Data real-time collection method and device of automobile domain control middleware and electronic equipment

Abstract

The application provides a data real-time collection method and device of automobile domain control middleware and electronic equipment, and relates to the technical field of vehicles.The data real-time collection method comprises the following steps: acquiring the type of an automatic driving sensor; determining a data collection mode according to the type of the automatic driving sensor; processing sensor data according to the data collection mode; writing the processed data into a data file; determining a data storage mode according to a storage space; determining a data collection communication middleware according to the data storage mode; determining a database type according to the data collection communication middleware; and writing the data file into the database.The data collection scheme with high compression and high reliability can be selected according to the data type and the middleware type, smaller memory resources, calculation resources and storage resources can be occupied, and better automatic driving controller runtime data real-time collection effect can be achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a data real-time collection method and device of automobile domain control middleware and electronic equipment. BACKGROUND

[0002] With the upgrading of the automobile industry, the number of intelligent and connected vehicles has increased dramatically, and the demand for automatic driving functions has also been upgraded. Among the many automatic driving functions, a core technology that cannot be avoided is artificial intelligence based on deep learning. The core of artificial intelligence is to train and optimize the algorithms and models in automatic driving by using the data collected during the automatic driving application process, to improve the target recognition efficiency and accuracy. Therefore, the data real-time collection function is particularly important during the operation of the automatic driving controller product.

[0003] In the prior art data collection method, there are problems of single collection mode, single storage mode, and large data volume leading to large storage capacity and difficulty in storage. SUMMARY

[0004] The present application provides a data real-time collection method and device of automobile domain control middleware and electronic equipment to at least solve the technical problems of single collection mode, single storage mode, and large data volume leading to large storage capacity and difficulty in storage in related technologies.

[0005] According to an aspect of an embodiment of the present application, a data real-time collection method of automobile domain control middleware is provided, including: acquiring the type of an automatic driving sensor; determining a data collection mode according to the type of the automatic driving sensor; processing sensor data according to the data collection mode; writing the processed data into a data file; determining a data storage mode according to the storage space; determining a data collection communication middleware according to the data storage mode; determining a database type according to the data collection communication middleware; and writing the data file into the database.

[0006] Optionally, the data collection mode includes a fixed-length data collection mode, a variable-length data collection mode, and a video coding data collection mode; the determination of the data collection mode according to the type of the automatic driving sensor includes: acquiring the data volume, data structure, and array length of the sensor data; if the data volume is less than or equal to a preset value, and the data structure and the array length are fixed values, the fixed-length data collection mode is selected; if the data volume is less than or equal to the preset value, and the data structure and the array length are non-fixed values, the variable-length data collection mode is selected; and if the data volume of the sensor data is greater than the preset value, the video coding data collection mode is selected.

[0007] Optionally, the fixed-length data acquisition mode comprises: writing the sensor data into a fixed-length data structure; converting the fixed-length data structure into a binary file; and writing the binary file into a fixed-length data file.

[0008] Optionally, the fixed-length data acquisition mode further comprises: determining whether the fixed-length data file reaches a preset file capacity value; if the fixed-length data file reaches the preset file capacity value, closing the fixed-length data file, storing the fixed-length data file to a domain control real-time acquisition database, and creating a new fixed-length data file; determining whether the total amount of the fixed-length data files reaches a preset disk capacity; and if the total amount of the fixed-length data files reaches the preset disk capacity, controlling the preset disk to delete the fixed-length data file with the earliest creation time.

[0009] Optionally, the variable-length data acquisition mode comprises: writing the sensor data into a serialized data acquisition structure; and writing the serialized data acquisition structure into a data storage library.

[0010] Optionally, the serialized data acquisition structure comprises a vector and / or a linked list.

[0011] Optionally, the video encoding data acquisition mode comprises: video encoding and compressing the sensor data in an H264 encoding format of a video standard; and writing the video encoding into a data storage library.

[0012] According to another aspect of the embodiments of the present application, a data real-time acquisition device for a vehicle domain control middleware is also provided. A sensor acquisition module is configured to acquire a type of an autonomous driving sensor. A data acquisition mode determination module is configured to determine a data acquisition mode according to the type of the autonomous driving sensor. A data processing module is configured to process sensor data according to the data acquisition mode. A data writing module is configured to write the processed data into a data file. A data storage mode determination module is configured to determine a data storage mode according to a storage space. A data acquisition communication middleware determination module is configured to determine a data acquisition communication middleware according to the data storage mode. A database type determination module is configured to determine a database type according to the data acquisition communication middleware. A database writing module is configured to write the data file into the database.

