Data recharging method, system and equipment and storage medium

Abstract

The embodiment of the invention provides a data recharging method, system and device and a storage medium. The method is applied to a data recharge platform, the data recharge platform comprises a data link layer and a plurality of intelligent driving modules, the data link layer is used for decoupling the dependency relationship among the intelligent driving modules, and the method comprises the steps that the data link layer obtains a target intelligent driving module to be recharged; the data link layer activates the target intelligent driving module and constructs a data link required by the test of the target intelligent driving module; the data link layer obtains test data and recharges the test data to the target intelligent driving module through the data link; and the target intelligent driving module executes a recharge test based on the test data. The method realizes the flexibility of the recharge test of the intelligent driving module, does not need to depend on the operation state of the upstream intelligent driving module, and improves the optimization efficiency of the intelligent driving module.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of intelligent driving technology, and in particular to a data re-injection method, system, device and storage medium. Background Art

[0002] In the development of intelligent driving, the complexity of test scenarios and the diversity of data links increase the difficulty and cost of reproducing problem scenarios. Therefore, data reinjection, as a way to quickly and agilely restore scenarios, is an indispensable means for product research and development iteration in the field of intelligent driving.

[0003] However, the traditional data feedback method is full-link, and there is a mandatory dependency relationship between multiple intelligent driving modules. The functional verification of a certain intelligent driving module depends on the operating status of the upstream intelligent driving module. If the operating status of the upstream intelligent module is abnormal, it will affect the functional verification of the intelligent driving module and reduce the optimization efficiency of the intelligent driving module. Summary of the invention

[0004] Based on this, embodiments of the present application provide a data re-injection method, system, device and storage medium.

[0005] In a first aspect, an embodiment of the present application provides a data re-injection method, which is applied to a data re-injection platform, wherein the data re-injection platform includes a data link layer and multiple intelligent driving modules, wherein the data link layer is used to decouple the dependencies between the intelligent driving modules, and the method includes:

[0006] The data link layer obtains the target intelligent driving module to be refilled;

[0007] The data link layer activates the target intelligent driving module and constructs the data link required for testing the target intelligent driving module;

[0008] The data link layer acquires test data and feeds the test data back to the target intelligent driving module through the data link;

[0009] The target intelligent driving module performs a recharge test based on the test data.

[0010] In a second aspect, an embodiment of the present application provides a data re-injection system, including: a host computer and a data re-injection platform, the data re-injection platform including a data link layer and a plurality of intelligent driving modules, the data link layer being used to decouple dependencies between the intelligent driving modules;

[0011] The host computer is used to obtain the target intelligent driving module to be refilled;

[0012] The data link layer is used to activate the target intelligent driving module and build the data link required for testing the target intelligent driving module;

[0013] The host computer is also used to send test data to the data link layer;

[0014] The data link layer is further used to feed the test data back to the target intelligent driving module through the data link;

[0015] The target intelligent driving module is used to perform a recharge test according to the test data and feed back the test result to the host computer;

[0016] The host computer is also used to store and display the test results.

[0017] In a third aspect, an embodiment of the present application provides a data re-injection platform, comprising: a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the data re-injection method provided in the first aspect of the embodiment of the present application are implemented.

[0018] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the data re-injection method provided in the first aspect of the embodiment of the present application are implemented.

[0019] The technical solution provided by the embodiment of the present application abstracts the dependencies between multiple intelligent driving modules to the data link layer, decouples the dependencies between the intelligent driving modules through the data link layer, and dynamically activates the intelligent driving modules that need to be refilled and constructs the data link required for the test of the intelligent driving module by the data link layer. The data link layer uniformly obtains the test data required for the test of the intelligent driving module, and distributes the test data to the intelligent driving module through the data link, so that the refill test of the intelligent driving module does not need to rely on the operating status of the upstream intelligent driving module, thereby realizing the flexibility of the refill test of the intelligent driving module and improving the optimization efficiency of the intelligent driving module. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the data relationship between various intelligent driving modules in the data re-injection platform provided by traditional technology;

[0021] Figure 2 A schematic diagram of the data relationship between modules in the data recharging platform provided in the embodiment of the present application;

[0022] Figure 3 A schematic diagram of a flow chart of a data re-injection method provided in an embodiment of the present application;

