Data processing methods, devices, electronic equipment, and autonomous vehicles

Abstract

This disclosure provides a data processing method, apparatus, electronic device, and autonomous vehicle, relating to the field of vehicle technology, and particularly to intelligent transportation, autonomous driving, and vehicle data processing. The specific implementation scheme is as follows: acquiring CANFD data with a flexible data rate; converting the CANFD data into Ethernet data and sending the Ethernet data to the target layer; converting the Ethernet data back into CANFD data through the target layer and sending the CANFD data to the radar driver layer.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and more particularly to the fields of intelligent transportation, autonomous driving, and vehicle data processing, specifically to a data processing method, apparatus, electronic device, and autonomous vehicle. Background Technology

[0002] Currently, autonomous vehicles have introduced Controller Area Network (CANFD) radar with flexible data rate. The transmission of CANFD radar data requires a specific hardware interface, and the hardware platform needs to obtain the CANFD interface and design. However, the number of CANFD interfaces that can be designed in the chipset of the vehicle terminal is limited, and the number of CANFD radars that can be installed on the vehicle is also correspondingly limited. Summary of the Invention

[0003] This disclosure provides a data processing method, apparatus, electronic device, and autonomous vehicle.

[0004] According to a first aspect of this disclosure, a data processing method is provided, comprising:

[0005] Acquire CANFD data with flexible data rates from a Control Area Network (CANFD).

[0006] The CANFD data is converted into Ethernet data and then sent to the target layer.

[0007] The target layer converts the Ethernet data into CANFD data and sends the CANFD data to the radar driver layer.

[0008] According to a second aspect of this disclosure, a data processing apparatus is provided, comprising:

[0009] The first acquisition module is used to acquire CANFD data;

[0010] The first processing module is used to convert the CANFD data into Ethernet data and send the Ethernet data to the target layer;

[0011] The second processing module is used to convert the Ethernet data into CANFD data through the target layer and send the CANFD data to the radar driver layer.

[0012] According to a third aspect of this disclosure, an electronic device is provided, comprising:

[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 to enable the at least one processor to perform the method as described in the first aspect.

[0016] According to a fourth aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are configured to cause the computer to perform the method as described in the first aspect.

[0017] According to a fifth aspect of this disclosure, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the method as described in the first aspect.

[0018] According to a sixth aspect of this disclosure, an autonomous vehicle is provided, configured to perform the method as described in the first aspect.

[0019] In this embodiment of the disclosure, the CANFD data can be transmitted to the target layer in Ethernet data format, thereby eliminating the need to set up an additional CANFD interface in the chipset corresponding to the target layer of the vehicle. This effectively saves the setup of CANFD interfaces in the chipset, so that the transmission of CANFD data is no longer limited by the number of CANFD interfaces, and thus the number of CANFD radars can also be set up without limitation. As a result, more CANFD radars can be installed on the vehicle.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0021] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

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

[0023] Figure 2 This is a flowchart of a data processing method provided according to another embodiment of the present disclosure;

[0024] Figure 3 This is a structural diagram of a data processing apparatus provided according to an embodiment of the present disclosure;

[0025] Figure 4 This is a block diagram of an electronic device used to implement the data processing method of the embodiments of this disclosure. Detailed Implementation

[0026] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0027] Please refer to Figure 1 , Figure 1 This is a flowchart of a data processing method provided in an embodiment of this disclosure, such as... Figure 1 As shown, the method includes the following steps:

[0028] Step S101: Obtain CANFD data.

[0029] It should be noted that the data processing method provided in this disclosure can be applied to vehicles, such as autonomous vehicles. Specifically, the method can be applied to an in-vehicle terminal. Optionally, the method can also be applied to a hardware platform in the in-vehicle terminal, which is used to acquire CANFD data; or, the method can also be applied to a CAN over Ethernet (COE) layer (or COE module) in the in-vehicle terminal, where the COE layer can acquire CANFD data sent by the hardware platform.

[0030] In this embodiment of the disclosure, the CANFD data is CANFD radar data, that is, when the vehicle is equipped with CANFD radar, the vehicle terminal can obtain the data generated by the CANFD radar, which is the CANFD data in this embodiment of the disclosure.

[0031] Step S102: Convert the CANFD data into Ethernet data and send the Ethernet data to the target layer.

