A data processing method, device, system, chip and intelligent driving equipment

Abstract

Embodiments of the present application provide a data processing method, device, system, chip and intelligent driving equipment. The data processing method comprises: determining that the intelligent driving equipment is in a first driving scene; obtaining first data from sensors in a first sensor group and processing the first data, the first data corresponding to a first frame rate; when it is determined that the intelligent driving equipment switches from the first driving scene to a second driving scene, obtaining second data from sensors in a second sensor group and processing the second data, or obtaining third data from the sensors in the first sensor group and processing the third data, the third data corresponding to a second frame rate, wherein the second sensor group comprises part of the sensors in the first sensor group, and the first frame rate is greater than the second frame rate. Embodiments of the present application can be applied to intelligent cars or electric cars, and help to improve the endurance and economy of the vehicle.

Description

Technical Field

[0001] This application relates to the field of intelligent driving, and more specifically, to a data processing method, apparatus, system, chip, and intelligent driving device. Background Technology

[0002] With the development of vehicle intelligence, more and more vehicles are equipped with intelligent driving systems, such as advanced driving assistance systems (ADAS). ADAS includes some high-power devices, such as chip-on-system (SoC). If these high-power devices are kept in high-power scenarios, it will affect the battery life and economy of intelligent driving devices. Summary of the Invention

[0003] This application provides a data processing method, apparatus, system, chip, and intelligent driving device, which helps to improve the range and economy of intelligent driving devices.

[0004] The intelligent driving device in this application can include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment. For example, the intelligent driving device can be a vehicle, which is a vehicle in a broad sense, including transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments of this application do not specifically limit the type of vehicle. As another example, the intelligent driving device can be a vehicle such as an airplane or a ship. In addition to intelligent driving devices, the embodiments of this application can also be applied to other devices, such as terminal devices (e.g., mobile phones) or robots (e.g., drones).

[0005] In a first aspect, a data processing method is provided, the method comprising: acquiring first data from a sensor in a first sensor group and processing the first data, the first data corresponding to a first frame rate; and, when a preset condition is determined to be met, acquiring second data from a sensor in a second sensor group and processing the second data, or acquiring third data from a sensor in the first sensor group and processing the third data, the third data corresponding to a second frame rate, wherein the first frame rate and the second frame rate are different.

[0006] In this embodiment, the intelligent driving device can process first data from a first sensor group, and when preset conditions are met, it can process second data from a second sensor group or third data from sensors in the first sensor group. This allows the intelligent driving device to flexibly choose to process data from different sensors, or to process data from the same sensor at different frame rates, thus improving the flexibility of data processing.

[0007] In conjunction with the first aspect, in some implementations of the first aspect, the second sensor group includes some of the sensors in the first sensor group, and the first frame rate is greater than the second frame rate.

[0008] In this embodiment of the application, when preset conditions are met, processing the data from some sensors or processing the third data after reducing the frame rate helps to reduce the power consumption of the intelligent driving device, thereby helping to improve the battery life and economy of the intelligent driving device.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, acquiring and processing first data from sensors in the first sensor group includes: acquiring and processing first data from sensors in the first sensor group when it is determined that the intelligent driving device is in a first driving scenario, wherein the first driving scenario is associated with the first frame rate; acquiring and processing second data from sensors in the second sensor group when it is determined that a preset condition is met, or acquiring and processing third data from sensors in the first sensor group includes: acquiring and processing second data from sensors in the second sensor group when it is determined that the intelligent driving device switches from the first driving scenario to a second driving scenario, or acquiring and processing third data from sensors in the first sensor group, wherein the second driving scenario is associated with the second frame rate.

[0010] In this embodiment, when the intelligent driving device switches from a first driving scenario to a second driving scenario, it can process second data from sensors in the second sensor group, or process third data collected from sensors in the first sensor group. This helps reduce the power consumption of the intelligent driving device, thereby improving its range and economy; at the same time, it helps avoid overheating of components in the intelligent driving system, thus improving the reliability and safety of the intelligent driving system.

[0011] In some possible implementations, the level of autonomous driving corresponding to the first driving scenario is higher than the level of autonomous driving corresponding to the second driving scenario. For example, the first driving scenario is an autonomous driving scenario on a highway, and the second driving scenario is an assisted driving scenario on a highway.

[0012] In some possible implementations, the driving function corresponding to the first driving scenario is different from the driving function corresponding to the second driving scenario.

[0013] In some possible implementations, acquiring and processing second data from sensors in the second sensor group includes: acquiring data from sensors in the first sensor group and processing the second data acquired by sensors in the second sensor group.

[0014] In some possible implementations, before acquiring and processing the second data from the sensors in the second sensor group, the method includes: turning off other sensors in the first sensor group other than the second sensor group.

[0015] In some possible implementations, other sensors in the first sensor group other than the second sensor group are turned off, including by using a power gating or a clock gating to turn off other sensors in the first sensor group other than the second sensor group.

[0016] The above-mentioned method of shutting down other sensors in the first sensor group other than the second sensor group by means of power gate or clock gate can also be understood as shutting down other sensors in the first sensor group other than the second sensor group by means of power off or clock off.

[0017] In conjunction with the first aspect, in certain implementations of the first aspect, when it is determined that the intelligent driving device switches from the first driving scenario to the second driving scenario, second data from sensors in the second sensor group is acquired and processed; wherein, the method further includes: when it is determined that the intelligent driving device switches from the second driving scenario to the third driving scenario, acquiring fifth data from sensors in the third sensor group and processing the fifth data, or acquiring sixth data from sensors in the second sensor group and processing the sixth data, wherein the third driving scenario is associated with the third frame rate; wherein, the third sensor includes some sensors in the second sensor group, and the frame rate corresponding to the second data is greater than the frame rate corresponding to the sixth data.

[0018] In this embodiment, when the intelligent driving device switches from a second driving scenario to a third driving scenario, it can process the fifth data from the sensors in the third sensor group, or process the sixth data collected by the sensors in the second sensor group. This helps reduce the power consumption of the intelligent driving device, thereby improving its range and economy. Simultaneously, reducing the power consumption of the intelligent driving device can prevent overheating of the components, thus improving the reliability and safety of the intelligent driving system.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, processing the first data includes: processing the first data through a plurality of processing devices in the first processor; wherein, acquiring and processing second data from sensors in the second sensor group, or acquiring and processing third data from sensors in the first sensor group, includes: processing the second data through some of the plurality of processing devices, or processing the third data through some of the processing devices.

[0020] In this embodiment, when the intelligent driving device switches from a first driving scenario to a second driving scenario, it can select some processing devices from multiple processing devices to process the second or third data. This reduces the number of processing devices, thus lowering the power consumption of the intelligent driving device and improving its range and economy. Simultaneously, reducing power consumption prevents overheating of components, contributing to improved reliability and safety of the intelligent driving system.

[0021] In some possible implementations, the method further includes shutting down other processing devices among the plurality of processing devices before processing the second or third data.

[0022] In some possible implementations, shutting down other processing devices among the plurality of processing devices besides the portion of processing devices includes: shutting down other processing devices among the plurality of processing devices besides the portion of processing devices through a power gate or a clock gate.

[0023] In some possible implementations, the processing device can be a central processing unit (CPU) or a computing core. For example, the computing core can be an artificial intelligence core (AI core), a graphics processing unit (GPU) core, etc.

