Methods, systems, and related equipment for offline reproduction of autonomous driving systems

Abstract

This application provides a method, system, and related equipment for offline reproduction of an autonomous driving system. The method includes: acquiring stored data, utilizing the stored data, and, according to preset business logic, calling a preset business framework module to perform offline initialization and calculation operations to obtain offline results identical to those of the online operation of the autonomous driving system, thereby completing the offline reproduction. The solution of this application uses the same preset business logic and the same preset business framework module for both online and offline operation of the autonomous driving system. Furthermore, both the preset business logic and the preset business framework module are pre-configured according to business requirements, enabling accurate control of data calculation and ensuring accurate offline reproduction of the autonomous driving system's operation process.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a method, system and related equipment for offline reproduction of an autonomous driving system. Background Technology

[0002] Currently, during the development and debugging of autonomous driving systems, different business modules in the autonomous driving system often run in a multi-process mode. Due to reasons such as network transmission, system scheduling execution timing, and the implementation of the modules themselves, when running the entire autonomous driving system offline, it is impossible to accurately reproduce the state of the autonomous driving system when running online, making it difficult to debug the problems encountered by the business modules when running online. Summary of the Invention

[0003] This application provides a method, system, and related equipment for offline reproduction of an autonomous driving system to solve the above-mentioned problems.

[0004] The first aspect of this application provides a method for offline reproduction of an autonomous driving system, comprising: acquiring stored data; wherein the stored data is set in a preset storage structure during the online operation of the autonomous driving system, when a preset business framework module is called according to preset business logic, relevant requirement data is used for calculation and processing, and relevant operating systems are called; using the stored data, the preset business framework module is called according to the preset business logic to perform offline initialization and calculation operations to obtain an offline result that is the same as the online operation result of the autonomous driving system, thereby completing the offline reproduction.

[0005] In some embodiments, the preset business framework module includes a control interface and a pre-packaged interface; wherein the pre-packaged interface is configured according to corresponding business requirements; the step of obtaining storage data includes: calling the control interface and the pre-packaged interface to obtain storage data.

[0006] In some embodiments, the preset business framework module further includes a start interface for transmitting data with the control interface; the step of using the stored data to call the preset business framework module to perform offline initialization according to the preset business logic includes: calling the start interface according to the preset business logic to perform offline initialization using the stored data.

[0007] In some embodiments, the preset business framework module further includes a computing interface, wherein the computing interface is used to transmit data with the control interface and the pre-encapsulated interface, and the computing interface is configured with preset parameter data; the step of using the stored data to call the preset business framework module to perform computing operations according to the preset business logic includes: calling the computing interface according to the preset business logic, and performing calculations using the stored data and the preset parameter data.

[0008] In some embodiments, the stored data includes first timing data and first parameter data for characterizing the computing interface call information, and second timing data and second parameter data for characterizing the pre-packaged interface call information.

[0009] In some embodiments, the preset business framework module further includes a shutdown interface, which is used to transmit data with the control interface; the method for offline reproduction of the autonomous driving system further includes: calling the shutdown interface to end the offline reproduction.

[0010] In some embodiments, the method for offline reproduction of the autonomous driving system further includes: calling the control interface to output the offline results.

[0011] The second aspect of this application provides a system for offline reproduction of an autonomous driving system, including a preset business framework module and a preset storage structure; wherein the preset business framework module and the preset storage structure are coupled to each other and are used to implement the method for offline reproduction of the autonomous driving system in the first aspect.

[0012] A third aspect of this application provides an electronic device including a memory and a processor coupled to each other, the processor being configured to execute program instructions stored in the memory to implement the offline reproduction method of the autonomous driving system described in the first aspect above.

[0013] The fourth aspect of this application provides a non-volatile computer-readable storage medium for storing program instructions, which, when executed by a processor, are used to implement the offline reproduction method of the autonomous driving system described in the first aspect above.