[0013] According to still another aspect of the embodiments of the present application, an electronic device is provided. The electronic device comprises a processor, a communication interface, a memory and a communication bus. The processor, the communication interface and the memory complete communication with each other through the communication bus. The memory is configured to store a computer program. The processor is configured to execute the data real-time acquisition method steps of the vehicle domain control middleware by running the computer program stored on the memory.

[0014] According to still another aspect of the embodiments of the present application, a computer readable storage medium is provided, and the storage medium stores a computer program, wherein the computer program is configured to execute the data real-time collection method of the automotive domain control middleware when running.

[0015] In the embodiments of the present application, the data real-time collection method of the automotive domain control middleware can select a high-compression and high-reliability data collection scheme according to the data type and the middleware type, can occupy smaller memory resources, computing resources and storage resources, and can achieve better real-time data collection effect of the automatic driving controller when running. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

[0018] Figure 1 is an optional data real-time collection method flowchart of the automotive domain control middleware according to the embodiments of the present application;

[0019] Figure 2 is an optional structure block diagram of an electronic device according to the embodiments of the present application. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort should belong to the protection scope of the present application.

[0021] It should be noted that the terms "first", "second", and the like in the description and claims of the application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0022] With the upgrading of the automobile industry, the number of intelligent and connected vehicles has increased dramatically, and the demand for automatic driving functions has also been upgraded. Among the many automatic driving functions, a core technology is needed as support, which is artificial intelligence technology based on deep learning. The core of artificial intelligence is to use the data generated and collected in the automatic driving application process to train and optimize the algorithms and models in automatic driving, to improve the target recognition efficiency and recognition accuracy. Therefore, the data real-time collection function is particularly important in the running process of the automatic driving controller product. In the existing data collection method, there are problems such as single collection method, single storage mode, and large data volume leading to large storage capacity, which is not easy to store.

[0023] As shown in Figure 1 The embodiment of the application provides a data real-time collection method of an automobile domain control middleware, which comprises the following steps:

[0024] S1, acquiring the type of an automatic driving sensor;

[0025] S2, determining a data collection mode according to the type of the automatic driving sensor;

[0026] S3, processing sensor data according to the data collection mode;

[0027] S4, writing the processed data into a data file;

[0028] S5, determining a data storage mode according to a storage space;

[0029] S6, determining a data collection communication middleware according to the data storage mode;

[0030] S7, determining a database type according to the data collection communication middleware;

[0031] S8, writing the data file into the database.

[0032] The vehicle domain control is a vehicle electronic system design mode. In this architecture, one or more vehicle domain controllers (Vehicle Domain Controller) are configured as the control center of the vehicle electronic system, which is responsible for integrating and managing various functional modules of the vehicle, such as engine control, driving safety, door / window control, etc., and can also implement inter-vehicle communication and Internet of Vehicles technology, and by providing standardized interfaces, different manufacturers' devices and applications can be compatible and interactive. The middleware refers to a software technology that aims to provide a general, standardized interface and service for the vehicle electronic system to facilitate the interoperability and collaboration between various applications. Vehicle middleware is usually composed of operating system kernel, communication protocol stack, data manager, etc., and can realize data transmission, message exchange, event processing and resource sharing between different devices. The automatic driving refers to a new type of car driving mode, which uses advanced sensors and control technology to enable the car to complete driving, navigation, obstacle avoidance and other operations autonomously without human intervention.

[0033] Specifically, real-time data generated by the automatic driving domain controller during actual operation can be collected in real time, occupying as little memory resources and storage space as possible, and reducing the computing resources of the domain controller consumed by collection. At the same time, the distributed database can make the data collection cycle longer and reduce the frequency of interaction with the cloud. First, determine the data collection mode according to the type of the automatic driving sensor, select the data collection scheme according to the commonly used sensor types of automatic driving, determine the data collection mode, and then select the corresponding data collection communication middleware according to the distribution relationship of the storage space on the domain control architecture, and determine the database type according to the data collection communication middleware. If the local storage is collected locally, the zero-copy inter-process communication middleware is used, which greatly improves the bandwidth and reduces the memory consumption. If the local space is not enough to store, according to the characteristics of the domain control architecture, other controllers with storage space on the vehicle local area network are automatically searched, the Ethernet data distribution service middleware is used for data communication transmission and collection storage. Real-time data collection uses distributed data storage, sensor data selects the collection mode according to the data source type, enters the data file through the corresponding collection bridge, and then creates a file according to the storage method. If the local storage space is large, the zero-copy process communication middleware is used to write to the local database, and if the remote storage space on the local area network is large, the data distribution service communication middleware is used to write to the remote database, and the distributed database storage space on the entire vehicle domain control architecture is reasonably utilized.

