Data redundancy backup method and device, electronic equipment and storage medium

Abstract

The invention discloses a data redundancy backup method and device, electronic equipment and a storage medium, and relates to the technical field of automatic driving. The method is applied to an automatic driving vehicle, and the automatic driving vehicle at least comprises a switch configured in a multicast group, at least one environment sensing device and at least two industrial personal computers. The method comprises the following steps: at least one environment sensing device sends environment sensing data to a multicast address of a multicast group; the switch receives the environment sensing data and copies the environment sensing data, so that the number of the copied environment sensing data is the same as that of the industrial personal computers; and the switch concurrently sends the copied environment sensing data to at least two industrial personal computers in the multicast group so as to realize redundant backup of the environment sensing data. According to the scheme, the multicast technology is applied to the field of automatic driving, the environment sensing data are sent to the industrial personal computers in a multicast mode for redundant backup, and the efficiency and reliability of data backup are improved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a data redundancy backup method, device, electronic device and storage medium. Background Art

[0002] LiDAR for Automotive Applications is an important sensor installed on vehicles to detect the surrounding environment and obtain high-precision three-dimensional spatial information. It emits laser beams and receives reflected signals to measure the distance, angle, speed and other information between the vehicle and surrounding objects, thereby helping the vehicle to achieve environmental perception, obstacle recognition, positioning and navigation and other functions.

[0003] At present, the transmission and backup of vehicle-mounted lidar data often rely on a single receiving device. This approach has the problem of low data reliability. For example, when the only receiving device fails or data is lost, the entire system may be paralyzed, causing the autonomous vehicle to lose effective perception of the environment, increasing driving risks. Summary of the invention

[0004] The invention provides a data redundancy backup method, device, electronic equipment and storage medium.

[0005] According to another aspect of the present invention, a data redundancy backup method is provided, which is applied to an autonomous driving vehicle, wherein the autonomous driving vehicle comprises at least a switch configured in a multicast group, at least one environment sensing device, and at least two industrial computers, and the method comprises:

[0006] The at least one environment sensing device sends the collected environment sensing data to the multicast address of the multicast group;

[0007] The switch receives the environment sensing data, and replicates the environment sensing data so that the number of the replicated environment sensing data is the same as the number of the industrial computers;

[0008] The switch concurrently sends the copied environment perception data to at least two industrial computers in the multicast group to achieve redundant backup of the environment perception data.

[0009] In an optional implementation manner, the at least one environment sensing device sends the collected environment sensing data to the multicast address of the multicast group, including:

[0010] The at least one environment sensing device encapsulates the environment sensing data into a user datagram protocol message whose destination IP address is the multicast address according to a preconfigured multicast address and user datagram protocol;

[0011] The at least one environment-aware device sends the User Datagram Protocol message to the multicast group through an Ethernet interface.

[0012] In an optional implementation, the switch concurrently sends the copied environment sensing data to at least two industrial computers in the multicast group, including:

[0013] The switch determines, according to a predetermined multicast group list, a target communication port in the switch connected to at least two industrial computers belonging to the multicast group; wherein the multicast group list includes at least two industrial computers belonging to the multicast group and a communication port of each industrial computer connected to the switch;

[0014] The switch concurrently sends the copied environment perception data to the target communication port, so as to send the environment perception data to the industrial computer through the target communication port.

[0015] In an optional implementation, the industrial computer is pre-configured with a data monitoring and pulling mechanism for real-time monitoring of the target communication port;

[0016] The process of sending the environmental sensing data to the industrial computer through the target communication port includes:

[0017] In response to the data monitoring and pulling mechanism detecting that the environment perception data is transferred into the target communication port, the environment perception data is pulled from the target communication port to the industrial computer for backup and storage.

[0018] In an optional implementation, the environmental perception device is a lidar device deployed at a designated position of the autonomous driving vehicle; the designated position is at least one of the top, left and right sides, and grille of the autonomous driving vehicle.

[0019] According to another aspect of the present invention, there is provided a data redundancy backup device, which is configured in an autonomous driving vehicle, wherein the autonomous driving vehicle comprises at least a switch configured in a multicast group, at least one environment sensing device, and at least two industrial computers, wherein the device comprises:

[0020] A data sending module, used for sending the collected environment perception data to the multicast address of the multicast group through the at least one environment perception device;

[0021] A data receiving and processing module, used for receiving the environment sensing data through the switch, and copying the environment sensing data so that the number of the copied environment sensing data is the same as the number of the industrial computers;

[0022] The data forwarding module is used to concurrently send the copied environment perception data to at least two industrial computers in the multicast group through the switch to achieve redundant backup of the environment perception data.