[0014] The aforementioned solution acquires and utilizes stored data, then, according to preset business logic, invokes preset business framework modules to perform offline initialization and calculation operations, thereby obtaining offline results identical to those of the online operation of the autonomous driving system, thus achieving offline reproduction. The stored data is set in a preset storage structure during the online operation of the autonomous driving system, when the preset business framework modules are invoked according to the preset business logic, relevant required data is processed, and relevant operating systems are invoked. The solution in this application uses the same preset business logic and the same preset business framework modules for both online and offline operation of the autonomous driving system. Furthermore, both the preset business logic and the preset business framework modules are pre-configured according to business requirements, enabling accurate control over data calculations and ensuring accurate offline reproduction of the autonomous driving system's operation.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0017] Figure 1 This is a flowchart illustrating the method for offline reproduction of an autonomous driving system in an embodiment of this application;

[0018] Figure 2 This is a schematic diagram of a scenario in which the autonomous driving system operates online, as described in this application embodiment;

[0019] Figure 3 This is a schematic diagram of an offline reproduction of an autonomous driving system in an embodiment of this application;

[0020] Figure 4 This is a schematic diagram of another scenario in which the autonomous driving system operates online, as illustrated in this application embodiment;

[0021] Figure 5 This is a schematic diagram of another scenario of offline reproduction of the autonomous driving system in the embodiments of this application;

[0022] Figure 6 This is a schematic diagram of the structure of the system for offline reproduction of the autonomous driving system in the embodiments of this application;

[0023] Figure 7 This is a schematic diagram of the structure of the electronic device in the embodiments of this application;

[0024] Figure 8 This is a schematic diagram of the structure of a non-volatile computer-readable storage medium in an embodiment of this application. Detailed Implementation

[0025] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be particularly noted that the following embodiments are for illustrative purposes only and do not limit the scope of the application. Similarly, the following embodiments are only some, not all, embodiments of the present application, and all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present application.

[0026] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship. Furthermore, "many" in this document means two or more. Additionally, the term "at least one" in this document means any combination of at least two of any one or more of a plurality of objects. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C. Furthermore, the terms "first," "second," and "third" in this application are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.

[0028] As mentioned above, during the development and debugging of autonomous driving systems, different business modules in the autonomous driving system often run in a multi-process mode. Due to network transmission, system scheduling execution timing, and the implementation of the modules themselves, when the entire autonomous driving system is run offline, it is impossible to accurately reproduce the state of the autonomous driving system when running online, making it difficult to debug the problems encountered by the business modules when running online.

[0029] Therefore, this application provides a method, system, and related equipment for offline reproduction of an autonomous driving system to solve the above problems.

[0030] Please see Figure 1 , Figure 1 This is a flowchart illustrating the offline reproduction method of the autonomous driving system in this application embodiment. It should be noted that if substantially the same result is achieved, the method of this application is not based on... Figure 1The illustrated process sequence is limited. This method can be applied to electronic devices with computing or other functions, which can execute this method by receiving data. The electronic device in this application can be a server or a system consisting of a server and terminal devices working together. Furthermore, the server can be hardware or software, without specific limitations. In some possible implementations, the offline reproduction method of the autonomous driving system in this embodiment can be implemented by a processor calling computer program instructions stored in memory. Figure 1 As shown, the method for offline reproduction of an autonomous driving system includes the following steps:

[0031] S1. Obtain stored data; where stored data is set in the preset storage structure during the online operation of the autonomous driving system, in accordance with the preset business logic, calling the preset business framework module, using the relevant required data for calculation and processing, and calling the relevant operating system.

