A data conversion method, data structure, conversion device, medium and equipment
By designing an aligned storage method for data packet headers, frame headers, and data areas, the operational problems caused by large data volumes on embedded platforms were solved, and data storage space and processing power were optimized.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHUSU (SHENZHEN) TECH CO LTD
- Filing Date
- 2022-06-22
- Publication Date
- 2026-06-26
AI Technical Summary
When simulating the raw data collected from autonomous vehicles on an embedded platform, the large amount of data causes the platform to malfunction.
A data conversion method and data structure are adopted. By designing the data packet header, frame header and data area, and using the alignment and storage of fixed header and variable header with the message body, the data storage space and processing power requirements are reduced.
It effectively reduces the data storage space requirements and lowers the computing power consumption for data processing, making it suitable for simulation on embedded platforms.
Smart Images
Figure CN117312423B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of data storage technology, and in particular to a data conversion method, data structure, conversion device, medium and equipment. Background Technology
[0002] Before mass production or operation of autonomous vehicles, the onboard autonomous driving system undergoes verification to ensure the proper functioning of each processing module. Current technologies often simulate module operation on platforms with powerful processors, neglecting the fact that actual autonomous vehicles use embedded platforms. Embedded platforms lack significant data processing capabilities. Therefore, even if the autonomous driving system passes verification, it may encounter problems on the actual vehicle's embedded platform due to its limited processing power and storage space. Furthermore, directly simulating raw data collected during autonomous vehicle operation on an embedded platform can lead to malfunctions due to the large volume of data. Summary of the Invention
[0003] To address the problem in existing technologies where the large volume of raw data collected during vehicle operation on an embedded platform causes the platform to malfunction, this application proposes a data conversion method, data structure, conversion device, medium, and equipment.
[0004] Firstly, this application proposes a data conversion method, comprising: converting real driving data collected by an autonomous vehicle to obtain compact driving data, wherein the data structure of the compact driving data includes: a data packet header, which stores the acquisition time information and size information of the data packet; a data frame header, which stores the data content of the data packet, wherein the data frame header includes: a fixed header, which stores sensor information of multiple sensors of the same model in the data packet; multiple data areas, which store road data collected by different sensors respectively, wherein the data areas include: a variable header, which stores sensor type information, size information of road data collected by the sensor, and acquisition time corresponding to the road data; and a message body, which stores the road data collected by the sensor, wherein the fixed header adopts a preset number of bytes, the variable header and the message body are aligned with the size of the fixed header, and one or more times the preset number of bytes are allocated to the variable header and the message body according to the required space, and the corresponding data is stored thereon.
[0005] Optionally, the sensor information includes the number of sensors in operation and their corresponding sensor numbers.
[0006] Optionally, the fixed header stores the administrator information and vehicle information to which the data packet belongs.
[0007] Optionally, the size of the data packet can be stored in a fixed header, wherein the size of the road data is accumulated during the recording of road data to obtain the size of the data packet.
[0008] Optionally, the message body includes: a data identification unit, which identifies the collected data stored in the message body; a data length unit, which represents the length of the collected data stored in the message body; and a data storage unit, which stores the collected data.
[0009] Optional, the default number of bytes is a positive integer multiple of 8 bytes.
[0010] Secondly, this application proposes a data structure, including: a data packet header, which stores the acquisition time information and size information of the data packet; a data frame header, which stores the data content of the data packet, wherein the data frame header includes: a fixed header, which stores the sensor information of multiple sensors of the same model in the data packet; multiple data areas, which store road data collected by different sensors respectively, wherein the data areas include: a variable header, which stores the sensor type information, the size information of the road data collected by the sensor, and the acquisition time corresponding to the road data; and a message body, which stores the road data collected by the sensor. The fixed header adopts a preset number of bytes, and the variable header and message body are aligned with the size of the fixed header. According to the required space of the variable header and message body, one or more times the preset number of bytes are allocated to the variable header and message body respectively to store the corresponding data.