[0032] In this embodiment of the disclosure, after acquiring CANFD data, the vehicle terminal can convert the CANFD data into Ethernet data based on a preset conversion function. It should be noted that the conversion of CANFD data into Ethernet data is only a data format conversion; the data content remains unchanged. That is, no additions, subtractions, deletions, or modifications are made to the data content, thereby ensuring the consistency of the converted Ethernet data with the CANFD data in terms of data content.

[0033] Furthermore, the vehicle-mounted terminal sends the converted Ethernet data to the target layer. The target layer can be a data protocol layer used for data transmission within the vehicle-mounted terminal, such as the Socket Remote Copy Process (SRCP) layer (also known as an SRCP module). Optionally, the vehicle-mounted terminal can transmit the converted Ethernet data to the SRCP layer via the COE layer. It should be noted that the SRCP layer may include an Ethernet interface to enable the reception of Ethernet data.

[0034] Understandably, the transmission of CANFD data requires a specific CANFD interface; while for Ethernet data, transmission can be achieved through the User Datagram Protocol (UDP). UDP is a connectionless transport layer protocol that does not require setting up a specific interface, making it a more widely applicable data transmission method.

[0035] In this embodiment of the present disclosure, after the vehicle terminal obtains CANFD data, it converts the CANFD data into Ethernet data and sends the Ethernet data to the target layer. This enables the CANFD data to be transmitted to the target layer in Ethernet data format, eliminating the need to set up a CANFD interface or design CANFD in the target layer. This effectively saves on the design of the CANFD interface in the vehicle terminal chipset.

[0036] Step S103: Convert the Ethernet data into CANFD data through the target layer, and send the CANFD data to the radar driver layer.

[0037] Understandably, after acquiring the Ethernet data, the target layer can convert the Ethernet data back to CANFD data based on a preset conversion function and then send the CANFD data to the radar driver layer. The CANFD data refers to the data from the CANFD radar. Sending the CANFD data to the radar driver layer allows the radar driver layer to obtain relevant information about the CANFD radar and analyze its performance. It also enables the vehicle terminal to better control the CANFD radar based on the radar driver layer's information.

[0038] Optionally, after receiving the CANFD data, the radar driving layer can further transmit the CANFD data to the application layer.

[0039] It should be noted that the radar driving layer may be equipped with a corresponding CANFD interface to receive CANFD data.

[0040] In this embodiment, after acquiring CANFD data, the vehicle terminal can convert the CANFD data into Ethernet data and transmit the Ethernet data to the target layer. The target layer then converts the Ethernet data back into CANFD data and sends the CANFD data to the radar driver layer. Furthermore, the vehicle terminal can transmit the CANFD data to the target layer in Ethernet format, eliminating the need for an additional CANFD interface in the chipset corresponding to the target layer. This effectively saves on the number of CANFD interfaces in the chipset, removing the limitation on the number of CANFD interfaces for CANFD data transmission. Consequently, the number of CANFD radars can be installed, allowing for the installation of a larger number of CANFD radars in the vehicle. Additionally, the target layer can convert the Ethernet data back into CANFD data and transmit it to the radar driver layer, ensuring that the radar driver layer can still receive CANFD data via the CANFD interface, thus guaranteeing smooth transmission of CANFD data from the vehicle to the radar driver layer.

[0041] Optionally, the target layer includes an SRCP local layer and an SRCP remote layer, and the step of converting the CANFD data into Ethernet data and sending the Ethernet data to the target layer includes:

[0042] The conversion function in the SRCP local layer is invoked, and the CANFD data is converted into Ethernet data based on the conversion function;

[0043] The Ethernet data is sent to the SRCP remote layer via the SRCP local layer using User Datagram Protocol (UDP) packets.

[0044] In this embodiment of the disclosure, the vehicle terminal obtains CANFD data by having the COE layer in the vehicle terminal obtain the CANFD data from the hardware platform. Further, after obtaining the CANFD data, the COE layer may call a conversion function in the SRCP local layer to convert the CANFD data into Ethernet data and send the Ethernet data to the SRCP local layer. Upon receiving the Ethernet data, the SRCP local layer then sends the Ethernet data to the SRCP remote layer.