[0032] Figure 2 This is a schematic diagram of a scenario in which the autonomous driving system is operating online, as described in an embodiment of this application. Figure 2 As shown, when the autonomous driving system is running online, it calls a preset business framework module according to preset business logic, performs calculations using relevant required data, and calls the relevant operating system during the calculation process to set the corresponding data in a preset storage structure. This data can include time-series data, parameter data, return value data, or other achievable data, without specific limitations, thus obtaining the stored data. Both the preset business logic and the preset business framework module are set according to business requirements, making the calculation process controllable; for example, business requirements can be perception and recognition, or other achievable requirements, without specific limitations.

[0033] When an autonomous driving system operates online and invokes a preset business framework module for calculations, the relevant required data can be sensor data, and the sensor data during the calculation process is stored in a preset storage structure. Sensor data is acquired through sensor devices, which can be radar sensors, IMU devices, GNSS devices, or image sensors. Radar sensors can be used to acquire point cloud data, IMU devices can be used to acquire IMU data, GNSS devices can be used to acquire GNSS data, and image sensors can be used to acquire image data. For example, radar sensors, IMU devices, GNSS devices, and image sensors can be mounted on a mobile device. This mobile device can be an automated mobile device, such as a robot or a model training vehicle.

[0034] In some embodiments, when the autonomous driving system is running online, it first completes the initialization operation of the autonomous driving system by calling a preset business framework module according to preset business logic. Then, according to the parameter requirements set in the preset business logic, it calls the preset business framework module to obtain relevant requirement data for calculation. During the calculation process, it calls the relevant operating system to obtain data from the relevant operating system. When the data from the relevant operating system meets the preset calculation conditions, it calls the preset business framework module to perform calculation processing and sets the corresponding data such as timing data, parameter data, and return value data during the calculation processing into a preset storage structure to obtain the corresponding stored data.

[0035] For data stored in a preset storage structure during the online operation of the autonomous driving system, it can be directly retrieved from the preset storage structure during offline reproduction.

[0036] S2. Using stored data, according to preset business logic, call preset business framework modules to perform offline initialization and calculation operations to obtain offline results that are the same as those of the online operation of the autonomous driving system, thereby completing offline reproduction.

[0037] Figure 3 This is a schematic diagram of an offline reproduction of an autonomous driving system in an embodiment of this application, such as... Figure 3 As shown, when reproducing the online operation process of an autonomous driving system offline, the stored data obtained from the preset storage structure is used, and the same preset business logic as the online operation of the autonomous driving system is followed. The same preset business framework module as the online operation of the autonomous driving system is called to perform offline initialization and calculation operations, thereby obtaining the same offline result as the online operation result of the autonomous driving system, thus completing the offline reproduction of the autonomous driving system.

[0038] Understandably, by setting up preset business logic and preset business framework modules based on business needs, that is, by clearly constraining the framework layer responsible for managing data, the management of data flow is explicitly controllable, thereby accurately reproducing the calculation process of the autonomous driving system during online operation.

[0039] The aforementioned solution acquires and utilizes stored data, then, according to preset business logic, invokes preset business framework modules to perform offline initialization and calculation operations, thereby obtaining offline results identical to those of the online operation of the autonomous driving system, thus achieving offline reproduction. The stored data is set in a preset storage structure during the online operation of the autonomous driving system, when the preset business framework modules are invoked according to the preset business logic, relevant required data is processed, and relevant operating systems are invoked. The solution in this application uses the same preset business logic and the same preset business framework modules for both online and offline operation of the autonomous driving system. Furthermore, both the preset business logic and the preset business framework modules are pre-configured according to business requirements, enabling accurate control over data calculations and ensuring accurate offline reproduction of the autonomous driving system's operation.

[0040] In one embodiment of this application, the preset business framework module includes a control interface and a pre-packaged interface; wherein, the pre-packaged interface is configured according to the corresponding business requirements; obtaining stored data includes: calling the control interface and the pre-packaged interface to obtain stored data.

