A method and system for recording autonomous driving vehicle event data

Abstract

The present invention provides a system and method for recording autonomous vehicle event data, wherein the system includes: a daemon thread unit for activating / deactivating a monitoring thread unit and a recording thread unit according to a set thread control rule based on a monitoring count and a recording count; a monitoring thread unit for storing the vehicle data, autonomous driving-related information, and camera data transmitted by a data transmission unit in chronological order and performing monitoring counts; and a recording thread unit for reading and parsing the data stored by the monitoring thread unit to generate a parsing result, initiating data recording when the parsing result meets a recording start condition, and storing the data recording result and performing a recording count at the end of data recording. The system and method achieve complete recording of autonomous vehicle collision events and collision risk events while taking into account the integrity and security of the data, providing an important basis for autonomous vehicle accident analysis and liability determination.

Description

Technical Field

[0001] The present invention relates to the field of vehicle data processing, and more particularly, to a method and system for recording autonomous vehicle event data. Background Art

[0002] The Vehicle Event Data Recording (EDR) system primarily records vehicle driving data such as speed, acceleration, and engine status within the approximately five seconds before an accident, as well as operational data such as brake pedal operation, accelerator pedal operation, and steering wheel operation. It also records safety status information such as seatbelt use. After an accident, it primarily records data such as airbag deployment and collision velocity changes. This allows accident investigators, emergency responders, and researchers to easily access important information about the accident. The more vehicles equipped with EDR systems, and the more their recorded data is accessed and applied, the more it will promote advancements in accident investigation technology and methods, ultimately generating greater social benefits.

[0003] Existing EDRs are integrated within the airbag control module and typically record 17 Class A data items and 43 Class B data items. They can record at least three consecutive collision events. The EDR uses an MCU with a CAN bus interface as a controller, collecting sensor data via the CAN bus.

[0004] However, with the application of various autonomous driving technologies, new sensors such as images, video, and radar are being added, as well as the activation and deactivation states of autonomous driving systems. Traditional EDRs have limited MCU performance, and the CAN bus speed can only support the storage of small amounts of driving parameters, but are no longer able to record large amounts of on-site data such as images and videos. In the event of a collision, increased recording of this data clearly facilitates accident analysis and liability determination. Therefore, a new method is urgently needed to more comprehensively record autonomous vehicle event data. For vehicles with autonomous driving capabilities, this method can monitor large amounts of data, such as images, video, and radar information, to automatically identify events with a collision risk and record the relevant data when such events occur. Summary of the Invention

[0005] In order to solve the technical problem that the existing technology cannot comprehensively record autonomous driving vehicle event data, the present invention provides a method and system for recording autonomous driving vehicle event data.

[0006] According to another aspect of the present invention, a system for recording event data of an autonomous driving vehicle is provided, the system comprising:

[0007] The daemon thread unit is used to start / shut down the monitoring thread unit and the recording thread unit according to the set thread control rules based on the monitoring count and the recording count;

[0008] A data transmission unit, used to transmit vehicle data collected by vehicle sensors, autonomous driving related information output by the vehicle autonomous driving system, and camera data to the monitoring thread unit;

[0009] a monitoring thread unit, configured to store the vehicle data, the autonomous driving related information, and the camera data transmitted by the data transmission unit in chronological order, and perform monitoring counting;

[0010] A recording thread unit is used to read and parse the vehicle data and the autonomous driving related information stored in the monitoring thread unit to generate a parsing result, start data recording when the parsing result meets the recording start condition, store the data recording result at the end of data recording, and perform record counting.