[0045] Furthermore, by converting CANFD data into Ethernet data, COE can enable the transmission of CANFD data via UDP packets. This eliminates the need for additional CANFD interfaces in the chipsets corresponding to the SRCP local layer and SRCP remote layer. CANFD data transmission can be achieved using UDP packets, meaning the number of CANFD radars on a vehicle will no longer be limited by the number of CANFD interfaces in the chipsets corresponding to the relevant data layers.

[0046] It should be noted that the SRCP local layer and the SRCP remote layer may belong to different subsystems, and data transmission between different subsystems requires corresponding interfaces. For example, in the data transmission layer of the vehicle terminal, the hardware platform, the COE layer, and the SRCP local layer may belong to the first subsystem, while the SRCP remote layer and the radar drive layer may belong to the second subsystem. By converting CANFD data into Ethernet data, a specific CANFD interface is not required between the SRCP local layer of the first subsystem and the SRCP remote layer of the second subsystem. CANFD data transmission between the two subsystems can be achieved using UDP packets.

[0047] In addition, in this embodiment of the disclosure, the SRCP local layer and the SRCP remote layer can not only send and receive data, but also perform functions such as data retransmission, data verification, handshake, and timeout handling.

[0048] Further, the conversion of the Ethernet data into the CANFD data through the target layer includes:

[0049] The Ethernet data is converted into CANFD data through the SRCP remote layer.

[0050] In this embodiment of the disclosure, after converting CANFD data into Ethernet data and sending the Ethernet data to the SRCP remote layer via the SRCP local layer in the form of UDP packets, the SRCP remote layer converts the Ethernet data back into CANFD data and sends the CANFD data to the radar driver layer. This ensures that the radar driver layer can still receive CANFD data based on the CANFD interface, thereby guaranteeing that CANFD data can be flexibly transmitted between different data layers in different forms.

[0051] Optionally, the SRCP remote layer can call a preset conversion function to convert the Ethernet data into CANFD data. The SRCP remote layer and SRCP local layer can be encapsulated into a general interface for the autonomous driving platform by encapsulating traditional socket function call interfaces, thereby enabling the sending and receiving of UDP packets, i.e., the transmission of Ethernet data.

[0052] It should be noted that during the conversion of Ethernet data to CANFD data, the SRCP remote layer only performs a data format conversion and does not modify the data content. That is, the content of the converted CANFD data is consistent with the content of the Ethernet data. Thus, through two data format conversions, the CANFD data transmitted to the radar driver layer is consistent with the initially acquired CANFD data, avoiding data loss, addition, deletion, or tampering during the data conversion process, thereby effectively ensuring data consistency.

[0053] Optionally, sending the CANFD data to the radar driver layer includes:

[0054] The CANFD data is sent to the radar driver layer through the Entertainment Controller Area Network (ECAN) layer.

[0055] It should be noted that after the vehicle terminal converts Ethernet data into CANFD data through the target layer, for example, through the SRCP remote layer, the SRCP remote layer can send the CANFD data to the ECAN layer, and the ECAN layer can then send the CANFD data to the radar driver layer. In other words, the ECAN layer is located between the SRCP remote layer and the radar driver layer, and the transmission of CANFD data between the ECAN layer and the radar driver layer can be achieved through the CANFD interface.

[0056] In this embodiment of the disclosure, the ECAN layer is configured to interface with the radar driver layer. The radar driver layer can activate the ECAN interface to obtain CANFD data, thereby making the transmission method of CANFD data by the vehicle terminal more flexible.

[0057] Optionally, converting the CANFD data into Ethernet data includes:

[0058] Add timestamp information to the CANFD data;

[0059] Convert the CANFD data with the timestamp information added to it into Ethernet data;

[0060] In the case where the Ethernet data is converted into CANFD data through the target layer, the converted CANFD data includes the timestamp information.

[0061] For example, after the COE acquires the CANFD data, it can add timestamp information to the CANFD data. Based on the timestamp information, the time when the COE acquired the CANFD data can be determined. Further, the COE converts the CANFD data with the added timestamp information into Ethernet data. Since this data conversion only involves a change in data format and the data content remains unchanged, the converted Ethernet data also includes the timestamp information.

[0062] The COE sends the Ethernet data to the target layer, which then converts the Ethernet data into CANFD data and sends it to the radar driver layer. The converted CANFD data still includes the timestamp information, allowing the radar driver layer to determine the time when the COE acquired the CANFD data based on the timestamp information. This enables the radar driver layer to locate the problem and trace the data source when encountering time-related issues, thus improving the processing of CANFD data.