[0011] Thirdly, this application proposes a data conversion device for converting real driving data collected by autonomous vehicles into compact driving data. The compact driving data structure includes: a data packet header, which stores the acquisition time information and size information of the data packet; a data frame header, which stores the data content of the data packet, wherein the data frame header includes: a fixed header, which stores sensor information of multiple sensors of the same model in the data packet; multiple data areas, which store road data collected by different sensors respectively, wherein the data areas include: a variable header, which stores sensor type information, size information of road data collected by the sensor, and acquisition time information corresponding to the road data; and a message body, which stores the road data collected by the sensor. The fixed header adopts a preset number of bytes, and the variable header and message body are aligned with the fixed size. The space required by the variable header and message body is allocated by one or more times the preset number of bytes to store the corresponding data.
[0012] Fourthly, this application provides a computer-readable storage medium storing a computer program, which, when executed, causes the computer to perform the data conversion method in Scheme Two.
[0013] Fifthly, this application provides a computer device including a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the data conversion method in Scheme 2.
[0014] In the data conversion process, this application adopts a new data format to store road data collected by autonomous vehicles, thereby reducing the storage space of the road data collected by the vehicle and reducing the computing power required for data processing. This facilitates a series of processing processes, such as simulation, on an embedded platform using the raw road data collected by the vehicle. Attached Figure Description
[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description exemplarily illustrate some embodiments of this application.
[0016] Figure 1 This is a schematic diagram of one implementation of the data structure in the data conversion method of this application;
[0017] Figure 2 This is a schematic diagram of an example of the data structure in the data conversion method of this application.
[0018] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation
[0019] The preferred embodiments of this application will now be described in detail with reference to the accompanying drawings, so that the advantages and features of this application can be more easily understood by those skilled in the art, thereby providing a clearer and more definite definition of the scope of protection of this application.
[0020] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.
[0021] Before mass production or operation of autonomous vehicles, the onboard autonomous driving system undergoes verification to confirm the proper functioning of each processing module. Current technologies often simulate the operation of these modules on platforms with powerful processors, neglecting the fact that actual autonomous vehicles utilize embedded platforms. Embedded platforms lack significant data processing capabilities. Therefore, even if the autonomous driving system passes verification, problems may arise when running on the embedded platform in a real vehicle. Due to the limited processing power and storage space of embedded platforms, directly simulating raw data collected during vehicle operation on them can lead to malfunctions due to the large volume of data. Therefore, reducing the volume of raw data collected from the vehicle and minimizing the required storage space is crucial for successful simulation on embedded platforms.
[0022] To address the aforementioned problems, this application proposes a data conversion method, data structure, conversion device, medium, and equipment. During the data conversion process, a newly designed data structure is used to store the raw data collected from the vehicle, allocating storage space to specific bytes to avoid wasting data space. The data conversion method includes: converting real driving data collected by autonomous vehicles into compact driving data. The compact driving data structure includes: a data packet header, which stores the acquisition time information and size information of the data packet; a data frame header, which stores the data content of the data packet, including: a fixed header, which stores information about multiple sensors of the same model in the data packet; multiple data areas, which store road data collected by different sensors respectively, including: a variable header, which stores sensor type information, the size information of the road data collected by the sensor, and the acquisition time corresponding to the road data; and a message body, which stores the road data collected by the sensor. The fixed header adopts a preset number of bytes, and the variable header and message body are aligned with the size of the fixed header. The space required by the variable header and message body is allocated by one or more times the preset number of bytes to store the corresponding data.
[0023] Because the original road data collected by vehicles contains a large amount of unused data space in its original format, road data occupies a significant amount of storage space, and processing this road data also requires considerable computing power. Therefore, this application proposes a data structure that plans data storage down to specific bytes. Furthermore, through data storage alignment operations, it avoids wasting storage space, making the stored data more compact when using the data format of this application. This reduces the required storage space and, consequently, the computing power required for data processing, making it more suitable for simulation processes on embedded platforms.
[0024] The technical solutions of this application and how they solve the aforementioned technical problems will be described in detail below with specific embodiments. The specific embodiments described below can be combined with each other to form new embodiments. The same or similar ideas or processes described in one embodiment may not be repeated in other embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.
[0025] Figure 1 This is a schematic diagram of one implementation of the data structure in the data conversion method of this application.
[0026] exist Figure 1In the embodiments shown, the data conversion method of this application converts the real driving data collected by the autonomous vehicle into compact driving data. The data structure corresponding to the compact driving data includes a data packet header, which stores the acquisition time information of the data in the data packet and the size information of the data packet.