[0023] Figure 4 A schematic diagram of the recharging process of a single intelligent driving module provided in an embodiment of the present application;

[0024] Figure 5A schematic diagram of a recharging process of multiple intelligent driving modules provided in an embodiment of the present application;

[0025] Figure 6 Another schematic diagram of the recharging process of multiple intelligent driving modules provided in an embodiment of the present application;

[0026] Figure 7 A schematic diagram of the structure of a data recharging system provided in an embodiment of the present application;

[0027] Figure 8 Another schematic diagram of a flow chart of a data re-injection method provided in an embodiment of the present application;

[0028] Fig. 9 A schematic diagram of the structure of the data re-injection platform provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the technical solutions in the embodiments of the present application are further described in detail through the following embodiments and in combination with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. It should also be noted that, for the convenience of description, only the parts related to the present application are shown in the accompanying drawings, rather than all structures.

[0030] Figure 1 The data relationship between the intelligent driving modules in the data re-injection platform in the traditional technology is shown. The intelligent driving modules included in the data re-injection platform are the perception module, fusion prediction module, planning control module, map module and body chassis module. Of course, each intelligent driving module can be subdivided into one or more processes according to the differences in specific implementation schemes. Figure 1 As shown in the figure, there are mandatory dependencies between multiple intelligent driving modules. For example, the fusion prediction module depends on the output data of the perception module, map module and body chassis module. For another example, the planning control module depends on the output data of the fusion prediction module, map module and body chassis module. Therefore, when performing functional verification on a certain intelligent driving module, when the operating status of any upstream intelligent driving module it depends on is abnormal, it will affect the functional verification progress of the intelligent driving module and reduce the optimization efficiency of the intelligent driving module.

[0031] To this end, the embodiment of the present application provides a data re-injection platform, which includes a data link layer and multiple intelligent driving modules. The data link layer is used to decouple the mandatory dependencies between the intelligent driving modules, abstract the mandatory dependencies between the intelligent driving modules, and manage the intelligent driving modules in a unified manner by the data link layer. Figure 1Compared with the traditional data re-injection platform shown, the data re-injection platform provided in the embodiment of the present application mainly completes the following three parts of transformation: 1. Switching the real vehicle data source to an offline data packet; 2. Adding a data link layer to abstractly separate the communication methods between various intelligent driving modules; 3. The inherent data relationship of each intelligent driving module is upgraded to a flexibly configurable mode.

[0032] Based on the above data re-injection platform, the present application embodiment provides a data re-injection method, such as Figure 3 As shown, the method may include:

[0033] S301. The data link layer obtains the target intelligent driving module to be refilled.

[0034] Specifically, the user can select the target intelligent driving module that needs to be re-injected according to the test requirements, and the data link layer determines the target intelligent driving module to be re-injected according to the user's selection operation.

[0035] In the specific implementation, the host computer can be configured to notify the data link layer of the target intelligent driving module that needs to be recharged in this test task. Optionally, the above S301 may include: the data link layer obtains the target intelligent driving module to be recharged through the user interface provided by the host computer, and the user interface is constructed based on multiple intelligent driving modules supported by the data recharge platform.

[0036] Among them, the upper computer displays the user interface according to the information of multiple intelligent driving modules supported by the data reinjection platform. For example, the user interface may include selection controls associated with multiple intelligent driving modules. The user triggers the corresponding selection controls in the user interface based on the test requirements. The upper computer determines the target intelligent driving module to be reinjected based on the user's triggering operation, and sends the information of the target intelligent driving module to be reinjected to the data link layer in the data reinjection platform, which is uniformly scheduled by the data link layer.

[0037] S302. The data link layer activates the target intelligent driving module and builds the data link required for testing the target intelligent driving module.

[0038] Usually, in the initial state, each intelligent driving module in the data recharge platform is in a deactivated state. After obtaining the target intelligent driving module to be recharged, the data link layer activates the target intelligent driving module. After the target intelligent driving module is activated, the target intelligent driving module has the ability to receive data.

[0039] At the same time, the target data link layer can also build the data link required for the target intelligent driving module testing in combination with the test requirements of the target intelligent driving module to ensure that the test data can be accurately transmitted to the target intelligent driving module.

[0040] S303: The data link layer obtains the test data and feeds the test data back to the target intelligent driving module through the data link.