[0011] According to one aspect of the present invention, a method for recording event data of an autonomous driving vehicle is provided, the method comprising:

[0012] The daemon thread unit starts / closes the monitoring thread unit and the recording thread unit according to the set thread control rules based on the monitoring count and the recording count;

[0013] The data transmission unit transmits the vehicle data collected by the vehicle sensor, the autonomous driving related information output by the vehicle autonomous driving system, and the camera data to the monitoring thread unit;

[0014] The monitoring thread unit stores the vehicle data, the autonomous driving related information and the camera data transmitted by the data transmission unit in chronological order, and performs monitoring counting;

[0015] The recording thread unit reads and parses the vehicle data and the autonomous driving related information stored by the listening thread unit to generate a parsing result, starts data recording when the parsing result meets the recording start condition, stores the data recording result at the end of data recording, and performs record counting.

[0016] According to yet another aspect of the present invention, the present invention provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the method described in any one of the above aspects of the present invention.

[0017] According to another aspect of the present invention, an electronic device is provided, comprising: a processor; a memory for storing instructions executable by the processor; and the processor for reading the executable instructions from the memory and executing the instructions to implement the method described in any one of the above aspects of the present invention.

[0018] The system and method for recording autonomous vehicle event data disclosed herein include: a daemon thread unit configured to activate / deactivate a monitoring thread unit and a recording thread unit according to preset thread control rules based on a monitoring count and a recording count; a data transmission unit configured to transmit vehicle data collected by vehicle sensors, autonomous driving-related information output by the vehicle's autonomous driving system, and camera data to the monitoring thread unit; a monitoring thread unit configured to store the vehicle data, autonomous driving-related information, and camera data transmitted by the data transmission unit in chronological order and perform monitoring counts; and a recording thread unit configured to read and parse the vehicle data and autonomous driving-related information stored by the monitoring thread unit to generate parsing results, initiate data recording when the parsing results meet a recording start condition, store the data recording results at the end of data recording, and perform record counts. The system and method achieve complete recording of autonomous vehicle collision events and collision-risk events while taking into account data integrity and security, providing an important basis for autonomous vehicle accident analysis and liability determination. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] A more complete understanding of exemplary embodiments of the present invention may be obtained by referring to the following drawings:

[0020] Figure 1 Schematic diagram of the structure of a system for recording event data of an autonomous driving vehicle according to a preferred embodiment of the present invention;

[0021] Figure 2 A flowchart of a method for recording event data of an autonomous driving vehicle according to a preferred embodiment of the present invention;

[0022] Figure 3 Schematic diagram of the structure of an electronic device according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0023] Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided to provide a thorough and complete disclosure of the present invention and to fully convey the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments shown in the accompanying drawings is not intended to limit the present invention. In the accompanying drawings, identical elements are denoted by the same reference numerals.

[0024] Unless otherwise specified, the terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art. Furthermore, it is understood that terms defined in commonly used dictionaries should be understood to have meanings consistent with the context of their relevant fields and should not be interpreted as idealized or overly formal.

[0025] Exemplary Systems

[0026] Figure 1 FIG. 1 is a schematic diagram of a system for recording autonomous vehicle event data according to a preferred embodiment of the present invention. Figure 1 As shown, the system 100 for recording autonomous driving vehicle event data according to this preferred embodiment includes:

[0027] The daemon thread unit 101 is used to start / stop the monitoring thread unit and the recording thread unit according to the set thread control rules based on the monitoring count and the recording count;

[0028] The data transmission unit 102 is used to transmit the vehicle data collected by the vehicle sensor, the autonomous driving related information output by the vehicle autonomous driving system, and the camera data to the monitoring thread unit;

[0029] a monitoring thread unit 103, configured to store the vehicle data, the autonomous driving related information, and the camera data transmitted by the data transmission unit in chronological order, and perform monitoring counting;

[0030] The recording thread unit 104 is used to read and parse the vehicle data and the autonomous driving related information stored in the monitoring thread unit to generate a parsing result, start data recording when the parsing result meets the recording start condition, store the data recording result at the end of data recording, and perform record counting.