[0023] In an optional implementation, the data sending module includes:

[0024] A message encapsulation unit, configured to encapsulate the environment sensing data into a user datagram protocol message whose destination IP address is the multicast address according to a preconfigured multicast address and user datagram protocol through the at least one environment sensing device;

[0025] A message sending module is used to send the user datagram protocol message to the multicast group through the Ethernet interface of the at least one environment sensing device.

[0026] In an optional implementation, the data forwarding module includes:

[0027] A port determination unit, configured to determine, through the switch, a target communication port in the switch connected to at least two industrial computers belonging to the multicast group according to a predetermined multicast group list; wherein the multicast group list includes at least two industrial computers belonging to the multicast group and a communication port of each industrial computer connected to the switch;

[0028] The data forwarding unit is used to concurrently send the copied environment perception data to the target communication port through the switch, so as to send the environment perception data to the industrial computer through the target communication port.

[0029] In an optional implementation, the industrial computer is pre-configured with a data monitoring and pulling mechanism for real-time monitoring of the target communication port;

[0030] The industrial computer is also used for:

[0031] In response to the data monitoring and pulling mechanism detecting that the environment perception data is transferred into the target communication port, the environment perception data is pulled from the target communication port to the industrial computer for backup and storage.

[0032] In an optional implementation, the environmental perception device is a lidar device deployed at a designated position of the autonomous driving vehicle; the designated position is at least one of the top, left and right sides, and grille of the autonomous driving vehicle.

[0033] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0034] at least one processor; and

[0035] a memory communicatively connected to the at least one processor; wherein,

[0036] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the data redundancy backup method described in the embodiment of the present invention.

[0037] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the data redundancy backup method described in an embodiment of the present invention when executed.

[0038] The technical solution of the embodiment of the present invention applies multicast technology to the field of autonomous driving, and sends environmental perception data to multiple industrial computers for redundant backup through multicast, thereby improving the efficiency and reliability of data backup and providing strong support for the development of autonomous driving technology.

[0039] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1a is a schematic diagram of the structure of a multicast group in an autonomous driving vehicle provided according to an embodiment of the present invention;

[0042] Figure 1b It is a flowchart of a data redundancy backup method provided according to an embodiment of the present invention;

[0043] Figure 2 It is a flowchart of a data redundancy backup method provided according to an embodiment of the present invention;

[0044] Figure 3 is a structural schematic diagram of a data redundancy backup device provided according to an embodiment of the present invention;

[0045] Figure 4 It is a structural schematic diagram of an electronic device for implementing the data redundancy backup method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0047] In an embodiment of the present invention, in order to realize redundant backup of environmental perception data collected by environmental perception devices in an autonomous driving vehicle, multicast technology is introduced into the scenario of redundant backup of environmental perception data of an autonomous driving vehicle. In order to realize redundant backup of environmental perception data, a multicast group is set in the autonomous driving vehicle, and the multicast group includes at least one environmental perception device deployed on the autonomous driving vehicle, a switch, and at least two industrial computers. In an embodiment of the present invention, when constructing a multicast group, a multicast address can be first configured for each environmental perception device, and the multicast address can optionally be a predetermined multicast IP address; illustratively, the destination IP address of the Ethernet interface of the environmental perception device can be configured as a preset multicast address; the switch, as the multicast router of the multicast group, can be configured to communicate with the environmental perception device and with multiple industrial computers at the same time; the process of the industrial computer joining the multicast group is: the industrial computer sends a multicast member management protocol message to the switch (multicast router) to indicate that the industrial computer is interested in a specific multicast group (i.e., the multicast group corresponding to the multicast address configured by the environmental perception device), and the switch adds the industrial computer to the multicast group list based on the received message, and the multicast group list includes the members of this multicast group and the communication port of each member connected to the switch. In this way, the configuration of a multicast group consisting of environmental perception devices, switches, and industrial computers in an autonomous driving vehicle is completed. For example, see Figure 1a , which shows a schematic diagram of the structure of a multicast group. After the multicast group is constructed, the process of redundant backup of environment-aware data can refer to the following embodiment.

[0048] Embodiment 1

[0049] Figure 1b A flowchart of a data redundancy backup method is provided for an embodiment of the present invention. This embodiment is applicable to a scenario in which redundant backup of environmental perception data in an autonomous driving vehicle is performed. The method can be executed by a data redundancy backup device. The data redundancy backup device can be implemented in the form of hardware and / or software. The data redundancy backup device can be configured in an electronic device, such as in an autonomous driving vehicle.