[0041] The data link layer can obtain test data from an offline data packet, which is the historical real vehicle data collected during the driving process of the vehicle in the real road scene. For example, the offline data packet is the real vehicle data of the vehicle in the real road scene during the target time period, such as the target time period can be the last day, the last week or the last month. In other words, the offline data packet contains various data generated by the real vehicle in the real road scene. Optionally, the above offline data packet can be stored in the local end of the host computer or in the cloud, which is not limited in this embodiment.

[0042] After acquiring the test data, the data link layer feeds the test data back to the target intelligent driving module through the data link constructed above, so that the target intelligent driving module performs a feed-back test based on the test data. In other words, in the embodiment of the present application, the data link layer uniformly provides the test data required for the test of each intelligent driving module, decoupling the intelligent driving module from the upstream intelligent driving module, so that the feed-back test of the intelligent driving module does not need to rely on the operating status of the upstream intelligent driving module.

[0043] S304: The target intelligent driving module performs a recharging test based on the test data.

[0044] The target intelligent driving module performs a re-injection test based on the test data and feeds back the test results to the host computer, which displays and stores the test results. In this way, the above-mentioned data re-injection platform can reproduce the problems existing in the target intelligent driving module during the actual vehicle driving process, optimize them, and improve the quality of the target intelligent driving module.

[0045] The data re-injection method provided in the embodiment of the present application abstracts the dependency relationship between multiple intelligent driving modules to the data link layer, decouples the dependency relationship between the intelligent driving modules through the data link layer, and dynamically activates the intelligent driving module that needs to be re-injected and constructs the data link required for the test of the intelligent driving module by the data link layer. The data link layer uniformly obtains the test data required for the test of the intelligent driving module, and distributes the test data to the intelligent driving module through the data link, so that the re-injection test of the intelligent driving module does not need to rely on the operating status of the upstream intelligent driving module, thereby realizing the flexibility of the re-injection test of the intelligent driving module and improving the optimization efficiency of the intelligent driving module.

[0046] Optionally, after the target intelligent driving module is tested, the data link layer deactivates the target intelligent driving module and releases the data link constructed for the target intelligent driving module, thereby reducing the number of data links that the data link layer needs to maintain, thereby saving computing resources of the data link layer.

[0047] In one embodiment, the user can perform a recharge test on only one intelligent driving module, or can perform a recharge test on multiple intelligent driving modules. Based on this, the data link layer can construct the data link required for the target intelligent driving module test in the following ways:

[0048] Method 1: When the number of target intelligent driving modules is only one, build a data link between the target intelligent driving module and the data link layer.

[0049] In this embodiment, the data link layer performs unified management of each intelligent driving module. The unified management here includes the data link layer connecting to offline data packets, obtaining and issuing test data required for testing each intelligent driving module. Therefore, when the number of target intelligent driving modules is only one, the data link layer only needs to build a data link between the target intelligent driving module and the data link layer.

[0050] For example, Figure 4 As shown, assuming that the target intelligent driving module is a fusion module, the data link layer activates the fusion module and builds a data link between itself and the fusion module, and feeds the perception data, body chassis data, and map data required for the fusion module test back to the fusion module through the data link, so that the fusion module performs a feed test based on these test data.

[0051] Method 2: When there are multiple target intelligent driving modules, determine the dependency relationships between the target intelligent driving modules, and build the data links required for testing each target intelligent driving module based on the dependency relationships.

[0052] When there are multiple target intelligent driving modules, these target intelligent driving modules may have direct dependencies (for example, a target intelligent driving module is the direct upstream intelligent driving module of another target intelligent driving module), or they may not have direct dependencies. Target intelligent driving modules that do not have direct dependencies can perform recharge tests independently, while target intelligent driving modules that have direct dependencies need to rely on the output data of the direct upstream intelligent module to perform recharge tests. In this case, the data links that need to be constructed will also be different for different situations. Therefore, when there are multiple target intelligent driving modules, the data link layer can determine the dependencies between the target intelligent driving modules, and construct the data links required for testing the target intelligent driving modules based on the dependencies between the target intelligent driving modules.

[0053] As an optional implementation, when there is no direct dependency between the target intelligent driving modules, the data link layer constructs a data link between the target intelligent driving modules and the data link layer.