[0034] In addition, in the storage of the data collected, the local storage can use a zero-copy process communication middleware, so that there is only one original data in the memory, and data references are transmitted between processes instead of data bodies, thereby greatly reducing the memory occupation and improving the data transmission speed. If the local database has already occupied too much, the system will detect and use a remote database on the vehicle domain control architecture, and the data communication manner adopted is a data distribution service communication middleware with the best data transmission performance in the local area network of the vehicle domain control to transmit data, so as to ensure the data transmission efficiency and accuracy.

[0035] As an optional implementation, the data collection mode includes a fixed-length data collection mode, an indefinite-length data collection mode, and a video coding data collection mode; the determination of the data collection mode according to the type of the automatic driving sensor includes: obtaining the data amount, data structure, and array length of the sensor data; if the data amount is less than or equal to a preset amount value, and the data structure and the array length are fixed values, the fixed-length data collection mode is selected; if the data amount is less than or equal to the preset amount value, and the data structure and the array length are non-fixed values, the indefinite-length data collection mode is selected; if the data amount of the sensor data is greater than the preset amount value, the video coding data collection mode is selected.

[0036] Specifically, it is understood that, in data generation, three data storage modes are selected according to the data type. The fixed-length data collection mode is mainly for sensor data with fixed data structure and fixed array length, such as GPS positioning, vehicle body posture, vehicle body inertial navigation, and the like. The fixed-length data is used to store these sensor information, and then written into the data storage library, which can ensure the fastest writing speed and no data redundancy. For indefinite-length data, the indefinite-length data collection mode refers to some sensors, such as millimeter wave radar and laser radar, which cannot determine the data length collected each time. A variable serialization data collection structure body is used to store data, and then written into the data storage library; a data length prefix field is added, the indefinite-length data is read according to the field, and then played back in turn, which ensures the integrity of the indefinite-length data and effectively saves the data space. For video data with the largest data amount, the video coding data collection mode is used, which is specially designed for camera video data with large data amount. The video coding storage mode is used instead of the original data storage mode, which flexibly compresses the video, reduces the data redundancy, and greatly reduces the storage space occupation while retaining as much image information as possible. According to the conditions, the coding configuration mode is flexibly selected to ensure that the video data saves the effective information in the smallest storage amount. The three modes can basically cover all data types of the automatic driving sensor under the vehicle domain control architecture, and ensure that each sensor data can be collected and saved in the optimal mode.

[0037] As an optional implementation, the fixed-length data acquisition mode includes: writing the sensor data into a fixed-length data structure; converting the fixed-length data structure into a binary file; and writing the binary file into a fixed-length data file.

[0038] As an optional implementation, the fixed-length data collection mode also includes: determining whether the fixed-length data file has reached the preset capacity value of the file; if the fixed-length data file has reached the preset capacity value of the file, closing the fixed-length data file, storing the fixed-length data file in the domain control real-time collection database, and creating a new fixed-length data file; determining whether the total amount of the fixed-length data file has reached the preset disk capacity; if the total amount of the fixed-length data file has reached the preset disk capacity, controlling the preset disk to delete the fixed-length data file with the earliest creation time.

[0039] Specifically, fixed-length data structure acquisition refers to standard fixed-length data structures in the code, such as fixed-byte arrays, fixed-length floating-point types, fixed-length integers, and fixed-length structures composed of these fixed-length elements. After the fixed-length sensor data is entered into the fixed-length data structure, it is converted into a binary file and written into the fixed-length data file. The data is written sequentially by appending the data to the beginning and end. When the data file reaches a specific size, it is closed and saved to the domain control real-time acquisition database. Then, new files are dynamically created and data is continuously written. If the total number of files is within the preset specified disk capacity, new data files can be continuously created until the total size of all files reaches the preset disk capacity. Each time a new file is created, the oldest file needs to be deleted to ensure that the database does not exceed the preset disk space size. It should be noted that when replaying this part of the data, only the data structure used needs to be read to read the deterministic length, which can be read out sequentially, completing the corresponding data playback process after data acquisition.

[0040] As an optional implementation, the variable-length data acquisition mode includes: writing the sensor data into a serialized data acquisition structure; and writing the serialized data acquisition structure into a data storage repository.

[0041] As an optional implementation, the serialized data acquisition structure includes a vector and / or a linked list.