[0024] In conjunction with the first aspect, in some implementations of the first aspect, before acquiring and processing the second data from the sensors in the second sensor group, or acquiring and processing the third data from the sensors in the first sensor group, the method further includes: determining that the temperature of the first processor is greater than or equal to a first preset temperature and less than a second preset temperature, wherein the second preset temperature is greater than the first preset temperature.

[0025] In this embodiment, when the intelligent driving device switches from a first driving scenario to a second driving scenario and the temperature of the first processor is greater than or equal to a first preset temperature and less than a second preset temperature, the intelligent driving device can process second data from sensors in the second sensor group, or process third data collected from sensors in the first sensor group. Thus, by combining the switching of intelligent driving scenarios with the temperature change of the first processor, the accuracy of the intelligent driving device's decisions is further improved; simultaneously, it helps to avoid overheating of components in the intelligent driving system, thereby improving the reliability and safety of the intelligent driving system.

[0026] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: stopping data processing through the first processor when it is determined that the temperature of the first processor is greater than or equal to the second preset temperature.

[0027] In this embodiment, data processing can be stopped when the temperature of the first processor is greater than or equal to a second preset temperature. This helps to avoid affecting the reliability and safety of the intelligent driving system due to excessively high temperature of the first processor; at the same time, it also helps to prevent damage to the first processor.

[0028] In some possible implementations, the method also includes taking over the intelligent driving system or intelligent driving device via a microcontroller unit (MCU) when data processing via the first processor ceases.

[0029] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: stopping data processing through the first processor when it is determined that the duration of the temperature of the first processor being greater than or equal to the second preset temperature is greater than or equal to the first preset duration.

[0030] In this embodiment, when the temperature of the first processor is greater than or equal to the second preset temperature for a duration greater than or equal to the first preset duration, data processing via the first processor can be stopped. This helps to avoid the impact of excessively high temperatures of the first processor on the reliability and safety of the intelligent driving system; it also helps to prevent damage to the first processor.

[0031] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: when it is determined that the intelligent driving device switches from the second intelligent driving scenario to the first intelligent driving scenario, acquiring fourth data from the sensors in the first sensor group and processing the fourth data, the fourth data corresponding to the first frame rate.

[0032] In conjunction with the first aspect, in some implementations of the first aspect, processing the first data includes: processing the first data by the first processor when it is determined that the temperature of the first processor is less than a first preset temperature; and acquiring and processing second data from sensors in the second sensor group when a preset condition is determined to be met, or acquiring and processing third data from sensors in the first sensor group, including: acquiring and processing second data from sensors in the second sensor group when it is determined that the temperature of the first processor is greater than or equal to the first preset temperature and less than the second preset temperature, or acquiring and processing third data from sensors in the first sensor group, wherein the first preset temperature is less than the second preset temperature.

[0033] In this embodiment, when the temperature of the first processor is too high, it is possible to process the second data from some sensors or process the third data with a low frame rate, which helps to reduce the power consumption of the intelligent driving device, thereby helping to improve the battery life and economy of the intelligent driving device; at the same time, it helps to avoid the impact of the high temperature of the first processor on the reliability and safety of the intelligent driving system, and also helps to avoid damage to the first processor.

[0034] In some possible implementations, acquiring and processing second data from sensors in the second sensor group includes: acquiring data from sensors in the first sensor group and processing the second data acquired by sensors in the second sensor group.

[0035] In some possible implementations, before acquiring and processing the second data from the sensors in the second sensor group, the method includes: turning off other sensors in the first sensor group other than the second sensor group.

[0036] In conjunction with the first aspect, in some implementations of the first aspect, the first processor includes a plurality of processing devices, and the processing of the first data by the first processor includes: processing the first data by the plurality of processing devices; acquiring second data from sensors in the second sensor group and processing the second data, or acquiring third data from sensors in the first sensor group and processing the third data includes: processing the second data by some of the plurality of processing devices, or processing the third data by some of the processing devices.

[0037] In this embodiment, when the temperature of the first processor is greater than or equal to a first preset temperature and less than a second preset temperature, the intelligent driving device can select some processing devices from multiple processing devices to process the second or third data. This reduces the number of processing devices, helping to further reduce the power consumption of the intelligent driving device, thereby improving its range and economy. Simultaneously, reducing the power consumption of the intelligent driving device can prevent the temperature of components in the intelligent driving system from continuously rising, helping to improve the reliability and safety of the intelligent driving system, and also helping to prevent damage to components in the intelligent driving system.

[0038] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: stopping data processing through the first processor when it is determined that the temperature of the first processor is greater than or equal to the second preset temperature.

[0039] In this embodiment, data processing can be stopped when the temperature of the first processor is greater than or equal to a second preset temperature. This helps to avoid affecting the reliability and safety of the intelligent driving system due to excessively high temperature of the first processor; at the same time, it also helps to prevent damage to the first processor.

[0040] In some possible implementations, the method also includes: when data processing via the first processor is stopped, the MCU takes over the intelligent driving system or intelligent driving device.

[0041] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: stopping data processing through the first processor when it is determined that the duration of the temperature of the first processor being greater than or equal to the second preset temperature is greater than or equal to the first preset duration.

[0042] In this embodiment, when the temperature of the first processor is greater than or equal to the second preset temperature for a duration greater than or equal to the first preset duration, data processing via the first processor can be stopped. This helps to avoid the impact of excessively high temperatures of the first processor on the reliability and safety of the intelligent driving system; it also helps to prevent damage to the first processor.

[0043] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: when it is determined that the temperature of the first processor is less than or equal to a third preset temperature, acquiring fourth data from the sensors in the first sensor group and processing the fourth data, the fourth data corresponding to the first frame rate; wherein the first preset temperature is greater than the third preset temperature.

[0044] In this embodiment of the application, by setting a hysteresis temperature (the difference between a first preset temperature and a third preset temperature), the switching between different system states of the intelligent driving system can be avoided, thereby helping to improve the reliability and safety of the intelligent driving system.

[0045] In conjunction with the first aspect, in some implementations of the first aspect, processing the first data includes: processing the first data within a first time period; and when a preset condition is determined to be met, acquiring second data from a sensor in the second sensor group and processing the second data, or acquiring third data from a sensor in the first sensor group and processing the third data, including: acquiring second data from a sensor in the second sensor group and processing the second data at the end of the first time period, or acquiring third data from a sensor in the first sensor group and processing the third data.

[0046] In conjunction with the first aspect, in some implementations of the first aspect, the second sensor group includes the first sensor group and the third sensor group, and the first frame rate is less than the second frame rate.

[0047] In conjunction with the first aspect, in some implementations of the first aspect, acquiring and processing first data from sensors in the first sensor group includes: acquiring and processing first data from sensors in the first sensor group when it is determined that the intelligent driving device is in a first driving scenario, wherein the first driving scenario is associated with the first frame rate; acquiring and processing second data from sensors in the second sensor group when it is determined that a preset condition is met, or acquiring and processing third data from sensors in the first sensor group includes: acquiring and processing second data from sensors in the second sensor group when it is determined that the intelligent driving device switches from the first driving scenario to a second driving scenario, or acquiring and processing third data from sensors in the first sensor group, wherein the second driving scenario is associated with the second frame rate.

[0048] In some possible implementations, the level of autonomous driving corresponding to the first driving scenario is lower than the level of autonomous driving corresponding to the second driving scenario.

[0049] For example, the first driving scenario is a highway assisted driving scenario, and the second driving scenario is a highway autonomous driving scenario.