[0031] In this preferred embodiment, the high-performance RK3588 chip is used as the platform. The RK3588 is Rockchip's latest 8K flagship SoC chip. It uses an ARM architecture, integrates a high-speed CAN bus, and has numerous expansion interfaces, including a camera interface, which can effectively reduce the overall cost of the device. The built-in NPU supports INT4 / INT8 / INT16 / FP16 mixed operations, with a computing power of up to 6TOPS. In addition, due to its strong compatibility, neural network models based on a series of frameworks such as TensorFlow / MXNet / PyTorch / Caffe can be easily converted. Due to the powerful performance of this platform, it can not only record basic parameters such as conventional acceleration, speed, and GPS when a car crashes, but also monitor large amounts of data such as images, videos, and radar information for vehicles with autonomous driving functions, automatically identify events with collision risks, and also record relevant data when collision risks occur. The software platform of this preferred embodiment uses a tailored Ubuntu 20.4 system with an integrated high-speed CAN FD driver, with a transmission speed of up to 5Mbps, which meets the requirements for collecting vehicle driving parameters.

[0032] Preferably, the daemon thread unit, the monitoring thread unit and the recording thread unit communicate with each other through a shared memory.

[0033] Preferably, the daemon thread unit starts / closes the listening thread unit and the recording thread unit according to the set thread control rules based on the listening count and the recording count, wherein the thread control rules include:

[0034] Step 201: When the daemon thread unit is powered on, the monitoring thread unit and the recording thread unit are started;

[0035] Step 202: The daemon thread unit reads the monitoring count value J according to the set time interval. m and record count value R n , where m, n are positive integers, J0 and R0 are 0;

[0036] Step 203, when J m =J m-1 , and R n =R n-1 When the monitoring thread unit and the recording thread unit are closed, let J m =J0, and R n =R0, return to step 101, otherwise, set m=m+1, n=n+1, and return to step 202.

[0037] In this preferred embodiment, the time interval is set to 5s. If the monitoring count value or the recording count value does not change within 5s, it indicates that the system is abnormal. At this time, the daemon thread unit ends the monitoring thread of the monitoring thread unit and the recording thread of the recording thread unit, and restarts.

[0038] Preferably, the data transmission unit transmits the vehicle data collected by the vehicle sensor, the autonomous driving related information output by the vehicle autonomous driving system, and the camera data to the monitoring thread unit, including:

[0039] Transmitting the vehicle data and the autonomous driving related information to the monitoring thread unit via the CAN bus, wherein the vehicle data includes lateral acceleration and longitudinal acceleration, and the autonomous driving related information includes collision risk events, activation status and exit status of the autonomous driving system;

[0040] The camera data is transmitted to the monitoring thread unit through a dedicated interface, wherein the camera data includes image data and video data.

[0041] Preferably, the monitoring thread unit is used to store the vehicle data, the autonomous driving related information and the camera data transmitted by the data transmission unit in chronological order, and perform monitoring counting, including:

[0042] receiving the vehicle data, the autonomous driving related information, and the camera data transmitted by the data transmission unit frame by frame, and recording a timestamp;

[0043] Reading the storage state of the current storage node of the ring cache, wherein the storage state includes an overwritable state and an overwritable state;

[0044] When the storage state is in an overwriteable state, the vehicle data, the autonomous driving related information and the camera data, and the timestamp are written into the current storage node of the ring buffer, and the monitoring count J is calculated. m Add 1.

[0045] In this preferred embodiment, according to the CAN bus rate and image acquisition frequency, a sufficient number of storage nodes are reserved for the ring buffer to be able to save data 15 seconds before and 5 seconds after the collision event, so storage nodes that can save 30 seconds of data are reserved.