[0050] like Figure 1b As shown, the data redundancy backup method includes:

[0051] S101. At least one environment perception device sends collected environment perception data to the multicast address of the multicast group.

[0052] In an embodiment of the present invention, the environment perception device may be a laser radar device deployed at a designated position of the autonomous driving vehicle; the designated position may be at least one of the top, left and right sides, and grille of the autonomous driving vehicle; the environment perception data may be three-dimensional point cloud data of the surrounding environment of the autonomous driving vehicle collected by the laser radar. It should be noted that the reason why the environment perception device is determined to be the laser radar in the autonomous driving vehicle is to show that the solution of the present invention focuses on redundant backup of vehicle-mounted laser radar data, which provides strong support for the safe driving of autonomous driving vehicles in complex environments.

[0053] In the embodiment of the present invention, in order to achieve redundant backup of data, the environment perception device needs to send the collected environment perception data to a pre-configured multicast address. Optionally, the environment perception device can send the environment perception data in the form of a multicast message, wherein the multicast message can be encapsulated using any data transmission protocol.

[0054] S102: The switch receives the environment perception data, and copies the environment perception data so that the number of the copied environment perception data is the same as the number of the industrial computers.

[0055] In the embodiment of the present invention, the environment sensing data sent by the environment sensing device is transmitted between network nodes through a switch (ie, multicast routing) during network transmission. The switch optionally receives the environment sensing data through a communication port connected to the environment sensing device.

[0056] In the embodiment of the present invention, since the environmental perception data is sent to multiple industrial computers for redundant backup through multicast technology, and the environmental perception device only sends one copy of the environmental perception data to the multicast address, in order to ensure that multiple industrial computers in the multicast group can receive the environmental perception data at the same time, the switch needs to first copy the received environmental perception data so that the number of copied environmental perception data is the same as the number of the industrial computers, so that each industrial computer can obtain an identical copy of the environmental perception data.

[0057] S103. The switch concurrently sends the copied environment perception data to at least two industrial computers in the multicast group to achieve redundant backup of the environment perception data.

[0058] In an embodiment of the present invention, after the copy operation, the number of environmental sensing data in the switch is the same as the number of the industrial computers, so that each environmental sensing data can be sent to different industrial computers in a concurrent manner to achieve redundant backup of the environmental sensing data.

[0059] It is understandable that the industrial computer in the embodiment of the present invention can be a processor device with powerful computing power and real-time processing capabilities, which can be used for target recognition in addition to data backup. For example, the industrial computer can accurately identify vehicles, pedestrians, obstacles, etc. based on the received environmental perception data, and provide key environmental information for the decision-making and planning of the autonomous driving vehicle.

[0060] In the embodiment of the present invention, multicast technology is applied to the backup of the environmental perception data of the autonomous driving vehicle, so that the environmental perception data collected by each environmental perception device can be backed up in multiple industrial computers in the same multicast group. In this way, even if one of the industrial computers fails or loses data, the other industrial computer can still obtain complete environmental perception data, thereby achieving redundant backup of environmental perception data, improving the efficiency and reliability of data backup, and providing strong support for the development of autonomous driving technology.

[0061] Embodiment 2

[0062] Figure 2 The present invention provides a flowchart of a data redundancy backup method. The present invention describes in detail the specific process of implementing environment-aware data redundancy backup through multicast technology. Figure 2 , the method comprises the following steps:

[0063] S201. At least one environment sensing device encapsulates the environment sensing data into a user datagram protocol message whose destination IP address is the multicast address according to a pre-configured multicast address and user datagram protocol.

[0064] In the embodiment of the present invention, the corresponding message can be constructed according to the message structure of the user datagram protocol. The user datagram protocol message obtained in this embodiment mainly includes the following parts: a source address for indicating the sending end process (for example, a source IP address of an environment sensing device), a destination address (for example, a multicast address), verification data for verifying whether the data is complete, and environment sensing data to be transmitted.

[0065] S202. The at least one environment-aware device sends the User Datagram Protocol message to the multicast group through an Ethernet interface.

[0066] S203: The switch receives the user datagram protocol message, and copies the user datagram protocol message so that the number of the copied user datagram protocol messages is the same as the number of the industrial computers.

[0067] In an embodiment of the present invention, the multicast technology is implemented by sending a user datagram protocol message sent by an environment sensing device to multiple industrial computers at the same time. In this way, the switch needs to copy the received user datagram protocol message so that the number of the copied user datagram protocol messages is the same as the number of the industrial computers.

[0068] S204: The switch concurrently sends the copied User Datagram Protocol message to at least two industrial computers in the multicast group to achieve redundant backup of the User Datagram Protocol message.