[0050] In conjunction with the first aspect, in some implementations of the first aspect, processing the first data includes: processing the first data by the first processor when it is determined that the temperature of the first processor is greater than or equal to a fourth preset temperature; and acquiring and processing second data from sensors in the second sensor group when a preset condition is determined to be met, or acquiring and processing third data from sensors in the first sensor group, including: acquiring and processing second data from sensors in the second sensor group when it is determined that the temperature of the first processor is less than the fourth preset temperature and greater than or equal to a fifth preset temperature, or acquiring and processing third data from sensors in the first sensor group, wherein the fourth preset temperature is greater than the fifth preset temperature.

[0051] In a second aspect, a data processing apparatus is provided, comprising: a data processing unit configured to acquire first data from sensors in a first sensor group and process the first data, the first data corresponding to a first frame rate; a determining unit configured to determine that a preset condition is met; the data processing unit is further configured to acquire second data from sensors in a second sensor group and process the second data, or acquire third data from sensors in the first sensor group and process the third data, the third data corresponding to a second frame rate, wherein the first frame rate and the second frame rate are different.

[0052] In conjunction with the second aspect, in some implementations of the second aspect, the second sensor group includes some of the sensors in the first sensor group, and the first frame rate is greater than the second frame rate.

[0053] In conjunction with the second aspect, in some implementations of the second aspect, the data processing unit is configured to, when the determining unit determines that the intelligent driving device is in a first driving scenario, acquire first data from sensors in the first sensor group and process the first data, wherein the first driving scenario is associated with the first frame rate; and when the determining unit determines that the intelligent driving device switches from the first driving scenario to a second driving scenario, acquire second data from sensors in the second sensor group and process the second data, or acquire third data from sensors in the first sensor group and process the third data, wherein the second driving scenario is associated with the second frame rate.

[0054] In conjunction with the second aspect, in some implementations of the second aspect, the data processing unit is configured to: process the first data through a plurality of processing devices in the first processor; process the second data through a portion of the plurality of processing devices; or process the third data through the portion of the processing devices.

[0055] In conjunction with the second aspect, in some implementations of the second aspect, the determining unit is further configured to: determine, before the data processing unit processes the second data or the third data, that the temperature of the first processor is greater than or equal to a first preset temperature and less than a second preset temperature, wherein the second preset temperature is greater than the first preset temperature.

[0056] In conjunction with the second aspect, in some implementations of the second aspect, the determining unit is further configured to: determine that the temperature of the first processor is greater than or equal to the second preset temperature; the data processing unit is further configured to: stop data processing through the first processor.

[0057] In conjunction with the second aspect, in some implementations of the second aspect, the determining unit is further configured to: determine that the duration for which the temperature of the first processor is greater than or equal to the second preset temperature is greater than or equal to the first preset duration; the data processing unit is further configured to: stop data processing through the first processor.

[0058] In conjunction with the second aspect, in some implementations of the second aspect, the determining unit is further configured to: determine that the intelligent driving device switches from the second intelligent driving scenario to the first intelligent driving scenario; the data processing unit is further configured to: acquire fourth data from the sensors in the first sensor group and process the fourth data, the fourth data corresponding to the first frame rate.

[0059] In conjunction with the second aspect, in some implementations of the second aspect, the data processing unit is configured to process the first data by a first processor; when it is determined that the temperature of the first processor is greater than or equal to a first preset temperature and less than a second preset temperature, it acquires second data from a sensor in the second sensor group and processes the second data, or acquires third data from a sensor in the first sensor group and processes the third data, wherein the first preset temperature is less than the second preset temperature.

[0060] In conjunction with the second aspect, in some implementations of the second aspect, the first processor includes a plurality of processing devices, and the data processing unit is configured to: process the first data through the plurality of processing devices; process the second data through some of the plurality of processing devices; or process the third data through the some of the processing devices.

[0061] In conjunction with the second aspect, in some implementations of the second aspect, the determining unit is further configured to: determine that the temperature of the first processor is greater than or equal to the second preset temperature; the data processing unit is further configured to: stop data processing through the first processor.

[0062] In conjunction with the second aspect, in some implementations of the second aspect, the determining unit is further configured to: determine that the duration for which the temperature of the first processor is greater than or equal to the second preset temperature is greater than or equal to the first preset duration; the data processing unit is further configured to: stop data processing through the first processor.

[0063] In conjunction with the second aspect, in some implementations of the second aspect, the determining unit is further configured to: determine that the temperature of the first processor is less than or equal to a third preset temperature; the data processing unit is further configured to acquire fourth data from the sensors in the first sensor group and process the fourth data, the fourth data corresponding to the first frame rate; wherein the first preset temperature is greater than the third preset temperature.

[0064] In conjunction with the second aspect, in some implementations of the second aspect, the second sensor group includes the first sensor group and the third sensor group, and the first frame rate is less than the second frame rate.

[0065] In conjunction with the second aspect, in some implementations of the second aspect, the data processing unit is configured to: when the determining unit determines that the intelligent driving device is in a first driving scenario, acquire first data from sensors in a first sensor group and process the first data, wherein the first driving scenario is associated with the first frame rate; when the determining unit determines that the intelligent driving device switches from the first driving scenario to a second driving scenario, acquire second data from sensors in a second sensor group and process the second data, or acquire third data from sensors in the first sensor group and process the third data, wherein the second driving scenario is associated with the second frame rate.

[0066] In conjunction with the second aspect, in some implementations of the second aspect, the data processing unit is configured to: process the first data by a first processor; and when the determining unit determines that the temperature of the first processor is less than a fourth preset temperature and greater than or equal to a fifth preset temperature, acquire second data from the sensors in the second sensor group and process the second data, or acquire third data from the sensors in the first sensor group and process the third data, wherein the fourth preset temperature is greater than the fifth preset temperature.

[0067] Thirdly, this application provides a data processing apparatus, which includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to cause the apparatus to perform any of the possible methods in the first aspect.

[0068] Fourthly, this application provides an intelligent driving device that includes any of the possible devices described in the second aspect, or includes the devices described in the third aspect.

[0069] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the intelligent driving device is a vehicle.

[0070] Fifthly, this application provides a computer program product comprising: computer program code, which, when run on a computer, causes the computer to perform any of the possible methods described in the first aspect above.

[0071] It should be noted that the above-mentioned computer program code can be stored in whole or in part on the first storage medium, wherein the first storage medium can be packaged together with the processor or packaged separately from the processor. This application embodiment does not specifically limit this.

[0072] In a sixth aspect, this application provides a computer-readable medium storing program code that, when run on a computer, causes the computer to perform any of the possible methods described in the first aspect above.

[0073] In a seventh aspect, this application provides a chip that includes circuitry for performing any of the possible methods described in the first aspect above. Attached Figure Description

[0074] Figure 1 This is a functional block diagram of an intelligent driving device provided in an embodiment of this application.

[0075] Figure 2 This is a schematic structural diagram of the vehicle provided in the embodiments of this application.

[0076] Figure 3 This is a schematic flowchart of the data processing method provided in the embodiments of this application.

[0077] Figure 4 This is a schematic diagram of different system states of the intelligent driving device provided in the embodiments of this application.

[0078] Figure 5 This is a schematic flowchart of the system state switching method provided in the embodiments of this application.

[0079] Figure 6 This is a schematic block diagram of the data processing apparatus provided in the embodiments of this application. Detailed Implementation

[0080] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone.

