methods described above by any other appropriate means (e.g., by means of firmware).

[0124] According to yet another embodiment of the present disclosure, a vehicle is provided. The vehicle includes the electronic device 1000 according to the above embodiment.

[0125] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0126] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0127] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0128] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0129] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0130] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact through a communication network. The client-server relationship arises through computer programs running on the respective computers and having a client-server relationship with each other. The server may be a cloud server, a server in a distributed system, or a server integrated with a blockchain.

[0131] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not limited herein.

[0132] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A data evaluation method comprising: Obtaining mirror data of the collected data of the current period from the first port through the target port; wherein the target port is a mirror port of the first port, the first port is used to connect to a sensor device of the vehicle, and the collected data of the current period is collected by the sensor device of the vehicle; In a case where mirror data of the control data of the current period is acquired from the second port through the target port, a current evaluation result is obtained based on the mirror data of the collected data of the current period and the mirror data of the control data of the current period; wherein the target port is a mirror port of the second port, the second port is used to connect to the control domain of the vehicle, the control data of the current period is generated by the control domain of the vehicle based on the planning result of the previous period, and the planning result of the previous period is obtained based on the collected data of the previous period; The obtaining of the current evaluation result based on the mirror data of the collected data of the current period and the mirror data of the control data of the current period includes: obtaining the current evaluation result by performing an evaluation based on first information and the mirror data of the control data of the current period, wherein the first information indicates that the vehicle needs to reduce its speed, and the first information is obtained when it is determined that a target obstacle exists in the direction of travel of the vehicle based on the mirror data of the collected data of the current period; The evaluation is performed based on the first information and the mirror data of the control data of the current time period to obtain the current evaluation result, including one of the following: when the mirror data of the control data of the current time period indicates that the vehicle is controlled to be adjusted from the current driving speed to the first driving speed, and the first driving speed is less than the current driving speed, it is determined that the mirror data of the control data of the current time period matches the first information, and the current evaluation result is determined to be the first evaluation result; the first evaluation result indicates that the planning result of the previous time period is correct; when the mirror data of the control data of the current time period indicates that the current driving speed of the vehicle is controlled to remain unchanged, it is determined that the mirror data of the control data of the current time period does not match the first information, and the current evaluation result is determined to be the second evaluation result; the second evaluation result indicates that the planning result of the previous time period is wrong; when the mirror data of the control data of the current time period indicates that the vehicle is controlled to be adjusted from the current driving speed to the second driving speed, and the second driving speed is greater than the current driving speed, it is determined that the mirror data of the control data of the current time period does not match the first information, and the current evaluation result is determined to be the second evaluation result; the second evaluation result indicates that the planning result of the previous time period is wrong.

2. The method according to claim 1, further comprising: Obtaining the location of the vehicle and environmental information of the location of the vehicle based on the mirror data of the collected data in the current time period; In a case where it is determined based on the environmental information that one or more obstacles exist, a positional relationship between each of the one or more obstacles and the vehicle is determined based on the position of the vehicle.

3. The method according to claim 2, further comprising: The first information is obtained when it is determined that a target obstacle exists in the current traveling direction of the vehicle based on the positional relationship between each obstacle and the vehicle.

4. The method according to claim 1, further comprising: When the current evaluation result is the second evaluation result, the second evaluation result is reported to the server; wherein the server is used to optimize the planning algorithm of the vehicle based on the second evaluation result.

5. A data evaluation device comprising: a data acquisition module, configured to acquire mirror data of the collected data for the current period from the first port via a target port; wherein the target port is a mirror port of the first port, the first port is configured to connect to a sensor device of the vehicle, and the collected data for the current period is collected by the sensor device of the vehicle; an evaluation module configured to obtain a current evaluation result based on the mirror data of the collected data of the current period and the mirror data of the control data of the current period, when mirror data of the control data of the current period is obtained from the second port through the target port; wherein the target port is a mirror port of the second port, the second port is used to connect to the control domain of the vehicle, the control data of the current period is generated by the control domain of the vehicle based on the planning results of the previous period, and the planning results of the previous period are obtained based on the collected data of the previous period; the evaluation module is configured to perform an evaluation based on first information and the mirror data of the control data of the current time period to obtain the current evaluation result, wherein the first information indicates that the vehicle needs to reduce its speed, and the first information is obtained when it is determined based on the mirror data of the collected data of the current time period that a target obstacle exists in the direction of travel of the vehicle; The evaluation module is used to perform one of the following: when the mirror data of the control data of the current time period indicates that the vehicle is controlled to be adjusted from the current driving speed to the first driving speed, and the first driving speed is less than the current driving speed, determine that the mirror data of the control data of the current time period matches the first information, and determine that the current evaluation result is the first evaluation result; the first evaluation result indicates that the planning result of the previous time period is correct; when the mirror data of the control data of the current time period indicates that the current driving speed of the vehicle is controlled to remain unchanged, determine that the mirror data of the control data of the current time period does not match the first information, and determine that the current evaluation result is the second evaluation result; the second evaluation result indicates that the planning result of the previous time period is wrong; when the mirror data of the control data of the current time period indicates that the vehicle is controlled to be adjusted from the current driving speed to the second driving speed, and the second driving speed is greater than the current driving speed, determine that the mirror data of the control data of the current time period does not match the first information, and determine that the current evaluation result is the second evaluation result; the second evaluation result indicates that the planning result of the previous time period is wrong.