[0027] In this embodiment, the data structure mentioned in this application refers to the data packet structure used to store road data collected from vehicles. This data structure first includes a data packet header, which primarily represents some basic attributes of the data packet, including the data collection time of the corresponding vehicle, the size of the data packet, etc. The data collection time and size are considered part of the data packet's attributes. In practical applications, other attribute information of the data packet can be stored in the data packet header according to actual data processing needs, thus representing the data packet's attributes. This facilitates the retrieval of the basic information of the data packet during reading.
[0028] exist Figure 1 In the embodiments shown, the data conversion method of this application includes a data frame header in the compact driving data data structure, which stores the data content of the data packet.
[0029] In this implementation, the data frame header is used to store the data content of the data packet. For example, for road data collected by an autonomous vehicle, the data frame header stores road data collected by various sensors, including image data collected by cameras and road point cloud data collected by radar.
[0030] exist Figure 1 In the embodiments shown, the data conversion method of this application includes a fixed header and multiple data areas in the data structure of compact driving data.
[0031] In this embodiment, when collecting road data for autonomous vehicles, the vehicles are often equipped with multiple identical sensors to collect data from different locations. To ensure a one-to-one correspondence between these identical sensors and the collected data, the sensor information is stored in the fixed-head section.
[0032] Optionally, the sensor information includes the number of sensors in operation and their corresponding sensor numbers, which facilitates the differentiation of sensors.
[0033] Specifically, multiple sensors of the same model are commonly found in multiple cameras on a vehicle. For example, an autonomous vehicle may have 11 cameras capturing road images. These 11 cameras are of the same model, but only 7 of them are activated during the actual shooting process. Therefore, a one-to-one relationship is established between the seven sets of image data and the seven cameras. The fixed-head section stores the number of cameras that actually capture images during the data acquisition process and their corresponding camera numbers. In real-world scenarios, camera data often involves multiple cameras of the same model, while other types of sensor data often correspond to a single sensor, such as LiDAR or GPS sensors. It should be noted that if other data also corresponds to multiple sensors of the same model, the information for these multiple sensors of the same type can also be represented in the fixed-head section.
[0034] Optionally, the fixed header stores the administrator information and vehicle information to which the data packet belongs.
[0035] In this optional embodiment, the fixed header also stores the manager information corresponding to the data packet and the vehicle information of the data packet collection vehicle, thereby facilitating the management of the entire data packet.
[0036] Optionally, the size of the data packet can be stored in a fixed header, wherein the size of the road data is accumulated during the recording of road data to obtain the size of the data packet.
[0037] In this optional embodiment, when recording the data packet in the fixed header, an increment verification is performed on the data packet, and the size of the data packet is continuously accumulated. After the data packet recording is completed, the size of the data packet is also counted. This eliminates the need for a second verification of the data packet size.
[0038] exist Figure 1 In the illustrated embodiment, the data frame header portion of the data structure in this application includes multiple data areas. These data areas are used to store data collected by each sensor. One data area corresponds to one sensor.
[0039] exist Figure 1 In the embodiment shown, the data area includes a variable head, which stores the type of sensor, the size of the road data collected by the sensor, and the collection time corresponding to the road data; and a message body, which stores the road data collected by the sensor.
[0040] In this embodiment, the data area consists of two parts: a variable header and a message body. The variable header stores information about the sensor type corresponding to the data area, the size of the data stored in the data area, and the data acquisition time corresponding to the data stored in the data area.
[0041] Specifically, if a data area stores image data, the variable header of that data area stores the corresponding camera type and number (e.g., camera number 2 out of 7 operating cameras), as well as the acquisition time and size of the image data. Alternatively, if a data area stores radar point cloud data, the variable header of that data area stores the sensor type corresponding to the radar point cloud data (e.g., LiDAR), as well as the acquisition time and size of the radar point cloud data. The variable header of the data area associates the actually acquired data with the corresponding sensor, facilitating data management.
[0042] In this embodiment, the data area includes a message body, which stores the data collected by the sensor.
[0043] Optionally, the message body includes: a data identification unit, which identifies the collected data stored in the message body; a data length unit, which represents the length of the collected data stored in the message body; and a data storage unit, which stores the collected data.