[0054] Since there is no direct dependency between the target intelligent driving modules, the test data required by each target intelligent module can be provided by the data link layer. Therefore, the data link layer only needs to build a data link between each target intelligent driving module and the data link layer.

[0055] For example, Figure 5 As shown, assuming that the target intelligent driving module is a fusion module and a planning module, the data link layer activates the fusion module and the planning module, and constructs a data link A between itself and the fusion module, as well as a data link B between itself and the planning module. The perception data, chassis data, and map data required for the fusion module test are fed back to the fusion module through data link A, and the prediction data, chassis data, and map data required for the planning module test are fed back to the planning module through data link B, so that the fusion module and the planning module can perform the re-feedback test independently at the same time.

[0056] In this way, multiple target intelligent driving modules that do not have direct dependencies can be re-injected for testing at the same time, which improves the utilization rate of the data re-injection platform and the optimization efficiency of multiple target intelligent driving modules.

[0057] As another optional implementation method, when there is a direct dependency relationship between the target intelligent driving modules, the direct upstream intelligent driving module of each target intelligent driving module among the multiple target intelligent driving modules is determined, and a data link is constructed between each target intelligent driving module and the data link layer, as well as a data link between each target intelligent driving module and its direct upstream intelligent driving module.

[0058] Since multiple target intelligent driving modules need to be jointly tested, the target intelligent driving module of the joint test needs to rely on the output data of the upstream intelligent driving module in addition to some basic data. The above basic data can be provided by the data link layer, and the above output data is provided by its directly upstream intelligent driving module. Therefore, in addition to building a data link between each target intelligent driving module and the data link layer, the data link layer also needs to build a data link between each target intelligent driving module and its upstream intelligent driving module.

[0059] For example, Figure 6As shown, assuming that the target intelligent driving module is a fusion module, a prediction module, and a map module, the data link layer activates the fusion module, the prediction module, and the map module, and constructs a data link A between itself and the fusion module, a data link C between itself and the prediction module, and a data link D between itself and the map module. Since the map module is the direct upstream intelligent driving module of the fusion module, and the fusion module is the direct upstream intelligent driving module of the prediction module, it is also necessary to construct a data link E between the map module and the fusion module, and a data link F between the fusion module and the prediction module. In this way, the data link layer feeds the perception data and chassis data required for the fusion module test back to the fusion module through data link A, and the map data required for the fusion module is provided by the map module through data link E; the data link layer feeds the chassis data back to the prediction module and the map module through data link C and data link D, respectively, and the fusion data required for the prediction module is provided by the fusion module through data link F.

[0060] In this way, multiple target intelligent driving modules with direct dependencies can be jointly tested to avoid the influence of some weak intelligent driving modules, that is, the output data of weak intelligent driving modules can be uniformly provided by the data link layer to meet the needs of some professional joint debugging scenarios in the intelligent driving development process. For example, if the implementation effect of the perception module is not good, the data link layer can provide the perception data required for the test to the fusion module, thereby realizing the joint debugging between the fusion module, the map module and the prediction module.

[0061] In some embodiments, when forwarding test data to the target intelligent driving module at the data link layer, if the number of target intelligent driving modules is multiple, the above-mentioned feeding the test data back to the target intelligent driving module through the data link may include: parsing the test data to obtain a message identifier; determining a first target intelligent driving module for receiving the test data according to the message identifier; and feeding the test data back to the first target intelligent driving module through the data link corresponding to the first target intelligent driving module.

[0062] Specifically, the above-mentioned message identifier refers to information that uniquely identifies a data message, which may be a message name, a message type, or a message ID, etc. The test data required by different target intelligent driving modules will be different. For example, the fusion module requires perception data and some basic data (these basic data include map data and body chassis data), and the prediction module requires fusion data and some basic data. Therefore, in order to accurately transmit the test data, after obtaining the test data, the data link layer parses the test data to obtain the message identifier of the test data, and uses the message identifier to determine the first target intelligent driving module for receiving the test data. Optionally, the data link layer can query a preset mapping relationship based on the message identifier to determine the first target intelligent driving module for receiving the test data. Among them, the preset mapping relationship includes a mapping relationship between a message identifier and a target intelligent driving module. For example, taking the joint debugging of the fusion module, the map module, and the prediction module as an example, if the test data is known to be body chassis data based on the message identifier of the test data, and it is known by querying the preset mapping relationship that the fusion module, the map module, and the prediction module all need body chassis data, then the test data can be sent to the fusion module, the map module, and the prediction module through the corresponding data link.