6. The device according to claim 5, wherein The evaluation module is configured to obtain the vehicle's location and environmental information about the vehicle's location based on the mirror data of the collected data during the current time period; and, if it is determined based on the environmental information that one or more obstacles exist, determine the positional relationship between each of the one or more obstacles and the vehicle based on the vehicle's location.

7. The device according to claim 6, wherein The evaluation module is configured to obtain the first information when it is determined that there is a target obstacle in the current traveling direction of the vehicle based on the positional relationship between each obstacle and the vehicle.

8. The apparatus according to claim 5, further comprising: A communication module is used to report the second evaluation result to the server when the current evaluation result is the second evaluation result; wherein the server is used to optimize the planning algorithm of the vehicle based on the second evaluation result.

9. A data evaluation system comprising: A data evaluation device, configured to obtain mirror data of collected data for a current period from a first port via a target port; wherein the target port is a mirror port of the first port, the first port is used to connect to a sensing device of a vehicle, and the collected data for the current period is collected by the sensing device of the vehicle; in a case where mirror data of control data for the current period is obtained from a second port via the target port, a current evaluation result is obtained based on the mirror data of the collected data for the current period and the mirror data of the control data for the current period; wherein the target port is a mirror port of the second port, the second port is used to connect to a control domain of the vehicle, and the control data for the current period is generated by the control domain of the vehicle based on a planning result of a previous period, and the planning result of the previous period is obtained based on the collected data of the previous period; the data evaluation device is configured to perform an evaluation based on first information and the mirror data of the control data of the current time period to obtain the current evaluation result, wherein the first information indicates that the vehicle needs to reduce its speed, and the first information is obtained when it is determined based on the mirror data of the collected data of the current time period that a target obstacle exists in the direction of travel of the vehicle; The data evaluation device is used to perform one of the following: when the mirror data of the control data of the current time period indicates that the vehicle is controlled to be adjusted from the current driving speed to the first driving speed, and the first driving speed is less than the current driving speed, determine that the mirror data of the control data of the current time period matches the first information, and determine that the current evaluation result is the first evaluation result; the first evaluation result indicates that the planning result of the previous time period is correct; when the mirror data of the control data of the current time period indicates that the current driving speed of the vehicle is controlled to remain unchanged, determine that the mirror data of the control data of the current time period does not match the first information, and determine that the current evaluation result is the second evaluation result; the second evaluation result indicates that the planning result of the previous time period is wrong; when the mirror data of the control data of the current time period indicates that the vehicle is controlled to be adjusted from the current driving speed to the second driving speed, and the second driving speed is greater than the current driving speed, determine that the mirror data of the control data of the current time period does not match the first information, and determine that the current evaluation result is the second evaluation result; the second evaluation result indicates that the planning result of the previous time period is wrong.

10. The system according to claim 9, wherein: The data evaluation device is used to obtain the vehicle's location and environmental information about the vehicle's location based on the mirror data of the collected data in the current time period; and when it is determined based on the environmental information that there are one or more obstacles, determine the positional relationship between each of the one or more obstacles and the vehicle based on the vehicle's location.

11. The system according to claim 10, wherein: The data evaluation device is used to obtain the first information when it is determined that there is a target obstacle in the current driving direction of the vehicle based on the positional relationship between each obstacle and the vehicle.

12. The system of claim 9, further comprising: A server, configured to receive the second evaluation result, and optimize the planning algorithm of the vehicle based on the second evaluation result; The data evaluation device is configured to report the second evaluation result to the server when the current evaluation result is the second evaluation result.

13. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 4.

14. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-4.

15. A computer program product comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the method according to any one of claims 1 to 4.

16. A vehicle comprising the electronic device according to claim 13.

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