[0042] Specifically, for indefinite length data structure collection, a data structure with variable length such as a vector or a linked list in code can be used to store the indefinite length sensor data. Before storage, a "length prefix protocol" needs to be used, that is, the total length of the indefinite length data is stored as a prefix in the header of the data structure in the form of a standard 64-bit integer, and then the subsequent content is serialized and filled in sequence, that is, it is regarded as completing a data storage. When additional indefinite length data is stored, a 64-bit integer is needed in the header to store the data length to represent the total length of the indefinite length data.

[0043] When the data is played back, the 64-bit integer is read first, and then the binary number after the given integer is read according to the given integer, and the original indefinite length data is restored by deserialization. In this way, all indefinite length data is played back.

[0044] As an optional implementation, the video encoding data collection mode includes: using the H264 encoding format of the video standard to perform video encoding compression on the sensor data; and writing the video encoding into a data storage.

[0045] For video encoding compression data collection, the collected automatic driving camera signal can be video encoded and compressed in the H264 encoding format of the video standard, and stored in the database. When the video is played back, it is decoded according to the standard H264 format, that is, the playback of the collected data is completed. It should be clear that this process of H264 encoding can be software algorithm encoding, or encoding by an encoding hardware module provided by the automatic driving domain controller.

[0046] According to another aspect of the embodiments of the present application, a data real-time collection device of an automotive domain control middleware is also provided. The device can include:

[0047] a sensor acquisition module configured to acquire a type of an automatic driving sensor;

[0048] a data collection mode determination module configured to determine a data collection mode according to the type of the automatic driving sensor;

[0049] a data processing module configured to process sensor data according to the data collection mode;

[0050] a data writing module configured to write the processed data into a data file;

[0051] a data storage mode determination module configured to determine a data storage mode according to a storage space;

[0052] a data collection communication middleware determination module configured to determine a data collection communication middleware according to the data storage mode;

[0053] a database type determination module configured to determine a database type according to the data collection communication middleware;

[0054] a database writing module configured to write the data file into the database.

[0055] Figure 2 is a structural block diagram of an optional electronic device according to an embodiment of the present application, as shown in the figure, comprising a processor 202, a communication interface 204, a memory 206 and a communication bus 208, wherein the processor 202, the communication interface 204 and the memory 206 complete mutual communication through the communication bus 208, wherein, Figure 2

[0056] the memory 206 is configured to store a computer program;

[0057] the processor 202 is configured to implement the following steps when executing the computer program stored in the memory 206:

[0058] acquire a type of an automatic driving sensor;

[0059] determine a data collection mode according to the type of the automatic driving sensor;

[0060] process sensor data according to the data collection mode;

[0061] write the processed data into a data file;

[0062] determine a data storage mode according to a storage space;

[0063] determine a data collection communication middleware according to the data storage mode;

[0064] determine a database type according to the data collection communication middleware;

[0065] write the data file into the database.

[0066] According to still another aspect of the embodiment of the present application, an electronic device for a data real-time collection method of an automobile domain control middleware is further provided, which can be a server, a terminal or a combination thereof.

[0067] Optionally, in the embodiment, the communication bus can be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus or the like. The communication bus can be divided into an address bus, a data bus, a control bus and the like. For the convenience of representation, Figure 2 ​Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0068] The communication interface is used for communication between the above electronic device and other devices.

[0069] The memory may include RAM, or may include non-volatile memory, such as at least one disk memory. Alternatively, the memory may also be at least one storage device located away from the aforementioned processor.

[0070] It may also include but is not limited to other module units in the real-time data acquisition device of the above-mentioned automobile domain control middleware, which will not be repeated in this example.

[0071] According to another aspect of an embodiment of the present application, a storage medium is further provided. Optionally, in this embodiment, the storage medium can be used to execute program code of a real-time data acquisition method for a vehicle domain control middleware.

[0072] Optionally, in this embodiment, the above-mentioned storage medium may be located on at least one network device among the multiple network devices in the network shown in the above-mentioned embodiment.

[0073] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the following steps:

[0074] Get the type of autonomous driving sensor;

[0075] determining a data collection mode according to the type of the autonomous driving sensor;

[0076] processing the sensor data according to the data acquisition mode;

[0077] Write the processed data into a data file;

[0078] Determine the data storage method based on the storage space;

[0079] Determine the data acquisition communication middleware according to the data storage method;

[0080] Determining the database type according to the data acquisition and communication middleware;

[0081] The data file is written into the database.

[0082] For specific examples in this embodiment, reference can be made to the examples described in the above embodiments, which will not be described in detail in this embodiment.

[0083] Optionally, in the embodiment, the storage medium can include, but is not limited to, a U disk, a ROM, a RAM, a mobile hard disk, a magnetic disk or an optical disk, and various storage medium capable of storing program codes.