[0063] In this embodiment, the test data is distributed based on the message identifier of the test data, so that the test data can be accurately fed back to the corresponding target intelligent driving module, ensuring the accuracy of the test data transmission.

[0064] In one embodiment, since the above test data is the historical real vehicle data of the vehicle in the real road scene within the target time period, the timestamp in the test data does not match the system time of the data re-injection platform. Therefore, it is also necessary to synchronize the data re-injection platform with the test data. Optionally, before the data link layer obtains the test data, the data link layer can also receive the time synchronization information sent by the host computer, and adjust the system time of the data re-injection platform according to the time synchronization information, so that after the target intelligent driving module obtains the test data, it can perform the re-injection test based on the test data and the system time.

[0065] The above time synchronization information is obtained based on the test data, that is, the host computer can set the timestamp of the first data packet to its current system time, and start the timing service to synchronize the system time to the data re-injection platform. The data link layer of the data re-injection platform modifies its own system time based on the time synchronization information sent by the host computer, so that its own system time is synchronized with the system time of the host computer.

[0066] After the data recharge platform is successfully synchronized, the host computer triggers a periodic task, takes the current system time as the benchmark, traverses the recharge data set of the data recharge platform, transmits the data within the time window [Tnow+ΔT-ΔT1, Tnow+ΔT] to the data link layer in the data recharge platform via Ethernet, and updates the sent time index position. Among them, ΔT is the test data sending period, and ΔT1 is the duration set to verify whether the test data is successfully sent.

[0067] The data link layer forwards the received test data to the target intelligent driving module, and the target intelligent driving module performs a re-injection test based on the test data and system time.

[0068] In this embodiment, the system time of the data re-injection platform is adjusted based on the timestamp of the test data so that the system time of the data re-injection platform matches the time of the test data. In this way, it can be ensured that the target intelligent driving module can accurately process the test data, thereby improving the optimization effect of the target intelligent driving module.

[0069] Figure 7 A structural diagram of a data recharge system provided in an embodiment of the present application. Figure 7 As shown, the data re-injection system may include a host computer and a data re-injection platform. The data re-injection platform includes a data link layer and multiple intelligent driving modules. The data link layer is used to decouple the dependencies between the intelligent driving modules.

[0070] Specifically, the host computer is used to obtain the target intelligent driving module to be refilled;

[0071] The data link layer is used to activate the target intelligent driving module and build the data link required for testing the target intelligent driving module;

[0072] The host computer is also used to send test data to the data link layer;

[0073] The data link layer is also used to feed test data back to the target intelligent driving module through the data link;

[0074] The target intelligent driving module is used to perform the recharge test according to the test data and feed back the test results to the host computer;

[0075] The host computer is also used to store and display test results.

[0076] The host computers mentioned above may be independently deployed host computers 1 and 2 ( Figure 7Only the independent deployment of the host computer is used as an example, and the deployment method of the host computer is not limited). The host computer 1 mainly deploys the offline data recharge module and the system timing module. The offline data recharge module is used to send the test data required for the target intelligent driving module test to the data recharge platform. The system timing module is used for time synchronization of the data recharge platform. The host computer 2 mainly deploys the data acquisition tool to collect the recharge test results of the target intelligent driving module and realize the storage and display of the recharge test results. Of course, host computer 1 and host computer 2 can also be deployed together. In order to avoid excessive network load and thus cause data frame loss, multiple host computers can be deployed independently to achieve the corresponding functions.

[0077] Optionally, the data link layer is also used to deactivate the target intelligent driving module and the data link after the target intelligent driving module is tested.

[0078] On the basis of the above embodiments, optionally, the data link layer is also used to construct a data link between the target intelligent driving module and the data link layer when the number of target intelligent driving modules is single; when the number of target intelligent driving modules is multiple, determine the dependency relationship between the target intelligent driving modules, and construct the data link required for testing each target intelligent driving module based on the dependency relationship.