[0041] Understandably, the control interface is interconnected with the preset storage structure for data transmission. The control interface also controls the corresponding interfaces to process the data. Pre-packaged interfaces are pre-configured and encapsulated according to relevant business requirements, pre-configuring interfaces that affect offline reproduction for use. For example, interfaces for time acquisition, random number generation, timers, and environment variable acquisition can be configured and encapsulated to obtain corresponding pre-packaged interfaces. In other embodiments, other implementable interfaces can also be encapsulated in the pre-packaged interfaces, which can be pre-set according to actual business needs without specific limitations. The pre-packaged interfaces are interconnected with the preset storage structure for data transmission.

[0042] Figure 4 This is another schematic diagram of the online operation of the autonomous driving system in the embodiments of this application, such as... Figure 4 As shown, when the autonomous driving system is running online, it calls the control interface in the preset business framework module to obtain relevant required data, such as sensor data, according to the preset business logic; it also calls the pre-packaged interface in the preset business framework module to obtain relevant operating system data, thereby calling the preset business framework module to perform calculations using the relevant required data. The control interface and the pre-packaged interface set the corresponding data in a preset storage structure to obtain the stored data, which can then be directly called during offline reproduction.

[0043] Figure 5 This is another scenario diagram illustrating the offline reproduction of the autonomous driving system in the embodiments of this application, such as... Figure 5As shown, when reproducing the online operation process of the autonomous driving system offline, according to the preset business logic, the control interface and pre-encapsulated interface are called to directly obtain the stored data from the preset storage structure. Then, using the stored data, according to the preset business logic, the preset business framework module is called to perform offline initialization and calculation operations, thereby obtaining the same offline result as the online operation result of the autonomous driving system.

[0044] In one embodiment of this application, the preset business framework module further includes a start interface for transmitting data with the control interface; using stored data, according to preset business logic, calling the preset business framework module to perform offline initialization operations includes: calling the start interface according to preset business logic to perform offline initialization operations using stored data.

[0045] Understandably, the start interface is used to transmit data with the control interface. For example, the control interface outputs control data to the start interface to make control calls to the start interface.

[0046] Please refer to it again. Figure 4 When the autonomous driving system is running online, it calls the control interface in the preset business framework module to obtain relevant required data according to the preset business logic. The control interface sends control data to the start interface to call the start interface to perform the initialization operation of the autonomous driving system. Then, it calls the pre-encapsulated interface in the preset business framework module to obtain relevant operating system data, thereby calling the preset business framework module to perform calculations using the relevant required data. The control interface and the pre-encapsulated interface set the corresponding data in a preset storage structure to obtain stored data, which can then be directly called during offline reproduction.

[0047] Please refer to it again. Figure 5 When reproducing the online operation of an autonomous driving system offline, the system directly retrieves stored data from a preset storage structure by calling the control interface and pre-encapsulated interface according to preset business logic. Then, using the stored data, the control interface sends control data to the start interface according to the preset business logic to call the start interface for offline initialization. Finally, the system calls a preset business framework module to perform calculations, thereby obtaining the same offline result as the online operation result of the autonomous driving system.

[0048] In one embodiment of this application, the preset business framework module further includes a calculation interface, wherein the calculation interface is used to transmit data with the control interface and the pre-encapsulated interface, and the calculation interface is configured with preset parameter data; using the stored data, according to the preset business logic, calling the preset business framework module to perform calculation operations includes: calling the calculation interface according to the preset business logic, and performing calculations using the stored data and the preset parameter data.

[0049] Understandably, the computing interface is used for data transmission with the control interface. For example, the control interface outputs control data to the computing interface to control and invoke the computing data. The computing interface is also used for data transmission with a pre-packaged interface to invoke the pre-packaged interface. This allows the pre-packaged interface to call relevant operating system data for computation during online operation of the autonomous driving system, or to retrieve corresponding stored data from a preset storage structure for computation during offline reproduction of the online operation of the autonomous driving system. Furthermore, the computing interface is configured with preset parameter data. This preset parameter data can be parameter data, return value data, or other achievable data required by the computing interface based on business needs; no specific limitations are imposed.