[0081] The prefixes such as "first" and "second" used in this application embodiment are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not constitute unnecessary restrictions due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0082] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0083] Figure 1 This is a functional block diagram of an intelligent driving device 100 provided in an embodiment of this application. The intelligent driving device 100 may include a perception system 110 and a computing platform 120. The perception system 110 may include one or more sensors for sensing information about the environment surrounding the intelligent driving device 100. For example, the perception system 110 may include a positioning system, which may be a Global Positioning System (GPS), a BeiDou Navigation Satellite System, or another positioning system. The perception system 110 may also include one or more of the following: an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0084] Some or all of the functions of the intelligent driving device 100 can be controlled by the computing platform 120. The computing platform 120 may include one or more processors, such as processors 121 to 12n (n is a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a CPU, microprocessor, GPU (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationship of hardware circuits. The logical relationship of the hardware circuits is fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document and implementing the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 120 may also include a memory for storing instructions. Some or all of the processors 121 to 12n can call the instructions in the memory to implement the corresponding functions.

[0085] Taking intelligent driving equipment 100 as an example, Figure 2 A schematic structural diagram of a vehicle 200 provided in an embodiment of this application is shown. Figure 2As shown, the vehicle 200 may include front-view cameras 201-204, side-view cameras 205-206, surround-view cameras 207-210, rear-view cameras 211-212, millimeter-wave radar 213-214, GPS 215, gateway 216, ultrasonic radar 217-224, left-side field-of-view monitor 225, right-side field-of-view monitor 226, lidar 227-229, and an intelligent driving system 230. The intelligent driving system 230 includes a power supply 2301, an intelligent driving state machine 2302, an MCU 2303, and a processor 2304. The processor 2304 may include multiple processing units. For example, if the processing unit is a System-on-a-Chip (SOC), the processor 2304 may include multiple SOCs (e.g., SOC 1 to SOC n, where n is a positive integer greater than 1). As another example, if the processing unit is a computing core, the processor 2304 may include multiple computing cores. Power supply 2301 is used to control the power-on or power-off of MCU 2303 and processor 2304. Intelligent driving state machine 2302 is used to determine the current driving scenario of vehicle 200 or to determine the temperature of processor 2304. Processor 2304 can determine which sensors' data to process based on the output of intelligent driving state machine 2302, and obtain the data processing results. Processor 2304 can also generate vehicle control commands based on the data processing results and send these commands to the electronic control unit (ECU).

[0086] The MCU2303 described above can be used to control the vehicle 200 based on data collected by sensors when the processor 2304 malfunctions or overheats. For example, when the temperature of the processor 2304 is greater than or equal to 105°C, the processor 2304 can be powered down via the power supply 2301. At this time, the MCU2303 can receive data collected by the sensors. The MCU2303 can generate vehicle control commands based on the sensor data, which can be used to safely stop the vehicle.

[0087] For example, if the processor 2304 includes multiple System-on-a-Chip (SOCs), then the temperature of the processor 2304 can be the temperature of the SOC with the highest temperature among the multiple SOCs. Alternatively, if the processor 2304 includes multiple computing cores, the temperature of the processor 2304 can be the temperature of the computing core with the highest temperature among the multiple computing cores.

[0088] The aforementioned front-view cameras 201-204, side-view cameras 205-206, surround-view cameras 207-210, rear-view cameras 211-212, millimeter-wave radar 213-214, GPS 215, ultrasonic radar 217-224, and lidar 227-229 are sensors in vehicle 200 and can be located in the aforementioned perception system 110. The intelligent driving system 230 can be located in the aforementioned computing platform 120.

[0089] The gateway 216, the left-side view monitor 225, and the right-side view monitor 226 mentioned above can be peripherals in the vehicle 200.

[0090] The structure of the vehicle 200 described above is merely illustrative. The number and types of sensors and peripherals included in the vehicle 200 are not specifically limited in the embodiments of this application.

[0091] Figure 3 A schematic flowchart of a data processing method 300 provided in an embodiment of this application is shown. This method 300 can be executed by the aforementioned intelligent driving device 100 or vehicle 200, or by the aforementioned computing platform 120, or by the SOC in the aforementioned computing platform 120, or by the processor in the aforementioned computing platform 120, or by the aforementioned intelligent driving system 230, or by the aforementioned processor 2304. Figure 3 As shown, the method 300 includes:

[0092] S301, acquire first data from the sensor in the first sensor group and process the first data, the first data corresponding to the first frame rate.

[0093] In one embodiment, taking the vehicle 200 described above as an example, the sensors and peripherals in the vehicle 200 can be grouped. For example, Table 1 shows the results of grouping the front-view cameras 201-204, side-view cameras 205-206, surround-view cameras 207-210, rear-view cameras 211-212, millimeter-wave radar 213-214, GPS 215, gateway 216, ultrasonic radar 217-224, left-side field-of-view monitor 225, right-side field-of-view monitor 226, and lidar 227-229.

[0094] Table 1

[0095]

[0096] The above grouping of sensors and peripherals in vehicle 200 is merely illustrative and is not specifically limited in this application embodiment.

[0097] Each of the above sensor groups may include sensors and / or peripherals. For example, in sensor group B, side-view cameras 205-206, lidar 228 and 229, and millimeter-wave radar 214 are sensors, while gateway 216 is a peripheral. As another example, in sensor group D, rear-view cameras 211-212 are sensors, while left-side field-of-view monitor 225 and right-side field-of-view monitor 226 are peripherals.

[0098] For example, the first sensor group described above may include sensors from sensor group A, sensor group B, sensor group C, and sensor group D. When the processor 2304 is powered on, the processor 2304 can acquire data from the sensors in sensor group A, sensor group B, sensor group C, and sensor group D and process that data. Thus, after the processor 2304 is powered on, it can determine whether the status of the sensors and peripherals in each sensor group is normal.

[0099] The first data corresponding to the first frame rate can be understood as the first data collected by the sensors in the first sensor group according to the first frame rate. The first sensor group may include multiple sensors, so the first frame rate may include the frame rate corresponding to each of the multiple sensors.

[0100] For example, Table 2 shows the frame rate of each sensor when the first data is acquired by sensors in the first sensor group (e.g., including sensor group A, sensor group B, sensor group C and sensor group D as described above).

[0101] Table 2

[0102]

[0103] The correspondence between different types of sensors and frame rates shown in Table 2 above is merely illustrative, and the embodiments of this application do not impose specific limitations on it.

[0104] The first data corresponding to the first frame rate can also be understood as acquiring data collected by the sensors in the first sensor group at a frame rate higher than the first frame rate, processing that data, and ultimately obtaining data with a frame rate corresponding to the first frame rate. For example, processor 2304 can acquire image data 1 captured by the camera, which can be data collected by the camera at a frame rate of 30fps. Processor 2304 can choose to process the first data (a portion of the data in image data 1), where the portion of the data in image data 1 corresponds to a frame rate of 15fps.

[0105] S302, when it is determined that the preset conditions are met, second data from the sensor in the second sensor group is acquired and the second data is processed, or third data from the sensor in the first sensor group is acquired and the third data is processed, the third data corresponds to the second frame rate, wherein the first frame rate and the second frame rate are different.

[0106] In one embodiment, the second sensor group includes some of the sensors in the first sensor group, and the first frame rate is greater than the second frame rate.