[0079] On the basis of the above embodiments, optionally, the data link layer is also used to construct a data link between each target intelligent driving module and the data link layer when there is no direct dependency between the target intelligent driving modules; when there is a direct dependency between the target intelligent driving modules, determine the direct upstream intelligent driving module of each target intelligent driving module among multiple target intelligent driving modules, and construct a data link between each target intelligent driving module and the data link layer, as well as a data link between each target intelligent driving module and its direct upstream intelligent driving module.

[0080] On the basis of the above embodiment, optionally, the data link layer is also used to parse the test data and obtain a message identifier when there are multiple target intelligent driving modules; determine the first target intelligent driving module for receiving the test data according to the message identifier; and feed the test data back to the first target intelligent driving module through the data link corresponding to the first target intelligent driving module.

[0081] Based on the above embodiment, optionally, the host computer is further used to send time synchronization information to the data link layer; the time synchronization information is obtained based on the test data;

[0082] The data link layer is also used to receive time synchronization information and adjust the system time of the data re-injection platform according to the time synchronization information.

[0083] On the basis of the above embodiment, optionally, the data link layer is also used to obtain the target intelligent driving module to be recharged through the user interface provided by the host computer, and the user interface is constructed based on multiple intelligent driving modules supported by the data recharge platform.

[0084] In order to facilitate the understanding of those skilled in the art, the data re-injection method provided by the embodiment of the present application is introduced below in a manner where the host computer 1 and the host computer 2 are independently deployed. Figure 8 As shown, the method includes:

[0085] S801. Host computer 1 starts the offline data recharging function, and host computer 2 starts the data acquisition tool to record data.

[0086] S802. The host computer 1 selects the intelligent driving module that needs to be recharged by the data recharge platform.

[0087] S803, the data re-injection platform activates the module according to the selection of the host computer, and triggers the input and output data links required for the activation module (such as Figure 4 Single module activation and Figure 5 As shown in Multi-Module Activation, the activation link is bound to the activation module to ensure that all input links required by the activation module are activated; Figure 6 As shown in the multi-module activation, the map module is the direct upstream module of the fusion module, and the fusion module is the direct upstream module of the prediction module, then the link between the map module and the fusion module and the link between the fusion module and the prediction module are automatically activated).

[0088] S804: After the host computer 1 confirms that the recharging module and the link activation are complete, it starts to select offline data packets.

[0089] S805 , the host computer 1 parses the data packet and obtains the data time in the data packet.

[0090] S806, the host computer 1 sets the first frame data time in the data packet to the current system time, and then starts the timing service to synchronize the system time to the data re-injection platform.

[0091] S807, the data re-injection platform performs time synchronization, and notifies the host computer 1 after confirming that the time synchronization is successful.

[0092] S808, host computer 1 triggers a periodic task with a period of 10ms. The period here is based on the sending period of the actual vehicle data.

[0093] S809, the host computer 1 obtains the current system time Tnow.

[0094] S810, traverse the recharge data set, find the data within the time window [Tnow+ΔT-30ms, Tnow+ΔT], transmit it to the data link layer of the data recharge platform via Ethernet, and update the sent time index position. Further, the host computer 1 executes the above S808-S810 in a timed loop.

[0095] S811: The data re-injection platform receives the test data sent by the host computer 1, and forwards the test data to the corresponding target intelligent driving module through the data link layer. When there are multiple target intelligent driving modules, the data link layer also needs to parse the test data, obtain the message identifier, and forward the test data to the corresponding target intelligent driving module according to the message identifier.

[0096] S812. The target intelligent driving module runs the algorithm according to the test data and system time, outputs the corresponding test results, and transmits the test results to the real-time acquisition tool of the host computer 2.

[0097] S813. The host computer 2 receives the test results of the target intelligent driving module and displays and stores the test results.

[0098] Fig. 9 A structural schematic diagram of a data recharge platform provided in an embodiment of the present application, the data recharge platform may be an intelligent driving domain controller, in which a data link layer or multiple intelligent driving modules are deployed, each intelligent driving module is used to implement different intelligent driving functions, such as Fig. 9 As shown, the device includes a processor 90, a memory 91, an input device 92 and an output device 93; the number of processors 90 in the device can be one or more. Fig. 9 A processor 90 is taken as an example; the processor 90, memory 91, input device 92 and output device 93 in the device can be connected by a bus or other means. Fig. 9 The example of connecting through bus is taken in the following.