[0063] Furthermore, the method also includes:

[0064] Obtain the raw time information of the CANFD data;

[0065] In the event of data delay, the location where the data delay occurs is determined by comparing the original time information and the timestamp information through the radar driving layer.

[0066] It should be understood that the CANFD data is data related to the CANFD radar. When generating the CANFD data, the CANFD radar includes the original time information of the data generation to record the generation of the CANFD data and facilitate subsequent traceability of the CANFD data. In other words, the CANFD data includes its original time information.

[0067] In this embodiment of the disclosure, when the vehicle terminal acquires the CANFD data, it can obtain the original time information of the CANFD data by parsing the CANFD data. After acquiring the CANFD data, the vehicle terminal can add timestamp information to the CANFD data. For example, it can add timestamp information to the CANFD data through COE, convert the timestamped CANFD data into Ethernet data and send it to the target layer. The target layer then converts the Ethernet data back into CANFD data and sends it to the radar driver layer. Thus, the CANFD data acquired by the radar driver layer also includes the added timestamp information.

[0068] When data delay occurs, such as when the radar driver layer receives the CANFD data, the radar driver layer can obtain the original time information included in the CANFD data and compare the timestamp information with the original time information of the CANFD data to determine the location where the data delay occurred, that is, whether the data delay occurred before or after the timestamp information was added.

[0069] In this embodiment of the disclosure, after acquiring CANFD data, by adding timestamp information to the CANFD data, it is possible to more quickly locate the location of the data delay in the event of a data delay, thereby taking timely measures to address the data delay and improving the processing efficiency of CANFD data.

[0070] Optionally, determining the location of the data delay by comparing the original time information and the timestamp information through the radar driving layer includes at least one of the following:

[0071] If the timestamp information matches the original time information, it is determined that the data delay occurred after the timestamp information was added to the CANFD data;

[0072] If the timestamp information does not match the original time information, it is determined that the data delay occurred before the timestamp information was added to the CANFD data.

[0073] Understandably, in the event of data delay, the original time information of the CANFD data and the timestamp information are compared. The original time information can be the time information used to generate the CANFD data, or it can be carried within the CANFD data itself, meaning it existed before the timestamp information was added to the CANFD data. The timestamp information is added after the onboard terminal (e.g., the COE layer) acquires the CANFD data; for example, the timestamp information can be the current moment when the CANFD data is acquired.

[0074] After the radar driving layer receives the CANFD data sent from the COE layer via the target layer, the CANFD data includes added timestamp information and its original time information. In the event of data delay, the original time information and the timestamp information of the CANFD data are compared. If the timestamp information matches the original time information, for example, if the difference between the timestamp information and the original time information is within a preset time range, then the transmission of the CANFD data is considered accurate before the timestamp information was added, and the data delay occurred after the timestamp information was added. If the timestamp information does not match the original time information, for example, if the difference between the timestamp information and the original time information is outside the preset time range, then the data delay occurred before the timestamp information was added, meaning it can be determined that the data delay occurred before the timestamp information was added to the CANFD data.

[0075] Furthermore, by adding timestamp information to the CANFD data, in the event of data delay, the timestamp information can be compared with the original time information of the CANFD data to quickly determine whether the data delay occurred before or after the timestamp information was added. This allows for a rapid identification of the location of the data delay, enabling more timely and targeted solutions to be taken, thereby improving the processing efficiency of CANFD data.

[0076] Please refer to Figure 2 , Figure 2 This is a flowchart of another data processing method provided in this disclosure embodiment, such as... Figure 2 As shown, the method includes the following steps:

[0077] Step 21: The hardware platform sends CANFD data to the COE;

[0078] Step 22: The COE converts the CANFD data into Ethernet data and sends it to the SRCP local layer;

[0079] Step 23: The SRCP local layer sends the Ethernet data to the SRCP remote layer in the form of a UDP message;

[0080] Step 24: The SRCP remote layer converts the Ethernet data into CANFD data and sends it to the ECAN layer;

[0081] Step 25: The ECAN layer sends the CANFD data to the radar driver layer.

[0082] In this embodiment of the disclosure, CANFD data is converted through different data layers, thereby enabling CANFD data to be transmitted in the form of Ethernet data, effectively improving the flexibility of CANFD data transmission.