[0044] In this optional embodiment, the message body includes a data identification unit, which is mainly used to identify the stored data, indicating that the part stores specific data, and is mainly used in the data reading process; a data length unit indicates the length of the data stored in the message body; and the data storage unit is the specific data content.
[0045] exist Figure 1 In the illustrated embodiment, the data conversion method of this application uses a data alignment approach for the compact driving data structure, effectively utilizing storage space in the data packet and avoiding waste of unused space. Specifically, the fixed header uses a preset byte size, while the variable header and message body are aligned to the size of the fixed header. Based on the required space of the variable header and message body, one or more times the preset byte size are allocated to each, and the corresponding data is stored.
[0046] Optionally, the default number of bytes is a positive integer multiple of 8 bytes. For example, the default number of bytes is 8 bytes or 16 bytes, etc.
[0047] Specifically, for example, the preset byte count is 8 bytes. This means the data packet uses 8 bytes of space to store the fixed header, while the variable header and message body need to be aligned with this 8-byte space. In other words, 8 bytes are allocated for the variable header to store its contents. Similarly, 8 bytes are initially allocated for the message body to store the data. Because the data collected by a particular sensor is often larger than 8 bytes, if the data is not fully stored after the initial 8 bytes are used, another 8 bytes are allocated to store the remaining data until the sensor's data is stored. The process is similar for multiple data areas. By aligning the storage space, the unused space in the data packet is significantly reduced, thus decreasing the packet size. This facilitates data transmission and processing, making it more suitable for embedded platforms with limited storage space and processing capabilities.
[0048] Specifically, Figure 2 An example of a data structure in the data transformation method of this application is shown.
[0049] The following is combined with Figure 2 The data structure of this application will be further explained. Figure 2 Taking an 8-byte header as an example, the numbers 0-7 represent the byte numbers within the 8 bytes. First, in the fixed header section, the number of cameras is represented by one byte. However, in practice, if a vehicle has a large number of cameras, one byte may not be sufficient; in this case, two bytes can be used. Adjustments can be made according to specific circumstances. The section on camera type and camera number uses four bytes. This indicates which cameras among the multiple cameras mounted on the vehicle are collecting data. The size of the data packet is represented by one byte, and the owner of the data packet and the vehicle are each represented by one byte. The fixed header section uses a total of 8 bytes, and the specific byte allocation can be adjusted appropriately based on the actual situation. Figure 2 The example shown is merely an instance and does not limit the scope of protection of this application.
[0050] like Figure 2 As shown, after the 8 bytes of the fixed header are determined, both the variable header and the message body are aligned to 8 bytes. Each sensor collects data, and one set of variable headers and data bodies corresponds to it. Therefore, a single data packet may contain multiple sets of variable headers and data bodies. Figure 2 Two groups are shown in the examples.
[0051] Specifically, first, 8 bytes are allocated to represent the sensor type, data size, and timestamp in the variable header portion of the data collected by a sensor; then, 8 bytes are allocated to represent the data identifier and data length of the data collected by that sensor in the message body; then, another 8 bytes are allocated to store the data collected by that sensor. If 8 bytes are insufficient, another 8 bytes are allocated, until the data collected by that sensor is completely stored. This process is known as 8-byte alignment. By using 8-byte alignment, data is compacted, avoiding wasted storage space in the data packet, thereby reducing the size of the data packet.
[0052] It should be noted that the preset number of bytes can be set to a multiple of 8, such as 8 bytes, 16 bytes, etc., with 8 bytes or 16 bytes being the preferred choice. Figure 2 The fixed header, variable header, and some items in the message body, such as the number of cameras and sensor type, shown can be added or removed according to the actual situation; the number of bytes corresponding to each item can also be adjusted appropriately according to the actual situation. This application is approved. Figure 2 The data structure and alignment concept of this application are explained in tabular form. However, in practical applications, the data structure of this application is not in tabular form.
[0053] The data conversion method of this application adopts a newly designed data structure. During the data conversion process, the data storage is planned to specific bytes. In addition, through the alignment operation during data storage, the waste of storage space is avoided. When using the data format of this application for data storage, the data is more compact, thereby reducing the storage space required for data and thus reducing the computing power required for data processing. This method is more suitable for simulation processes on embedded platforms.