[0046] Preferably, the recording thread unit reads and analyzes the vehicle data and the autonomous driving related information stored by the monitoring thread unit and generates an analysis result, starts data recording when the analysis result meets the recording start condition, stores the data recording result when the data recording ends, and performs record counting, including:

[0047] Sequentially reading and parsing the vehicle data and the autonomous driving related information in the storage nodes of the ring cache to generate a parsing result, wherein the parsing result includes a timestamp and the vehicle data and the autonomous driving related information corresponding to each timestamp;

[0048] Calculating a record start variation according to the analysis result, wherein the record start variation includes a lateral acceleration accumulation amount and a longitudinal acceleration accumulation amount, wherein the lateral acceleration accumulation amount and the longitudinal acceleration accumulation amount are respectively the lateral acceleration accumulation value and the longitudinal acceleration accumulation value within a set time period;

[0049] When the record start change or the autonomous driving related information meets the record start condition, data recording is started. When the record start condition is not met, the record count R is set. n Add 1, where the recording start condition includes:

[0050] When the recording start change amount is greater than a set first start threshold, or there is a collision risk event;

[0051] When data recording is started, the last storage node read is set as a locked node, and the storage status of the N storage nodes including the locked node is changed to an unrecordable state; wherein the time length of the timestamps of the N storage nodes is equal to the preset recording time value;

[0052] Convert all data of the N storage nodes into standard data in a set standard format and calculate the hash value;

[0053] Encrypt and store the standard data and hash value, unlock the locked node, update the storage status of the N storage nodes to an overwriteable state, and set the record count R n Add 1.

[0054] In this preferred embodiment, the accumulated lateral acceleration and longitudinal acceleration of all storage nodes within 150ms are calculated. When any one of them is greater than the set threshold of 8km / s 2 , then data recording is started. The collision risk event is set as the longitudinal deceleration requested by the autonomous driving system is greater than 5km / s 2 , data logging is started.

[0055] The system for recording autonomous vehicle event data described in this preferred embodiment uses the high-performance, multi-functional hardware platform RK3588 and the Ubuntu20.4 software platform, which can record a large amount of vehicle collision and collision risk data; at the same time, it uses a circular cache and multi-threaded counting to ensure real-time data reception and complete preservation of data before and after the triggering event, realizing a complete record of autonomous vehicle collision events and collision risk events, while taking into account the integrity and security of the data, providing an important basis for autonomous vehicle accident analysis and responsibility determination.

[0056] Exemplary Methods

[0057] Figure 2 FIG. 1 is a flow chart of a method for recording autonomous vehicle event data according to a preferred embodiment of the present invention. Figure 2 As shown, the method for recording autonomous driving vehicle event data described in this preferred embodiment starts from step 401.

[0058] In step 401, the daemon thread unit starts / stops the listening thread unit and the recording thread unit according to the listening count and the recording count and the set thread control rules.

[0059] In step 402, the data transmission unit transmits the vehicle data collected by the vehicle sensor, the autonomous driving related information output by the vehicle autonomous driving system, and the camera data to the monitoring thread unit.

[0060] In step 403, the monitoring thread unit stores the vehicle data, the autonomous driving related information and the camera data transmitted by the data transmission unit in chronological order, and performs monitoring counting.

[0061] In step 404, the recording thread unit reads and parses the vehicle data and the autonomous driving related information stored by the listening thread unit to generate a parsing result, starts data recording when the parsing result meets the recording start condition, stores the data recording result at the end of data recording, and performs record counting.

[0062] The method for recording autonomous driving vehicle event data described in this preferred embodiment uses the system for recording autonomous driving vehicle event data described in the present invention to record autonomous driving vehicle event data, and the technical effects achieved are the same, which will not be repeated here.

[0063] Exemplary electronic devices

[0064] Figure 3 1 is a schematic diagram of the structure of an electronic device according to a preferred embodiment of the present invention. The electronic device can be either or both of the first device and the second device, or a standalone device independent of them, and the standalone device can communicate with the first device and the second device to receive collected input signals from them. Figure 3 FIG2 is a block diagram of an electronic device according to an embodiment of the present disclosure. Figure 3 As shown, the electronic device includes one or more processors 301 and a memory 302 .

[0065] The processor 301 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0066] The memory 302 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), a hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 301 may execute the program instructions to implement the method of recording autonomous driving vehicle event data of the various disclosed embodiments described above and / or other desired functions. In one example, the electronic device may further include: an input device 303 and an output device 304, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0067] In addition, the input device 303 may also include, for example, a keyboard, a mouse, and the like.