[0083] It should be noted that the relevant concepts and specific implementation processes involved in the embodiments of this disclosure can be specifically referred to the above. Figure 1 The descriptions in the embodiments are omitted here to avoid repetition.

[0084] Please refer to Figure 3 , Figure 3 This is a structural diagram of a data processing apparatus provided in an embodiment of this disclosure, such as... Figure 3 As shown, the data processing device 300 includes:

[0085] The first acquisition module 301 is used to acquire CANFD data;

[0086] The first processing module 302 is used to convert the CANFD data into Ethernet data and send the Ethernet data to the target layer;

[0087] The second processing module 303 is used to convert the Ethernet data into CANFD data through the target layer and send the CANFD data to the radar driver layer.

[0088] Optionally, the target layer includes an SRCP local layer and an SRCP remote layer, and the first processing module 302 includes:

[0089] The conversion unit is used to call the conversion function in the SRCP local layer and convert the CANFD data into Ethernet data based on the conversion function.

[0090] The sending unit is used to send the Ethernet data to the SRCP remote layer via the SRCP local layer in the form of User Datagram Protocol (UDP) packets.

[0091] Optionally, the second processing module 303 is further configured to:

[0092] The Ethernet data is converted into CANFD data through the SRCP remote layer.

[0093] Optionally, the second processing module 303 is further configured to:

[0094] The CANFD data is sent to the radar drive layer through the ECAN layer.

[0095] Optionally, the first processing module 302 is further configured to:

[0096] Add timestamp information to the CANFD data;

[0097] Convert the CANFD data with the timestamp information added to it into Ethernet data;

[0098] In the case where the Ethernet data is converted into CANFD data through the target layer, the converted CANFD data includes the timestamp information.

[0099] Optionally, the device further includes:

[0100] The second acquisition module is used to acquire the raw time information of the CANFD data;

[0101] The determination module is used to determine the location where the data delay occurs by comparing the original time information and the timestamp information through the radar driving layer in the event of a data delay.

[0102] Optionally, the determining module is further configured to perform at least one of the following:

[0103] If the timestamp information matches the original time information, it is determined that the data delay occurred after the timestamp information was added to the CANFD data;

[0104] If the timestamp information does not match the original time information, it is determined that the data delay occurred before the timestamp information was added to the CANFD data.

[0105] In this embodiment of the disclosure, the device can transmit the CANFD data to the target layer in Ethernet data format, thereby eliminating the need to set up an additional CANFD interface in the chipset corresponding to the target layer of the vehicle. This effectively saves the setting of CANFD interfaces in the chipset, so that the transmission of CANFD data is no longer limited by the number of CANFD interfaces, and thus the number of CANFD radars is no longer limited. As a result, more CANFD radars can be installed on the vehicle.

[0106] It should be noted that the data processing apparatus 300 provided in this embodiment can implement all the processes in the above data processing method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0107] The acquisition, storage, and application of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0108] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0109] Figure 4 A schematic block diagram of an example electronic device 400 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 may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0110] like Figure 4 As shown, device 400 includes a computing unit 401, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 402 or a computer program loaded from storage unit 408 into random access memory (RAM) 403. RAM 403 may also store various programs and data required for the operation of device 400. The computing unit 401, ROM 402, and RAM 403 are interconnected via bus 404. Input / output (I / O) interface 405 is also connected to bus 404.

[0111] Multiple components in device 400 are connected to I / O interface 405, including: input unit 406, such as keyboard, mouse, etc.; output unit 407, such as various types of monitors, speakers, etc.; storage unit 408, such as disk, optical disk, etc.; and communication unit 409, such as network card, modem, wireless transceiver, etc. Communication unit 409 allows device 400 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0112] The computing unit 401 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the various methods and processes described above, such as data processing methods. For example, in some embodiments, the data processing method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 408. In some embodiments, part or all of the computer program may be loaded and / or installed on device 400 via ROM 402 and / or communication unit 409. When the computer program is loaded into RAM 403 and executed by the computing unit 401, one or more steps of the data processing method described above may be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to perform the above-described data processing methods by any other suitable means (e.g., by means of firmware).

[0113] Various embodiments of the systems and techniques described above 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), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0114] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0115] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0116] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, 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 sound input, voice input, or tactile input).