[0107] For example, if the first sensor group includes sensors from sensor group A, sensor group B, sensor group C, and sensor group D, then the second sensor group may include sensors from sensor group A, sensor group B, and sensor group C; or, the second sensor group may include sensors from sensor group A, sensor group B, and sensor group D; or, the second sensor group may include sensors from sensor group B, sensor group C, and sensor group D; or, the second sensor group may include sensors from sensor group A and sensor group B; or, the second sensor group may include sensors from sensor group A and sensor group C; or, the second... The sensor group may include the sensors in sensor group A and sensor group D; or, the second sensor group may include the sensors in sensor group B and sensor group C; or, the second sensor group may include the sensors in sensor group B and sensor group D; or, the second sensor group may include the sensors in sensor group C and sensor group D; or, the second sensor group may include the sensors in sensor group A; or, the second sensor group may include the sensors in sensor group B; or, the second sensor group may include the sensors in sensor group C; or, the second sensor group may include the sensors in sensor group D.

[0108] For example, Figure 4 A schematic diagram of the sensor group of the intelligent driving device provided in an embodiment of this application is shown. Figure 4 As shown, the system states of the intelligent driving device can be divided into S1-S4. In system state S1, the processor 2304 can process data from the sensors in sensor group A; in system state S2, the processor 2304 can process data from the sensors in sensor group A and sensor group B; in system state S3, the processor 2304 can process data from the sensors in sensor group A, sensor group B and sensor group C; and in system state S4, the processor 2304 can process data from the sensors in sensor group A, sensor group B, sensor group C and sensor group D.

[0109] The intelligent driving system 230 described above may also include a camera deserializer, an in-vehicle Ethernet interface (ETH IF), a controller area network interface (CAN IF), and a display serializer. The camera deserializer is used to connect to the front-view cameras 201-204, side-view cameras 205-206, surround-view cameras 207-210, and rear-view cameras 211-212; the in-vehicle ETH IF or CAN IF is used to connect to the lidar 227-229, millimeter-wave radar 213-214, GPS 215, and gateway 216; the CAN IF is also used to connect to the ultrasonic radar 217-224; and the display serializer is used to connect to the left-side view monitor 225 and the right-side view monitor 226.

[0110] In one embodiment, the system states of the intelligent driving device may further include S1'-S4'. For example, compared to system state S4, system state S4' uses the same sensors, but the frame rate of the data acquired by the processor 2304 is reduced. For instance, the frame rate of the data acquired in system state S4' is half that of the data acquired in system state S4.

[0111] System state S1 can be a system state that meets regulatory requirements, such as enabling safe stopping under automatic emergency braking (AEB). System state S2 supports basic functions. System state S3 supports advanced functions. System state S4 supports all functions of the intelligent driving device.

[0112] The above description uses an intelligent driving device including S1-S4 and S1'-S4' as an example. This application does not specifically limit the number of system states. An intelligent driving device may include some of the system states S1-S4 and S1'-S4'. For example, the system states of an intelligent driving device may include S4, S4', S3, S2, and S1. Alternatively, the intelligent driving device may also include other system states besides S1-S4 and S1'-S4'.

[0113] For example, Table 3 shows the power consumption of the intelligent driving system 230 under system states S4, S4', S3, S2 and S1.

[0114] Table 3

[0115]

[0116] As can be seen from the power consumption results shown in Table 3, the power consumption of the intelligent driving system 230 gradually decreases under system states S4, S4', S3, S2 and S1.

[0117] For example, the intelligent driving device in S301 can be in system state S4.

[0118] For example, consider the intelligent driving device switching from the aforementioned system state S4 to S3. Table 4 shows the frame rate of each sensor when the second data is collected by the sensors in the second sensor group (e.g., including the aforementioned sensor group A, sensor group B, and sensor group C).

[0119] Table 4

[0120]

[0121] In this embodiment of the application, when preset conditions are met, the second data from the sensors in the second sensor group can be processed. This helps to reduce the power consumption of the intelligent driving device, thereby helping to improve the battery life and economy of the intelligent driving device. At the same time, it helps to avoid the overheating of the devices in the intelligent driving system, thereby helping to improve the reliability and safety of the intelligent driving system.

[0122] For example, consider the intelligent driving device switching from the aforementioned system state S4 to S4'. Table 5 shows the frame rate of each sensor when the third data is collected by the sensors in the first sensor group (e.g., including the aforementioned sensor group A, sensor group B, sensor group C, and sensor group D).

[0123] Table 5

[0124]

[0125] The above explanation uses a second frame rate of 1 / 2 of the first frame rate as an example, but the embodiments of this application are not limited to this. For example, the second frame rate can also be 1 / 3 of the first frame rate.

[0126] The above preset conditions may include the switching of the driving scenario in which the intelligent driving device is located.

[0127] In one embodiment, acquiring and processing first data from sensors in a first sensor group includes: acquiring and processing first data from sensors in a first sensor group when it is determined that the intelligent driving device is in a first driving scenario, wherein the first driving scenario is associated with the first frame rate; acquiring and processing second data from sensors in a second sensor group when it is determined that a preset condition is met, or acquiring and processing third data from sensors in the first sensor group includes: acquiring and processing second data from sensors in a second sensor group when it is determined that the intelligent driving device switches from the first driving scenario to a second driving scenario, or acquiring and processing third data from sensors in the first sensor group, wherein the second driving scenario is associated with the second frame rate.

[0128] The different driving scenarios described above can be correlated with different frame rates.

[0129] For example, in a highway pilot (HWP) scenario, the intelligent driving device can be in system state S4, where the frame rate of data from sensors in sensor group A, sensor group B, sensor group C, and sensor group D is frame rate 1. It should be understood that frame rate 1 can include multiple frame rates corresponding to multiple sensors.

[0130] For example, in a highway assist (HWA) scenario, the intelligent driving device can be in system state S4', where the frame rate of the data from sensors in sensor group A, sensor group B, sensor group C, and sensor group D is frame rate 2, where frame rate 2 can be less than frame rate 1. For example, frame rate 2 is half of frame rate 1.

[0131] The above frame rate 2 being less than frame rate 1 can be understood as follows: under S4', the frame rate corresponding to the data from at least a portion of the sensors in sensor group A, sensor group B, sensor group C, and sensor group D is less than the frame rate corresponding to the data from each of the at least a portion of the sensors under S4.

[0132] In one embodiment, the driving scenarios in which the intelligent driving device operates include, but are not limited to: HWP scenarios, HWA scenarios, traffic jam pilot (TJP) scenarios, automatic lane change (ALC) scenarios, and automatic parking scenarios. The automatic parking scenario may include automatic parking assist (APA), remote parking assist (RPA), and automatic valet parking (AVP).

[0133] For example, the first driving scenario and the second driving scenario can be different driving scenarios. For instance, if the first driving scenario is a highway autonomous driving scenario, the first sensor group may include sensor group A, sensor group B, sensor group C, and sensor group D. If the second driving scenario is a highway assisted driving scenario, the second sensor group may include sensor group A, sensor group B, and sensor group C.

[0134] In this embodiment, processing data from some sensors or processing data with a reduced frame rate helps reduce the power consumption of the intelligent driving device, thereby improving its range and economy. Simultaneously, it helps prevent overheating of components in the intelligent driving system, thus enhancing its reliability and safety.

[0135] In some possible implementations, the first driving scenario and the second driving scenario can be different driving functions under the same driving scenario.

[0136] For example, these different driving functions can correspond to different levels of autonomous driving.