[0054] In one embodiment of this application, a data structure includes: a data packet header storing data acquisition time information and data packet size information; a data frame header storing the data content of the data packet, wherein the data frame header includes: a fixed header storing sensor information of multiple sensors of the same model in the data packet; multiple data areas storing road data collected by different sensors, wherein the data areas include: a variable header storing the sensor type, the size of the road data collected by the sensor, and the acquisition time corresponding to the road data; and a message body storing the road data collected by the sensor. The fixed header has a preset byte size, and the variable header and message body are aligned with the size of the fixed header. One or more preset byte numbers are allocated to the variable header and message body according to their required space for storing the corresponding data.
[0055] Optionally, the sensor information includes the number of sensors in operation and their corresponding sensor numbers.
[0056] Optionally, the fixed header also stores information about the administrator to whom the data packet belongs and information about the vehicle to which it belongs.
[0057] Optionally, the size of the data packet can be represented in the fixed header, wherein the size of the collected data is accumulated during the data recording process to obtain the size of the data packet.
[0058] Optionally, the message body includes: a data acquisition identifier unit, which identifies the data acquisition stored in the message body; a data acquisition length unit, which represents the length of the data acquisition stored in the message body; and a data storage unit, which stores the data acquisition.
[0059] Optional, the default number of bytes is a positive integer multiple of 8 bytes.
[0060] The data structure of this application plans the storage of data into specific bytes. In addition, through the alignment operation during data storage, it avoids the waste of storage space. When using the data format of this application for data storage, the data is more compact, thereby reducing the storage space required for data and thus reducing the computing power required for data processing. It is more suitable for simulation processes on embedded platforms.
[0061] In one embodiment of this application, a data conversion device is provided for converting real driving data collected by an autonomous vehicle into compact driving data. The compact driving data structure includes: a data packet header storing the acquisition time information and size information of the data packet; a data frame header storing the data content of the data packet, wherein the data frame header includes: a fixed header storing sensor information of multiple sensors of the same model in the data packet; multiple data areas storing road data collected by different sensors, wherein the data areas include: a variable header storing sensor type information, the size information of the road data collected by the sensor, and the acquisition time information corresponding to the road data; and a message body storing the road data collected by the sensor. The fixed header uses a preset number of bytes, and the variable header and message body are aligned with the fixed size. One or more times the preset number of bytes are allocated to the variable header and message body according to their required space for storing the corresponding data.
[0062] Optionally, the sensor information includes the number of sensors in operation and their corresponding sensor numbers.
[0063] Optionally, the fixed header also stores information about the administrator to whom the data packet belongs and information about the vehicle to which it belongs.
[0064] Optionally, the size of the data packet can be represented in the fixed header, wherein the size of the collected data is accumulated during the data recording process to obtain the size of the data packet.
[0065] Optionally, the message body includes: a data acquisition identifier unit, which identifies the data acquisition stored in the message body; a data acquisition length unit, which represents the length of the data acquisition stored in the message body; and a data storage unit, which stores the data acquisition.
[0066] Optional, the default number of bytes is a positive integer multiple of 8 bytes.
[0067] The data conversion device of this application adopts a newly designed data structure during the data conversion process, which plans the storage of data to specific bytes. In addition, through the alignment operation during data storage, it avoids the waste of storage space, making the data more compact when using the data format of this application, thereby reducing the storage space required for data, and thus reducing the computing power required for data processing, making it more suitable for simulation processes on embedded platforms.
[0068] In one specific embodiment of this application, a computer-readable storage medium stores a computer program, wherein the computer program is operated to perform the data conversion method described in any embodiment. The storage medium may be located directly in hardware, in a software module executed by a processor, or in a combination of both.
[0069] Software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in this art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium.
[0070] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor can be a microprocessor, but alternatively, it can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors incorporating a DSP core, or any other such configuration. Alternatively, the storage medium can be integrated with the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in the user terminal. Alternatively, the processor and storage medium can reside as discrete components in the user terminal.
[0071] In one specific embodiment of this application, a computer device includes a processor and a memory, the memory storing a computer program, wherein the processor operates the computer program to perform the data conversion method described in any embodiment.
[0072] In the embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple 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 connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.
[0073] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0074] The above are merely embodiments of this application and do not limit the scope of this patent application. Any equivalent structural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.