[0099] The memory 91, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the data recharge method in the embodiment of the present application (for example, the data link layer and the intelligent driving module in the data recharge platform). The processor 90 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 91, that is, implements the above-mentioned data recharge method.

[0100] The memory 91 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created during data refilling, etc. In addition, the memory 91 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 91 may further include a memory remotely arranged relative to the processor 90, and these remote memories may be connected to the device / terminal / server via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0101] The input device 92 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the data re-injection platform. The output device 93 may include display devices such as a display screen.

[0102] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0103] The data link layer obtains the target intelligent driving module to be fed back;

[0104] The data link layer activates the target intelligent driving module and builds the data link required for testing the target intelligent driving module;

[0105] The data link layer obtains the test data and feeds the test data back to the target intelligent driving module through the data link;

[0106] The target intelligent driving module performs a recharge test based on the test data.

[0107] The data recharge system, data recharge platform and computer-readable storage medium provided in the above embodiments can execute the data recharge method provided in any of the above embodiments, and have the corresponding functional modules and beneficial effects of executing the method. For technical details not described in detail in the above embodiments, please refer to the data recharge method provided in any of the above embodiments.

[0108] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0109] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A data re-injection method, characterized in that: Applied to a data re-injection platform, the data re-injection platform includes a data link layer and multiple intelligent driving modules, the data link layer is used to decouple the dependencies between the intelligent driving modules, and the method includes: The data link layer obtains the target intelligent driving module to be refilled; The data link layer activates the target intelligent driving module and constructs the data link required for testing the target intelligent driving module; The data link layer acquires test data and feeds the test data back to the target intelligent driving module through the data link; The target intelligent driving module performs a recharge test based on the test data.

2. The method according to claim 1, characterized in that Also includes: After the target intelligent driving module is tested, the data link layer deactivates the target intelligent driving module and the data link.

3. The method according to claim 1, characterized in that The data link required for building the target intelligent driving module test includes: When the number of the target intelligent driving module is single, constructing a data link between the target intelligent driving module and the data link layer; When there are multiple target intelligent driving modules, the dependency relationships among the target intelligent driving modules are determined, and based on the dependency relationships, the data links required for testing the target intelligent driving modules are constructed.

4. The method according to claim 3, characterized in that According to the dependency relationship, the data link required for testing each target intelligent driving module is constructed, including: When there is no direct dependency relationship between the target intelligent driving modules, constructing a data link between each target intelligent driving module and the data link layer; When there is a direct dependency relationship between the target intelligent driving modules, determine the direct upstream intelligent driving module of each target intelligent driving module among the multiple target intelligent driving modules, and build a data link between each target intelligent driving module and the data link layer, as well as a data link between each target intelligent driving module and its direct upstream intelligent driving module.

5. The method according to claim 1, characterized in that The step of feeding the test data back to the target intelligent driving module through the data link includes: When there are multiple target intelligent driving modules, parsing the test data to obtain a message identifier; Determine a first target intelligent driving module for receiving the test data according to the message identifier; The test data is fed back to the first target intelligent driving module through a data link corresponding to the first target intelligent driving module.

6. The method according to claim 1, characterized in that Before the data link layer acquires the test data, it also includes: The data link layer receives time synchronization information sent by the host computer; the time synchronization information is obtained based on the test data; The data link layer adjusts the system time of the data re-injection platform according to the time synchronization information.

7. The method according to claim 1, characterized in that The data link layer obtains the target intelligent driving module to be fed back, including: The data link layer obtains the target intelligent driving module to be re-injected through a user interface provided by the host computer, and the user interface is constructed based on multiple intelligent driving modules supported by the data re-injection platform.

8. A data refill system, characterized in that: It includes: a host computer and a data re-injection platform, wherein the data re-injection platform includes a data link layer and multiple intelligent driving modules, and the data link layer is used to decouple the dependencies between the intelligent driving modules; The host computer is used to obtain the target intelligent driving module to be refilled; The data link layer is used to activate the target intelligent driving module and build the data link required for testing the target intelligent driving module; The host computer is also used to send test data to the data link layer; The data link layer is further used to feed the test data back to the target intelligent driving module through the data link; The target intelligent driving module is used to perform a recharge test according to the test data and feed back the test result to the host computer; The host computer is also used to store and display the test results.

9. A data re-injection platform, characterized in that: include: A memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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