[0069] In the embodiment of the present invention, a multicast group list corresponding to the multicast group is pre-stored in the switch, and the multicast group list includes at least two industrial computers belonging to the multicast group and a communication port of each industrial computer connected to the switch.

[0070] On this basis, the switch concurrently sends the copied environment perception data (i.e., User Datagram Protocol messages) to at least two industrial computers in the multicast group, including: the switch determines, based on a predetermined multicast group list, a target communication port in the switch that is connected to at least two industrial computers belonging to the multicast group; the switch concurrently sends the copied environment perception data to the target communication port, so as to send the environment perception data to the industrial computer through the target communication port.

[0071] In an optional implementation, the industrial computer is pre-configured with a data monitoring and pulling mechanism for real-time monitoring of the target communication port; the data monitoring and pulling mechanism can be a plug-in or computer program pre-deployed in the industrial computer, which is used to monitor the target communication port in real time and pull data from the target communication port. On this basis, the process of sending environmental perception data (i.e., user datagram protocol message) to the industrial computer through the target communication port includes: in response to the data monitoring and pulling mechanism detecting that the environmental perception data is transferred into the target communication port, the environmental perception data is pulled from the target communication port to the industrial computer for backup and storage. That is, the data monitoring and pulling mechanism will determine in real time whether there is data written to the target communication port; if not, continue to monitor; if so, pull the environmental perception data in the port to the industrial computer for storage; in this way, redundant backup of environmental perception data in multiple industrial computers is achieved at the same time.

[0072] In the embodiment of the present invention, after receiving the environmental perception data, the industrial computer performs an integrity check on the received environmental perception data, and backs up and saves the data after the check passes, thereby ensuring that the backed-up environmental perception data is not damaged or lost.

[0073] In an embodiment of the present invention, multicast technology is applied to the backup of environmental perception data of autonomous driving vehicles, so that the environmental perception data collected by each environmental perception device can be backed up in multiple industrial computers in the same multicast group. In this way, even if one of the industrial computers fails or loses data, the other industrial computer can still obtain complete environmental perception data, thereby achieving redundant backup of environmental perception data and improving the efficiency and reliability of data backup. Moreover, the solution of the present invention does not require hardware modification of the environmental perception device, but only needs to be configured at the software level (configure the multicast address), and the operation is simple and convenient; at the same time, as long as a real-time monitoring mechanism is deployed in the industrial computer, the environmental perception data to be backed up can be quickly obtained from the switch, which can improve the efficiency of data redundant backup as a whole.

[0074] Embodiment 3

[0075] Figure 3 The structure diagram of a data redundancy backup device provided by an embodiment of the present invention is shown in FIG. The device is configured in an autonomous driving vehicle, and the autonomous driving vehicle at least includes a switch configured in a multicast group, at least one environment sensing device, and at least two industrial computers. Figure 3 As shown, the device comprises:

[0076] A data sending module 301 is used to send the collected environment perception data to the multicast address of the multicast group through the at least one environment perception device;

[0077] A data receiving and processing module 302 is used to receive the environment sensing data through the switch, and to copy the environment sensing data so that the number of the copied environment sensing data is the same as the number of the industrial computers;

[0078] The data forwarding module 303 is used to concurrently send the copied environment perception data to at least two industrial computers in the multicast group through the switch to achieve redundant backup of the environment perception data.

[0079] In an optional implementation, the data sending module includes:

[0080] A message encapsulation unit, configured to encapsulate the environment sensing data into a user datagram protocol message whose destination IP address is the multicast address according to a preconfigured multicast address and user datagram protocol through the at least one environment sensing device;

[0081] A message sending module is used to send the user datagram protocol message to the multicast group through the Ethernet interface of the at least one environment sensing device.

[0082] In an optional implementation, the data forwarding module includes:

[0083] A port determination unit, configured to determine, through the switch, a target communication port in the switch connected to at least two industrial computers belonging to the multicast group according to a predetermined multicast group list; wherein the multicast group list includes at least two industrial computers belonging to the multicast group and a communication port of each industrial computer connected to the switch;

[0084] The data forwarding unit is used to concurrently send the copied environment perception data to the target communication port through the switch, so as to send the environment perception data to the industrial computer through the target communication port.

[0085] In an optional implementation, the industrial computer is pre-configured with a data monitoring and pulling mechanism for real-time monitoring of the target communication port;

[0086] The industrial computer is also used for:

[0087] In response to the data monitoring and pulling mechanism detecting that the environment perception data is transferred into the target communication port, the environment perception data is pulled from the target communication port to the industrial computer for backup and storage.