Claims
1. A data conversion method, characterized in that, include: The real driving data collected by autonomous vehicles is transformed to obtain compact driving data, wherein the data structure of the compact driving data includes: The data packet header stores information about the acquisition time of the data in the data packet and the size information of the data packet. A data frame header, which stores the data content of the data packet, wherein the data frame header includes: A fixed head that stores sensor information of multiple sensors of the same model in the data packet; Multiple data zones, each storing road data collected by different sensors, wherein the data zones include: The variable head stores information about the sensor type, the size of the road data collected by the sensor, and the collection time information corresponding to the road data. The message body stores the road data collected by the sensor, wherein... The fixed header has a preset byte size that is a positive integer multiple of 8 bytes. The variable header and the message body are aligned with the size of the fixed header. Based on the required space of the variable header and the message body, one or more times the preset byte size are allocated to the variable header and the message body respectively to store the corresponding data. One or more times the preset byte size is allocated to represent the sensor type, data size and timestamp of the variable header part in the data collected by a sensor. One or more times the preset byte size is allocated to represent the data identifier and data length of the sensor collected data in the message body. One or more times the preset byte size is allocated to store the data collected by the sensor.
2. The data conversion method according to claim 1, characterized in that, The sensor information includes the number of sensors in operation and their corresponding sensor numbers.
3. The data conversion method according to claim 1, characterized in that, The fixed header stores the manager information and the device information to which the data packet belongs.
4. The data conversion method according to claim 1, characterized in that, The size of the data packet is stored in the fixed header, wherein the size of the road data is accumulated during the recording of the road data to obtain the size of the data packet.
5. The data conversion method according to claim 1, characterized in that, The message body includes: A data identification unit identifies the collected data stored in the message body; A data length unit, which represents the length of the collected data stored in the message body; A data storage unit that stores the collected data.
6. A data structure, characterized in that, include: The data packet header stores information about the acquisition time of the data in the data packet and the size information of the data packet. A data frame header, which stores the data content of the data packet, wherein the data frame header includes: A fixed head that stores sensor information of multiple sensors of the same model in the data packet; Multiple data zones, each storing road data collected by different sensors, wherein the data zones include: The variable head contains information about the type of sensor, the size of the road data collected by the sensor, and the road... The data collection time information corresponding to the road data is stored; The message body stores the road data collected by the sensor, wherein... The fixed header has a preset byte size that is a positive integer multiple of 8 bytes. The variable header and the message body are aligned with the size of the fixed header. Based on the required space of the variable header and the message body, one or more times the preset byte size are allocated to the variable header and the message body respectively to store the corresponding data. One or more times the preset byte size is allocated to represent the sensor type, data size and timestamp of the variable header part in the data collected by a sensor. One or more times the preset byte size is allocated to represent the data identifier and data length of the sensor collected data in the message body. One or more times the preset byte size is allocated to store the data collected by the sensor.
7. A data conversion device, characterized in that, The data conversion device is used to convert real driving data collected by autonomous vehicles into compact driving data, wherein the data structure of the compact driving data includes: The data packet header stores information about the acquisition time of the data in the data packet and the size information of the data packet. A data frame header, which stores the data content of the data packet, wherein the data frame header includes: A fixed head that stores sensor information of multiple sensors of the same model in the data packet; Multiple data zones, each storing road data collected by different sensors, wherein the data zones include: The variable head stores information about the sensor type, the size of the road data collected by the sensor, and the collection time information corresponding to the road data. The message body stores the road data collected by the sensor, wherein... The fixed header has a preset byte size that is a positive integer multiple of 8 bytes. The variable header and the message body are aligned with the size of the fixed header. Based on the required space of the variable header and the message body, one or more times the preset byte size are allocated to the variable header and the message body respectively to store the corresponding data. One or more times the preset byte size is allocated to represent the sensor type, data size and timestamp of the variable header part in the data collected by a sensor. One or more times the preset byte size is allocated to represent the data identifier and data length of the sensor collected data in the message body. One or more times the preset byte size is allocated to store the data collected by the sensor.
8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed, it causes the computer to perform the data conversion method according to any one of claims 1-5.
9. A computer device comprising a processor and a memory, characterized in that, The memory stores a computer program that is operated by a processor to perform the data conversion method according to any one of claims 1-5.