[0050] Please refer to it again. Figure 4 When the autonomous driving system is running online, it calls the control interface in the preset business framework module to obtain relevant required data according to the preset business logic. The control interface sends control data to the start interface to call the start interface for initialization operations. Then, it calls the pre-encapsulated interface in the preset business framework module to obtain relevant operating system data. In response to the relevant operating system data meeting the preset calculation conditions, it calls the calculation interface in the preset business framework module to perform calculations using the relevant required data. The control interface and the pre-encapsulated interface set the corresponding data in a preset storage structure to obtain stored data, which can then be directly accessed during offline reproduction.

[0051] Please refer to it again. Figure 5 When reproducing the online operation of an autonomous driving system offline, the system directly retrieves stored data from a preset storage structure by calling the control interface and pre-encapsulated interface according to preset business logic. Then, using the stored data, the control interface sends control data to the start interface to invoke the start interface for offline initialization operations, following the preset business logic. Next, the control interface sends control data to the calculation interface to invoke the calculation interface for computation operations, thereby obtaining the same offline result as the online operation result of the autonomous driving system.

[0052] In one embodiment of this application, the stored data includes first timing data and first parameter data for characterizing computation interface call information, and second timing data and second parameter data for characterizing pre-encapsulated interface call information.

[0053] Understandably, the stored data includes first timing data and first parameter data used to characterize the computation interface call information. The first timing data includes the timing information corresponding to each data call by the computation interface, and the first parameter data includes the parameter data, return value data, etc., corresponding to each data call by the computation interface. The stored data also includes second timing data and second parameter data used to characterize the pre-encapsulated interface call information. The second timing data includes the timing information corresponding to each data call by the pre-encapsulated interface, and the second parameter data includes the parameter data, return value data, etc., corresponding to each data call by the pre-encapsulated interface.

[0054] In some embodiments, the stored data may also include other usable data, such as sensor data, without specific limitations.

[0055] In one embodiment of this application, the preset business framework module further includes a closing interface, which is used to transmit data with the control interface; the method for offline reproduction of the autonomous driving system further includes: calling the closing interface to end the offline reproduction.

[0056] Understandably, the close interface is used to transmit data with the control interface. For example, the control interface outputs control data to the close interface to make control calls to the close interface.

[0057] Please refer to it again. Figure 4 During the online operation of the autonomous driving system, after the computing interface is called to complete the computing process, the control interface sends control data to the shutdown interface to call the shutdown interface to release resources and shut down the autonomous driving system.

[0058] Please refer to it again. Figure 5 During the offline reproduction of the online operation of the autonomous driving system, the computing interface is called to perform calculation operations. After obtaining the same offline result as the online operation result of the autonomous driving system, the control interface sends control data to the shutdown interface to call the shutdown interface, thereby ending the offline reproduction.

[0059] In one embodiment of this application, the method for offline reproduction of an autonomous driving system further includes: calling a control interface to output the offline results.

[0060] Please refer to it again. Figure 5 The control interface is also used to output offline results. That is, during the offline reproduction of the online operation process of the autonomous driving system, the calculation interface is called to perform calculation operations. After obtaining the same offline results as the online operation results of the autonomous driving system, the control interface is called to process the offline results for viewing and debugging.

[0061] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0062] Figure 6 This is a schematic diagram of the structure of the offline reproduction system of the autonomous driving system in the embodiments of this application, such as... Figure 6 As shown, this application also provides a system 600 for offline reproduction of an autonomous driving system, including a preset business framework module 601 and a preset storage structure 602; wherein, the preset business framework module 601 and the preset storage structure 602 are coupled to each other and are used to implement the steps in the above-mentioned method embodiment for offline reproduction of an autonomous driving system.