[0068] The output device 304 can output various information to the outside. The output device 304 can include, for example, a display, a speaker, a printer, a communication network and its connected remote output device, etc.

[0069] Of course, to simplify, Figure 3 Only some of the components related to the present disclosure in the electronic device are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, the electronic device may further include any other appropriate components according to specific application scenarios.

[0070] Exemplary computer program products and computer-readable storage media

[0071] In addition to the above-mentioned methods and devices, an embodiment of the present disclosure may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps in the method of recording autonomous driving vehicle event data according to various embodiments of the present disclosure described in the above "Exemplary Method" section of this specification.

[0072] The computer program product may be written in any combination of one or more programming languages ​​to implement the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as C or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0073] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enable the processor to execute the steps in the method of recording autonomous driving vehicle event data according to various embodiments of the present disclosure described in the above "Exemplary Method" section of this specification.

[0074] The computer-readable storage medium may be any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0075] The basic principles of the present disclosure have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this disclosure are merely illustrative and not restrictive, and should not be construed as necessarily possessed by each embodiment of the present disclosure. Furthermore, the specific details disclosed above are provided for illustrative purposes and to facilitate understanding, rather than as limitations. These details do not limit the present disclosure to necessarily being implemented using these specific details.

[0076] Each embodiment in this specification is described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. References to the same or similar parts between the various embodiments are sufficient. For system embodiments, since they largely correspond to method embodiments, their description is relatively simple. For relevant parts, references to the description of the method embodiments are sufficient.

[0077] The block diagrams of the devices, devices, equipment, and systems involved in this disclosure are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0078] The methods and apparatus of the present disclosure may be implemented in many ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless otherwise specified. In addition, in some embodiments, the present disclosure may also be implemented as programs recorded in a recording medium, which include machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers recording media that store programs for executing the methods according to the present disclosure.

[0079] It should also be noted that, in the apparatus, equipment and method of the present disclosure, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present disclosure. The above description of the disclosed aspects is provided to enable any technician in this field to make or use the present disclosure. Various modifications to these aspects will be very obvious to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown here, but to the widest range consistent with the principles and novel features disclosed herein.

[0080] The above description has been provided for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A system for recording autonomous vehicle event data, characterized in that: The system comprises: The daemon thread unit is used to start / shut down the listening thread unit and the recording thread unit according to the set thread control rules based on the listening count and the recording count, wherein the thread control rules include: Step 201: When the daemon thread unit is powered on, the monitoring thread unit and the recording thread unit are started; Step 202: The daemon thread unit reads the monitoring count value J according to the set time interval. m and record count value R n , where m, n are positive integers, J0 and R0 are 0; Step 203, when J m =J m-1 , and R n =R n-1 When the monitoring thread unit and the recording thread unit are closed, let J m =J0, and R n = R0, return to step 101, otherwise, set m=m+1, n=n+1, and return to step 202; A data transmission unit, used to transmit vehicle data collected by vehicle sensors, autonomous driving related information output by the vehicle autonomous driving system, and camera data to the monitoring thread unit; a monitoring thread unit, configured to store the vehicle data, the autonomous driving related information, and the camera data transmitted by the data transmission unit in chronological order, and perform monitoring counting; A recording thread unit is used to read and parse the vehicle data and the autonomous driving related information stored in the monitoring thread unit to generate a parsing result, start data recording when the parsing result meets the recording start condition, store the data recording result at the end of data recording, and perform record counting.

2. The system according to claim 1, wherein: The daemon thread unit, the monitoring thread unit and the recording thread unit communicate with each other through a shared memory.