[0084] The serial numbers of the embodiments of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments.

[0085] The integrated units in the above embodiments, if realized in the form of software function units and sold or used as independent products, can be stored in the above computer-readable storage medium. Based on such understanding, the technical solutions of the present application, essentially or in part or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing one or more electronic devices (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application.

[0086] In the above embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0087] In the several embodiments provided by the present application, it should be understood that the disclosed client can be implemented in other ways. Of course, the above device embodiment is only illustrative, for example, the division of the units is only a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, unit or module, and can be electrical or other forms.

[0088] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place or distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the scheme provided in the embodiments.

[0089] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit.

[0090] In the above-described embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0091] The above only describes the preferred embodiments of the present application. It should be pointed out that, for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should also be considered as the protection scope of the present application.

Claims

1. A data real-time collection method of an automotive domain control middleware, characterized in that, The method comprises the following steps: acquiring the type of an autonomous driving sensor; acquiring the data volume, data structure and array length of sensor data; if the data volume is less than or equal to a preset value, and the data structure and the array length are fixed values, a fixed-length data acquisition mode is selected; if the data volume is less than or equal to the preset value, and the data structure and the array length are non-fixed values, a variable-length data acquisition mode is selected; if the data volume is greater than the preset value, a video coding data acquisition mode is selected; processing the sensor data according to the data acquisition mode; writing the processed data into a data file; determining a data storage mode according to the storage space; determining a data acquisition communication middleware according to the data storage mode; determining a database type according to the data acquisition communication middleware; writing the data file into the corresponding database; the fixed-length data acquisition mode comprises the following steps: writing the sensor data into a fixed-length data structure; converting the fixed-length data structure into a binary file; writing the binary file into a fixed-length data file; the variable-length data acquisition mode comprises the following steps: writing the sensor data into a serialized data acquisition structure; writing the serialized data acquisition structure into a database; the video coding data acquisition mode comprises the following steps: performing video coding compression on the sensor data by using a H264 coding format of a video standard; writing the video coding into a database.

2. The method of claim 1, wherein the data is collected in real time. The fixed-length data acquisition mode further comprises the following steps: determining whether the fixed-length data file reaches a file preset capacity value; if the fixed-length data file reaches the file preset capacity value, closing the fixed-length data file, storing the fixed-length data file into a domain control real-time acquisition database, and creating a new fixed-length data file; determining whether the total amount of the new fixed-length data file reaches a preset disk capacity; if the total amount of the new fixed-length data file reaches the preset disk capacity, controlling a preset disk to delete the fixed-length data file with the earliest creation time.

3. The method of claim 1, wherein the data is collected in real time. The serialized data acquisition structure comprises a vector and / or a linked list.

4. A data real-time acquisition device for automotive domain control middleware, characterized in that, The method comprises the following steps: a sensor acquisition module is configured to acquire the type of an autonomous driving sensor; a data acquisition mode determination module is configured to acquire the data volume, data structure and array length of sensor data, and select a fixed-length data acquisition mode if the data volume is less than or equal to a preset value, and the data structure and the array length are fixed values; select a variable-length data acquisition mode if the data volume is less than or equal to the preset value, and the data structure and the array length are non-fixed values; select a video coding data acquisition mode if the data volume is greater than the preset value; the fixed-length data acquisition mode comprises the following steps: writing the sensor data into a fixed-length data structure; converting the fixed-length data structure into a binary file; and writing the binary file into a fixed-length data file; the variable-length data acquisition mode comprises the following steps: writing the sensor data into a serialized data acquisition structure; and writing the serialized data acquisition structure into a database; the video coding data acquisition mode comprises the following steps: performing video coding compression on the sensor data by using a H264 coding format of a video standard; and writing the video coding into a database. The data processing module is configured to process sensor data according to a data acquisition mode. The data writing module is configured to write the processed data into a data file. The data storage mode determination module is configured to determine a data storage mode according to a storage space. The data acquisition communication middleware determination module is configured to determine a data acquisition communication middleware according to the data storage mode. The database type determination module is configured to determine a database type according to the data acquisition communication middleware. The database writing module is configured to write the data file into a corresponding database.

5. An electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein, The processor, the communication interface and the memory complete mutual communication through the communication bus, and the method comprises the steps of: The memory is configured to store a computer program. The processor is configured to execute the steps of the data real-time acquisition method of the automobile domain control middleware according to any one of claims 1 to 3 by running the computer program stored in the memory.

6. A computer readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is configured to execute the steps of the data real-time acquisition method of the automobile domain control middleware according to any one of claims 1 to 3 when running.

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