[0137] For example, the level of autonomous driving can be based on the classification standards of the Society of Automotive Engineers (SAE), such as dividing autonomous driving levels into L0-L5. L0 is no automation; L1 is driver assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. For instance, with APA (Automatic Parking Assist), the driver does not need to operate the steering wheel but still needs to control the accelerator and brakes from outside the vehicle; with RPA (Remote Parking Assist), the driver can remotely park the vehicle from outside using a terminal device (e.g., a mobile phone); and with AVP (Automatic Parking Assist), the vehicle can park without a driver. In terms of corresponding autonomous driving levels, APA is roughly at L1 level, RPA is roughly at L2-L3 level, and AVP is roughly at L4 level.

[0138] For example, if the function corresponding to the first driving scenario is AVP, then the first sensor group may include sensor group A, sensor group B, sensor group C, and sensor group D. If the function corresponding to the second driving scenario is APA, then the second sensor group may include sensor group A, sensor group B, and sensor group C.

[0139] In one embodiment, acquiring and processing second data from sensors in the second sensor group includes: acquiring data from sensors in the first sensor group and processing the second data collected by sensors in the second sensor group.

[0140] In one embodiment, before acquiring and processing second data from sensors in the second sensor group, the method includes: turning off other sensors in the first sensor group other than the second sensor group.

[0141] For example, turning off other sensors in the first sensor group other than the second sensor group includes turning off other sensors in the first sensor group other than the second sensor group through a power gate or a clock gate.

[0142] In one embodiment, when it is determined that the intelligent driving device switches from the first driving scenario to the second driving scenario, second data from sensors in the second sensor group is acquired and processed; wherein, the method further includes: when it is determined that the intelligent driving device switches from the second driving scenario to the third driving scenario, acquiring fifth data from sensors in the third sensor group and processing the fifth data, or acquiring sixth data from sensors in the second sensor group and processing the sixth data, wherein the sixth data corresponds to a third frame rate, and the third driving scenario is associated with the third frame rate; wherein, the third sensor includes some sensors in the second sensor group, and the second frame rate is greater than the third frame rate.

[0143] For example, if the second sensor group includes sensors from sensor group A, sensor group B, and sensor group C, then the third sensor group may include sensors from sensor group A and sensor group B; or, the third sensor group may include sensors from sensor group A and sensor group C; or, the third sensor group may include sensors from sensor group B and sensor group C; or, the second sensor group may include sensors from sensor group A; or, the second sensor group may include sensors from sensor group B; or, the second sensor group may include sensors from sensor group C.

[0144] For example, the second driving scenario is a highway assisted driving scenario, and the third driving scenario can be a traffic jam autonomous driving scenario. The third sensor group may include the aforementioned sensor group A and sensor group B. For example, consider the intelligent driving device switching from the aforementioned system state S3 to S2. Table 6 shows the frame rate of each sensor when the fifth data is collected by the sensors in the third sensor group (e.g., including the aforementioned sensor group A and sensor group B).

[0145] Table 6

[0146]

[0147] For example, when the intelligent driving device determines that it is switching from the second driving scenario to the third driving scenario, it can choose to turn off sensor group C, so that the fifth data from sensor group A and sensor group B can be processed.

[0148] For example, consider the intelligent driving device switching from the aforementioned system state S3 to S3'. Table 7 shows the frame rate of each sensor when the sixth data is collected by the sensors in the second sensor group (e.g., including the aforementioned sensor group A and sensor group B).

[0149] Table 7

[0150]

[0151] The above explanation uses a third frame rate of half the second frame rate as an example, but the embodiments of this application are not limited to this. For example, the third frame rate can also be one-third of the second frame rate.

[0152] In one embodiment, processing the first data includes: processing the first data through a plurality of processing devices in the first processor; wherein, acquiring and processing second data from sensors in the second sensor group, or acquiring and processing third data from sensors in the first sensor group, includes: processing the second data through some of the plurality of processing devices, or processing the third data through some of the processing devices.

[0153] For example, the first processor is the processor 2304 described above, which may include three System-on-a-Chip (SOCs). The processor 2304 can process the first data using these three SOCs. The processor 2304 can process the second or third data using two of the three SOCs. The processor 2304 can process the fifth or sixth data using one of the three SOCs.

[0154] For example, the first processor is the aforementioned processor 2304. The processor 2304 may include a System-on-a-Chip (SOC) with five computing cores. The processor 2304 can process the first data using these five computing cores. The processor 2304 can process the second or third data using four of the five computing cores. The processor 2304 can process the fifth or sixth data using three of the five computing cores.

[0155] In one embodiment, before processing the second or third data, the method further includes: shutting down other processing devices among the plurality of processing devices except for the portion of the processing devices.

[0156] In one embodiment, shutting down other processing devices among the plurality of processing devices besides the portion of processing devices includes: shutting down other processing devices among the plurality of processing devices besides the portion of processing devices through a power gate or a clock gate.

[0157] In one embodiment, before acquiring and processing second data from sensors in the second sensor group, or acquiring and processing third data from sensors in the first sensor group, the method further includes: determining that the temperature of the first processor is greater than or equal to a first preset temperature and less than a second preset temperature, wherein the second preset temperature is greater than the first preset temperature.

[0158] For example, the first processor is the aforementioned processor 2304, which may include three System-on-a-Chip (SOCs): SOC1, SOC2, and SOC3. The intelligent driving state machine 2302 can detect the temperatures of SOC1, SOC2, and SOC3 respectively. The processor 2304 can obtain the temperatures of each SOC from the intelligent driving state machine 2302. Therefore, the processor 2304 can determine that its own temperature is the temperature of SOC1, where the temperature of SOC1 is greater than the temperature of SOC2 and also greater than the temperature of SOC3.

[0159] For example, the first processor is the aforementioned processor 2304. The processor 2304 may include a System-on-a-Chip (SOC), which includes computing core 1, computing core 2, and computing core 3. The intelligent driving state machine 2302 can detect the temperatures of computing core 1, computing core 2, and computing core 3 respectively. The processor 2304 can obtain the temperature of each computing core from the intelligent driving state machine 2302. Therefore, the processor 2304 can determine that its temperature is the temperature of computing core 1, wherein the temperature of computing core 1 is greater than the temperature of computing core 2 and greater than the temperature of computing core 3.

[0160] In one embodiment, the temperature of the first processor may be the average of the temperatures of the plurality of processing devices.

[0161] For example, the first preset temperature is 75°C, and the second preset temperature is 105°C. Thus, when the intelligent driving device switches from the first driving scenario to the second driving scenario and the temperature of the first processor is greater than or equal to 75°C and less than 105°C, it can process the second data from the second sensor group, or process the third data from the first sensor group.

[0162] In one embodiment, the method 300 further includes: stopping data processing through the first processor when it is determined that the temperature of the first processor is greater than or equal to the second preset temperature.

[0163] For example, when the temperature of the processor 2304 is greater than or equal to 105°C, data processing by the processor 2304 can be stopped. At this time, the MCU 2303 can take over the vehicle 200.

[0164] In one embodiment, the method 300 further includes: stopping data processing through the first processor when the duration for which the temperature of the first processor is greater than or equal to the second preset temperature is greater than or equal to the first preset duration.

[0165] For example, the first preset duration is 15 minutes. When the temperature of the first processor is greater than or equal to 105°C for a duration greater than or equal to 15 minutes, data processing by the first processor can be stopped.

[0166] In one embodiment, the method 300 further includes: when determining that the intelligent driving device switches from the second intelligent driving scenario to the first intelligent driving scenario, acquiring fourth data from the sensors in the first sensor group and processing the fourth data, the fourth data corresponding to the first frame rate.