[0063] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of an electronic device in an embodiment of this application. The electronic device 700 includes a memory 701 and a processor 702 coupled to each other. The processor 702 is used to execute program instructions stored in the memory 701 to implement the steps in the above-described method embodiment for offline reproduction of the autonomous driving system. In a specific implementation scenario, the electronic device 700 may include, but is not limited to, a microcomputer or a server.

[0064] Specifically, processor 702 controls itself and memory 701 to implement the steps in the above-described method embodiment for offline reproduction of the autonomous driving system. Processor 702 can also be called a CPU (Central Processing Unit), and may be an integrated circuit chip with signal processing capabilities. Processor 702 can also be a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor can be a microprocessor or any conventional processor. Furthermore, processor 702 can be implemented using integrated circuit chips.

[0065] Please see Figure 8 , Figure 8This is a schematic diagram of the structure of a non-volatile computer-readable storage medium in an embodiment of this application. The computer-readable storage medium 800 is used to store program instructions 801, which, when executed by the processor 702, are used to implement the steps in the above-described method embodiment for offline reproduction of the autonomous driving system.

[0066] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0067] In the several embodiments provided in this application, it should be understood that the disclosed methods and related devices can be implemented in other ways. For example, the related device implementations described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication disconnection shown or discussed may be indirect coupling or communication disconnection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0068] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0069] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A method for offline reproduction of an autonomous driving system, characterized in that, include: Acquire stored data; wherein, the stored data is set in a preset storage structure during the online operation of the autonomous driving system, when the preset business framework module is called according to preset business logic, and the relevant demand data is used for calculation and processing and the relevant operating system is called; Using the stored data, and according to the preset business logic, the preset business framework module is called to perform offline initialization and calculation operations to obtain offline results that are the same as the online operation results of the autonomous driving system, thereby completing offline reproduction; The preset business framework module includes a pre-packaged interface and a computing interface. The pre-packaged interface is configured according to the corresponding business requirements, and the computing interface is configured with preset parameter data. The stored data includes first timing data and first parameter data for characterizing the computing interface call information, and second timing data and second parameter data for characterizing the pre-packaged interface call information.

2. The method according to claim 1, characterized in that, The preset business framework module includes a control interface; The acquisition of stored data includes: The control interface and the pre-packaged interface are invoked to obtain the stored data.

3. The method according to claim 2, characterized in that, The preset business framework module also includes a start interface, which is used to transmit data with the control interface; The step of using the stored data and, according to the preset business logic, calling the preset business framework module to perform offline initialization operations includes: According to the preset business logic, the start interface is called to perform offline initialization operations using the stored data.

4. The method according to claim 3, characterized in that, The computing interface is used to transmit data with the control interface and the pre-packaged interface; The step of using the stored data and, according to the preset business logic, calling the preset business framework module to perform calculation operations includes: According to the preset business logic, the calculation interface is called to perform calculations using the stored data and the preset parameter data.

5. The method according to claim 2, characterized in that, The preset business framework module also includes a shutdown interface, which is used to transmit data with the control interface; The method for offline reproduction of the autonomous driving system further includes: Call the aforementioned shutdown interface to end the offline reproduction.

6. The method according to claim 2, characterized in that, The method for offline reproduction of the autonomous driving system further includes: The control interface is invoked to output the offline results.

7. A system for offline reproduction of an autonomous driving system, characterized in that, It includes a preset business framework module and a preset storage structure; wherein the preset business framework module and the preset storage structure are coupled to each other, and are used to implement the method for offline reproduction of the autonomous driving system as described in any one of claims 1-6.

8. An electronic device, characterized in that, It includes a memory and a processor coupled to each other, the processor being used to execute program instructions stored in the memory to implement the method for offline reproduction of the autonomous driving system as described in any one of claims 1-6.

9. A non-volatile computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store program instructions, which, when executed by a processor, are used to implement the method for offline reproduction of the autonomous driving system as described in any one of claims 1-6.

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