[0117] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0118] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0119] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0120] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A data processing method applied to an in-vehicle terminal, the method comprising: Acquire CANFD data with flexible data rates from a Control Area Network (CANFD). The CANFD data is converted into Ethernet data and then sent to the target layer. The target layer converts the Ethernet data into CANFD data and sends the CANFD data to the radar driver layer. The target layer is the data protocol layer for data transmission in the vehicle terminal. The target layer includes a local SRCP (Synchronous Remote Protocol Coupling) layer and a remote SRCP layer. The process of converting the CANFD data into Ethernet data and sending the Ethernet data to the target layer includes: The conversion function in the SRCP local layer is invoked to convert the CANFD data into Ethernet data based on the conversion function, and the Ethernet data is sent to the SRCP remote layer through the SRCP local layer. The process of converting the Ethernet data into CANFD data through the target layer includes: The Ethernet data is converted into CANFD data through the SRCP remote layer.

2. The method according to claim 1, wherein, The step of sending the Ethernet data to the SRCP remote layer through the SRCP local layer includes: The Ethernet data is sent to the SRCP remote layer via the SRCP local layer using User Datagram Protocol (UDP) packets.

3. The method according to claim 1, wherein, Sending the CANFD data to the radar driver layer includes: The CANFD data is sent to the radar drive layer through the Entertainment Control Area Network (ECAN) layer.

4. The method according to claim 1, wherein, The step of converting the CANFD data into Ethernet data includes: Add timestamp information to the CANFD data; Convert the CANFD data with the timestamp information added to it into Ethernet data; In the case where the Ethernet data is converted into CANFD data through the target layer, the converted CANFD data includes the timestamp information.

5. The method according to claim 4, further comprising: Obtain the raw time information of the CANFD data; In the event of data delay, the location where the data delay occurs is determined by comparing the original time information and the timestamp information through the radar driving layer.

6. The method according to claim 5, wherein, The step of comparing the original time information and the timestamp information through the radar driving layer to determine the location where the data delay occurs includes at least one of the following: If the timestamp information matches the original time information, it is determined that the data delay occurred after the timestamp information was added to the CANFD data; If the timestamp information does not match the original time information, it is determined that the data delay occurred before the timestamp information was added to the CANFD data.

7. A data processing apparatus for use in a vehicle-mounted terminal, the apparatus comprising: The first acquisition module is used to acquire CANFD data; The first processing module is used to convert the CANFD data into Ethernet data and send the Ethernet data to the target layer; The second processing module is used to convert the Ethernet data into CANFD data through the target layer and send the CANFD data to the radar driving layer; The target layer is the data protocol layer for data transmission in the vehicle terminal, and the target layer includes an SRCP local layer and an SRCP remote layer. The first processing module includes: The conversion unit is used to call the conversion function in the SRCP local layer and convert the CANFD data into Ethernet data based on the conversion function. A sending unit is used to send the Ethernet data to the SRCP remote layer through the SRCP local layer; The second processing module is also used for: The Ethernet data is converted into CANFD data through the SRCP remote layer.

8. The apparatus according to claim 7, wherein, The sending unit is used to send the Ethernet data to the SRCP remote layer via the SRCP local layer using User Datagram Protocol (UDP) packets.

9. The apparatus according to claim 7, wherein, The second processing module is also used for: The CANFD data is sent to the radar drive layer through the ECAN layer.

10. The apparatus according to claim 7, wherein, The first processing module is also used for: Add timestamp information to the CANFD data; Convert the CANFD data with the timestamp information added to it into Ethernet data; In the case where the Ethernet data is converted into CANFD data through the target layer, the converted CANFD data includes the timestamp information.

11. The apparatus according to claim 10, wherein, The device further includes: The second acquisition module is used to acquire the raw time information of the CANFD data; The determination module is used to determine the location where the data delay occurs by comparing the original time information and the timestamp information through the radar driving layer in the event of a data delay.

12. The apparatus according to claim 11, wherein, The determining module is also configured to perform at least one of the following: If the timestamp information matches the original time information, it is determined that the data delay occurred after the timestamp information was added to the CANFD data; If the timestamp information does not match the original time information, it is determined that the data delay occurred before the timestamp information was added to the CANFD data.

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 to enable the at least one processor to perform the method of any one of claims 1-6.

14. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-6.

15. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1-6.

16. An autonomous vehicle configured to perform the method as described in any one of claims 1-6.

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