[0167] The above preset conditions may include the determination of the temperature of the first processor.

[0168] In one embodiment, processing the first data includes: processing the first data through the first processor when it is determined that the temperature of the first processor is less than a first preset temperature; and acquiring and processing second data from sensors in the second sensor group when a preset condition is met, or acquiring and processing third data from sensors in the first sensor group, which includes: acquiring and processing second data from sensors in the second sensor group when it is determined that the temperature of the first processor is greater than or equal to the first preset temperature and less than the second preset temperature, or acquiring and processing third data from sensors in the first sensor group, wherein the first preset temperature is less than the second preset temperature.

[0169] For example, the first preset temperature is 75°C and the second preset temperature is 105°C.

[0170] In one embodiment, acquiring and processing second data from sensors in the second sensor group includes: acquiring data from sensors in the first sensor group and processing the second data collected by sensors in the second sensor group.

[0171] In one embodiment, before acquiring and processing second data from sensors in the second sensor group, the method includes: turning off other sensors in the first sensor group other than the second sensor group.

[0172] In one embodiment, the first processor includes a plurality of processing devices. Processing the first data by the first processor includes: processing the first data by the plurality of processing devices; acquiring second data from sensors in the second sensor group and processing the second data, or acquiring third data from sensors in the first sensor group and processing the third data, includes: processing the second data by some of the plurality of processing devices, or processing the third data by some of the processing devices.

[0173] For example, taking the processor 2304 as the first processor, the processor 2304 may include one System-on-a-Chip (SOC), which may include five computing cores. The processor 2304 can process the first data using these five computing cores. The processor 2304 can process the second or third data using four of the five computing cores.

[0174] In one embodiment, the method further includes: stopping data processing through the first processor when it is determined that the temperature of the first processor is greater than or equal to the second preset temperature.

[0175] In one embodiment, the method 300 further includes: stopping data processing through the first processor when the duration for which the temperature of the first processor is greater than or equal to the second preset temperature is greater than or equal to the first preset duration.

[0176] In one embodiment, the method 300 further includes: when it is determined that the temperature of the first processor is less than or equal to a third preset temperature, acquiring fourth data from the sensors in the first sensor group and processing the fourth data, the fourth data corresponding to the first frame rate; wherein the first preset temperature is greater than the third preset temperature.

[0177] For example, the third preset temperature is 70°C. In this way, when the temperature of the first processor is less than or equal to 70°C, the fourth data from the sensors in the first sensor group can be processed.

[0178] In this embodiment of the application, by setting a hysteresis temperature (the hysteresis temperature is the difference between the first preset temperature and the second preset temperature), the switching between different system states of the intelligent driving device can be avoided, thereby helping to improve the reliability and safety of the intelligent driving system.

[0179] Figure 5 A schematic diagram of a system state switching method 500 provided in an embodiment of this application is shown. This method 500 can be executed by the aforementioned intelligent driving device 100 or vehicle 200, or by the aforementioned computing platform 120, or by the SOC in the aforementioned computing platform 120, or by the processor in the aforementioned computing platform 120, or by the aforementioned intelligent driving system 230, or by the aforementioned processor 2304. This method 500 may include:

[0180] S501, when the temperature of the first processor is less than 75°C, control the intelligent driving device to be in system state S4.

[0181] Taking the processor 2304 as an example, when the processor 2304 is powered on by the power supply 2301, the temperature of the processor 2304 is less than 75°C, and the intelligent driving device can be controlled to be in system state S4. At this time, the processor 2304 can process the data from the sensors in sensor group A, sensor group B, sensor group C and sensor group D, and the frame rate corresponding to the data is the first frame rate.

[0182] S502 determines whether the temperature of the first processor is greater than or equal to 75℃.

[0183] If the temperature of the first processor is greater than or equal to 75°C, then execute S503; otherwise, continue to keep the system in state S4.

[0184] S503, the system state controlling the intelligent driving equipment is switched from S4 to S4'.

[0185] For example, when the temperature of the first processor is greater than or equal to 75°C, the intelligent driving device can switch the system state from S4 to S4'. At this time, data from sensors in sensor group A, sensor group B, sensor group C, and sensor group D can be processed. The frame rate corresponding to this data is a second frame rate, which is less than the first frame rate.

[0186] In one embodiment, when switching from S4 to S4', it can be determined whether the temperature of the first processor is less than or equal to 70°C. If the temperature of the first processor is less than or equal to 70°C, the system state can be switched from S4' to S4.

[0187] In this embodiment of the application, by setting a hysteresis temperature (e.g., 5°C), the system state can be prevented from switching back and forth between S4 and S4'.

[0188] S504 determines whether the temperature of the first processor is greater than or equal to 85℃.

[0189] If the temperature of the first processor is greater than or equal to 85°C, then execute S505; otherwise, continue to keep the system in state S4'.

[0190] S505, the system state controlling the intelligent driving equipment switches from S4' to S3.

[0191] For example, when the temperature of the first processor is greater than or equal to 85°C, the intelligent driving device can switch the system state from S4' to S3. At this time, the first processor can process data from sensors in sensor group A, sensor group B, and sensor group C.

[0192] In one embodiment, when switching from S4' to S3, it can be determined whether the temperature of the first processor is less than or equal to 80°C. If the temperature of the first processor is less than or equal to 80°C, the system state can be switched from S3 to S4'.

[0193] In this embodiment of the application, by setting a hysteresis temperature (e.g., 5°C), the system state can be prevented from switching back and forth between S4' and S3.

[0194] S506 determines whether the temperature of the first processor is greater than or equal to 95℃.

[0195] If the temperature of the first processor is greater than or equal to 95°C, then execute S507; otherwise, continue to keep the system in state S3.

[0196] S507, the system state controlling the intelligent driving equipment switches from S3 to S2.

[0197] For example, when the temperature of the first processor is greater than or equal to 95°C, the intelligent driving device can switch from system state S3 to S2. At this time, the first processor can process data from sensors in sensor group A and sensor group B.

[0198] In one embodiment, when switching from S3 to S2, it can be determined whether the temperature of the first processor is less than or equal to 90°C. If the temperature of the first processor is less than or equal to 90°C, the system state can be switched from S2 to S3.

[0199] In this embodiment of the application, by setting a hysteresis temperature (e.g., 5°C), the system state can be prevented from switching back and forth between S3 and S2.

[0200] S508 determines whether the temperature of the first processor is greater than or equal to 100℃.

[0201] If the temperature of the first processor is greater than or equal to 100°C, then execute S509; otherwise, continue to keep the system in state S2.

[0202] S509 controls the intelligent driving equipment to switch from system state S2 to S1.

[0203] For example, when the temperature of the first processor is greater than or equal to 100°C, the intelligent driving device can switch the system state from S2 to S1. At this time, the first processor can process data from the sensors in sensor group A.

[0204] In one embodiment, when switching from S2 to S1, it can be determined whether the temperature of the first processor is less than or equal to 97°C. If the temperature of the first processor is less than or equal to 97°C, the system state can be switched from S1 to S2.

[0205] In this embodiment of the application, by setting a hysteresis temperature (e.g., 3°C), the system state can be prevented from switching back and forth between S2 and S1.

[0206] S510 determines whether the temperature of the first processor is greater than or equal to 105℃.

[0207] If the temperature of the first processor is greater than or equal to 105°C, then execute S511; otherwise, continue to keep the system in state S1.

[0208] S511, stop data processing via the first processor.