3. The system according to claim 1, wherein: The data transmission unit transmits the vehicle data collected by the vehicle sensor, the autonomous driving related information output by the vehicle autonomous driving system, and the camera data to the monitoring thread unit, including: Transmitting the vehicle data and the autonomous driving related information to the monitoring thread unit via the CAN bus, wherein the vehicle data includes lateral acceleration and longitudinal acceleration, and the autonomous driving related information includes collision risk events, activation status and exit status of the autonomous driving system; The camera data is transmitted to the monitoring thread unit through a dedicated interface, wherein the camera data includes image data and video data.

4. The system according to claim 3, characterized in that The monitoring thread unit stores the vehicle data, the autonomous driving related information, and the camera data transmitted by the data transmission unit in chronological order, and performs monitoring counting, including: receiving the vehicle data, the autonomous driving related information, and the camera data transmitted by the data transmission unit frame by frame, and recording a timestamp; Reading the storage state of the current storage node of the ring cache, wherein the storage state includes an overwritable state and an overwritable state; When the storage state is in an overwriteable state, the vehicle data, the autonomous driving related information and the camera data, and the timestamp are written into the current storage node of the ring buffer, and the monitoring count J is calculated. m Add 1.

5. The system according to claim 4, characterized in that The recording thread unit reads and analyzes the vehicle data and the autonomous driving related information stored by the monitoring thread unit and generates an analysis result, starts data recording when the analysis result meets the recording start condition, stores the data recording result when the data recording ends, and performs record counting, including: Sequentially reading and parsing the vehicle data and the autonomous driving related information in the storage nodes of the ring cache to generate a parsing result, wherein the parsing result includes a timestamp and the vehicle data and the autonomous driving related information corresponding to each timestamp; Calculating a record start variation according to the analysis result, wherein the record start variation includes a lateral acceleration accumulation amount and a longitudinal acceleration accumulation amount, wherein the lateral acceleration accumulation amount and the longitudinal acceleration accumulation amount are respectively the lateral acceleration accumulation value and the longitudinal acceleration accumulation value within a set time period; When the record start change or the autonomous driving related information meets the record start condition, data recording is started. When the record start condition is not met, the record count R is set. n Add 1, where the recording start condition includes: When the recording start change amount is greater than a set first start threshold, or there is a collision risk event; When data recording is started, the last storage node read is set as a locked node, and the storage status of the N storage nodes including the locked node is changed to an unrecordable state; wherein the time length of the timestamps of the N storage nodes is equal to the preset recording time value; Convert all data of the N storage nodes into standard data in a set standard format and calculate the hash value; Encrypt and store the standard data and hash value, unlock the locked node, update the storage status of the N storage nodes to an overwriteable state, and set the record count R n Add 1.

6. A method for recording autonomous vehicle event data, characterized in that: The method comprises: The daemon thread unit starts / closes the listening thread unit and the recording thread unit according to the set thread control rules based on the listening count and the recording count, wherein the thread control rules include: Step 201: When the daemon thread unit is powered on, the monitoring thread unit and the recording thread unit are started; Step 202: The daemon thread unit reads the monitoring count value J according to the set time interval. m and record count value R n , where m, n are positive integers, J0 and R0 are 0; Step 203, when J m =J m-1 , and R n =R n-1 When the monitoring thread unit and the recording thread unit are closed, let J m =J0, and R n = R0, return to step 101, otherwise, set m=m+1, n=n+1, and return to step 202; The data transmission unit transmits the vehicle data collected by the vehicle sensor, the autonomous driving related information output by the vehicle autonomous driving system, and the camera data to the monitoring thread unit; The monitoring thread unit stores the vehicle data, the autonomous driving related information and the camera data transmitted by the data transmission unit in chronological order, and performs monitoring counting; The recording thread unit reads and parses the vehicle data and the autonomous driving related information stored by the listening thread unit to generate a parsing result, starts data recording when the parsing result meets the recording start condition, stores the data recording result at the end of data recording, and performs record counting.

7. The method according to claim 6, characterized in that The daemon thread unit, the monitoring thread unit and the recording thread unit communicate with each other through a shared memory.

8. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 6 to 7.

9. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing instructions executable by the processor; The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the method described in any one of claims 6-7.

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