[0088] In an optional implementation, the environmental perception device is a lidar device deployed at a designated position of the autonomous driving vehicle; the designated position is at least one of the top, left and right sides, and grille of the autonomous driving vehicle.

[0089] The data redundancy backup device provided in the embodiment of the present invention can execute the data redundancy backup method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0090] Embodiment 4

[0091] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to be a controller device in a new energy vehicle. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0092] like Figure 4As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0093] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0094] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as executing a data redundancy backup method.

[0095] In some embodiments, the data redundancy backup method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the data redundancy backup method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the data redundancy backup method in any other appropriate manner (e.g., by means of firmware).

[0096] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0097] The computer program for implementing the method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data redundancy backup device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program can be executed completely on the machine, partially on the machine, as an independent software package, partially on the machine and partially on a remote machine, or completely on a remote machine or server.

[0098] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer 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 of the foregoing.

[0099] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0100] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0101] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0102] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0103] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A data redundancy backup method, characterized in that: Applied to an autonomous driving vehicle, the autonomous driving vehicle includes at least a switch configured in a multicast group, at least one environment sensing device, and at least two industrial computers, the method includes: The at least one environment sensing device sends the collected environment sensing data to the multicast address of the multicast group; The switch receives the environment sensing data, and replicates the environment sensing data so that the number of the replicated environment sensing data is the same as the number of the industrial computers; The switch concurrently sends the copied environment perception data to at least two industrial computers in the multicast group to achieve redundant backup of the environment perception data.

2. The method according to claim 1, characterized in that The at least one environment perception device sends the collected environment perception data to the multicast address of the multicast group, including: The at least one environment sensing device encapsulates the environment sensing data into a user datagram protocol message whose destination IP address is the multicast address according to a preconfigured multicast address and user datagram protocol; The at least one environment-aware device sends the User Datagram Protocol message to the multicast group through an Ethernet interface.

3. The method according to claim 1, characterized in that The switch concurrently sends the copied environment sensing data to at least two industrial computers in the multicast group, including: The switch determines, according to a predetermined multicast group list, a target communication port in the switch connected to at least two industrial computers belonging to the multicast group; wherein the multicast group list includes at least two industrial computers belonging to the multicast group and a communication port of each industrial computer connected to the switch; The switch concurrently sends the copied environment perception data to the target communication port, so as to send the environment perception data to the industrial computer through the target communication port.

4. The method according to claim 3, characterized in that The industrial computer is pre-configured with a data monitoring and pulling mechanism for real-time monitoring of the target communication port; The process of sending the environmental sensing data to the industrial computer through the target communication port includes: In response to the data monitoring and pulling mechanism detecting that the environment perception data is transferred into the target communication port, the environment perception data is pulled from the target communication port to the industrial computer for backup and storage.

5. The method according to claim 1, characterized in that The environmental perception device is a laser radar device deployed at a designated position of the autonomous driving vehicle; the designated position is at least one of the top, left and right sides, and grille of the autonomous driving vehicle.

6. A data redundancy backup device, characterized in that: The device is configured in an autonomous driving vehicle, wherein the autonomous driving vehicle includes at least a switch configured in a multicast group, at least one environment sensing device, and at least two industrial computers, and the device includes: A data sending module, used for sending the collected environment perception data to the multicast address of the multicast group through the at least one environment perception device; A data receiving and processing module, used for receiving the environment sensing data through the switch, and copying the environment sensing data so that the number of the copied environment sensing data is the same as the number of the industrial computers; The data forwarding module is used to concurrently send the copied environment perception data to at least two industrial computers in the multicast group through the switch to achieve redundant backup of the environment perception data.

7. The device according to claim 6, characterized in that The data sending module comprises: A message encapsulation unit, configured to encapsulate the environment sensing data into a user datagram protocol message whose destination IP address is the multicast address according to a preconfigured multicast address and user datagram protocol through the at least one environment sensing device; A message sending module is used to send the user datagram protocol message to the multicast group through the Ethernet interface of the at least one environment sensing device.

8. The device according to claim 6, characterized in that The data forwarding module comprises: A port determination unit, configured to determine, through the switch, a target communication port in the switch connected to at least two industrial computers belonging to the multicast group according to a predetermined multicast group list; wherein the multicast group list includes at least two industrial computers belonging to the multicast group and a communication port of each industrial computer connected to the switch; The data forwarding unit is used to concurrently send the copied environment perception data to the target communication port through the switch, so as to send the environment perception data to the industrial computer through the target communication port.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the method according to any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method according to any one of claims 1 to 5 when executed.

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