[0209] In one embodiment, if the temperature of the first processor is detected to be greater than or equal to 105°C for a duration of 15 minutes or more, data processing through the first processor is stopped. At this point, the MCU can take over the vehicle.

[0210] In one embodiment, when the duration of data processing by the first processor is greater than or equal to a second preset duration, the intelligent driving device can be controlled to enter system state S4.

[0211] For example, the second preset duration is 15 minutes.

[0212] The above preset conditions can also be used to determine the time period in which the intelligent driving device is located.

[0213] In one embodiment, processing the first data includes: processing the first data within a first time period; and when a preset condition is determined to be met, acquiring second data from a sensor in the second sensor group and processing the second data, or acquiring third data from a sensor in the first sensor group and processing the third data, includes: acquiring second data from a sensor in the second sensor group and processing the second data at the end of the first time period, or acquiring third data from a sensor in the first sensor group and processing the third data.

[0214] For example, during the time period from T1 to T2, the intelligent driving device can be controlled to be in system state S4; during the time period from T2 to T3, the intelligent driving device can be controlled to switch from system state S4 to S4'.

[0215] In one embodiment, the second sensor group includes the first sensor group and the third sensor group, and the first frame rate is less than the second frame rate.

[0216] For example, the first sensor group may include the aforementioned sensor group A, and the third sensor group may include the aforementioned sensor group B. Therefore, the second sensor group may include both sensor group A and sensor group B. For instance, in S301, the intelligent driving device may be in system state S1. When preset conditions are met, the system state of the intelligent driving device can switch from S1 to S2.

[0217] In one embodiment, acquiring and processing first data from sensors in a first sensor group includes: acquiring and processing first data from sensors in a first sensor group when it is determined that the intelligent driving device is in a first driving scenario, wherein the first driving scenario is associated with the first frame rate; acquiring and processing second data from sensors in a second sensor group when it is determined that a preset condition is met, or acquiring and processing third data from sensors in the first sensor group includes: acquiring and processing second data from sensors in a second sensor group when it is determined that the intelligent driving device switches from the first driving scenario to a second driving scenario, or acquiring and processing third data from sensors in the first sensor group, wherein the second driving scenario is associated with the second frame rate.

[0218] For example, the first driving scenario is a highway assisted driving scenario, and the second driving scenario is a highway autonomous driving scenario. When the intelligent driving device is in the highway assisted driving scenario, the intelligent driving device is in system state S3. At this time, the first processor can process data 1 from sensor group A, sensor group B, and sensor group C, and the frame rate corresponding to data 1 is frame rate 1. When it is determined that the intelligent driving scenario is switching from the highway assisted driving scenario to the highway autonomous driving scenario, the intelligent driving device can switch from system state S3 to S4. At this time, the first processor can process data 2 from sensor group A, sensor group B, sensor group C, and sensor group D, and the frame rate corresponding to data 2 is frame rate 2.

[0219] Alternatively, when the intelligent driving scenario is determined to switch from the highway assisted driving scenario to the highway autonomous driving scenario, the intelligent driving device can switch from system state S3 to S4'. At this time, the first processor can process data 3 from sensor group A, sensor group B, sensor group C and sensor group D. The frame rate corresponding to data 3 is frame rate 3, where frame rate 3 is less than frame rate 2.

[0220] Alternatively, when the intelligent driving scenario is determined to switch from the highway assisted driving scenario to the highway autonomous driving scenario, the intelligent driving device can switch from system state S3 to S3''. At this time, the first processor can process data 4 from sensor group A, sensor group B and sensor group C, where the frame rate of data 4 is frame rate 4, and frame rate 4 is greater than frame rate 1.

[0221] In one embodiment, processing the first data includes: processing the first data through the first processor when it is determined that the temperature of the first processor is greater than or equal to a fourth preset temperature; and obtaining and processing second data from sensors in the second sensor group when a preset condition is met, or obtaining and processing third data from sensors in the first sensor group, including: obtaining and processing second data from sensors in the second sensor group when it is determined that the temperature of the first processor is less than a fourth preset temperature and greater than or equal to a fifth preset temperature, or obtaining and processing third data from sensors in the first sensor group, wherein the fourth preset temperature is greater than the fifth preset temperature.

[0222] For example, the fourth preset temperature is 90°C and the fifth preset temperature is 80°C.

[0223] When the temperature of the first processor is greater than or equal to 90°C, the system state of the intelligent driving device can be S2. At this time, the first processor can process the data from sensor group A and sensor group B. When the temperature of the first processor is less than 90°C but greater than or equal to 80°C, the system state of the intelligent driving device can switch from S2 to S3. At this time, the first processor can process the data from the sensors in sensor group A, sensor group B, and sensor group C.

[0224] Figure 6 A schematic block diagram of a data processing apparatus 600 provided in an embodiment of this application is shown. Figure 6 As shown, the device 600 includes: a data processing unit 610, configured to acquire first data from sensors in a first sensor group and process the first data, the first data corresponding to a first frame rate; a determination unit 620, configured to determine that a preset condition is met; the data processing unit 610 is further configured to acquire second data from sensors in a second sensor group and process the second data, or acquire third data from sensors in the first sensor group and process the third data, the third data corresponding to a second frame rate, wherein the first frame rate and the second frame rate are different.

[0225] Optionally, the second sensor group includes some of the sensors in the first sensor group, and the first frame rate is greater than the second frame rate.

[0226] Optionally, the data processing unit 610 is configured to, when the determining unit 620 determines that the intelligent driving device is in a first driving scenario, acquire first data from sensors in the first sensor group and process the first data, wherein the first driving scenario is associated with the first frame rate; and when the determining unit 620 determines that the intelligent driving device switches from the first driving scenario to a second driving scenario, acquire second data from sensors in the second sensor group and process the second data, or acquire third data from sensors in the first sensor group and process the third data, wherein the second driving scenario is associated with the second frame rate.

[0227] Optionally, the data processing unit 610 is configured to: process the first data through a plurality of processing devices in the first processor; process the second data through a portion of the plurality of processing devices; or process the third data through the portion of the processing devices.

[0228] Optionally, the determining unit 620 is further configured to: determine, before the data processing unit 610 processes the second data or the third data, that the temperature of the first processor is greater than or equal to a first preset temperature and less than a second preset temperature, wherein the second preset temperature is greater than the first preset temperature.

[0229] Optionally, the determining unit 620 is further configured to: determine that the temperature of the first processor is greater than or equal to the second preset temperature; the data processing unit 610 is further configured to: stop data processing through the first processor.

[0230] Optionally, the determining unit 620 is further configured to: determine that the duration for which the temperature of the first processor is greater than or equal to the second preset temperature is greater than or equal to the first preset duration; the data processing unit 610 is further configured to: stop data processing through the first processor.

[0231] Optionally, the determining unit 620 is further configured to: determine that the intelligent driving device switches from the second intelligent driving scenario to the first intelligent driving scenario; the data processing unit 610 is further configured to: acquire fourth data from the sensors in the first sensor group and process the fourth data, the fourth data corresponding to the first frame rate.

[0232] Optionally, the data processing unit 610 is configured to process the first data by the first processor; when the determining unit 620 determines that the temperature of the first processor is greater than or equal to a first preset temperature and less than a second preset temperature, it acquires second data from the sensors in the second sensor group and processes the second data, or acquires third data from the sensors in the first sensor group and processes the third data, wherein the first preset temperature is less than the second preset temperature.

[0233] Optionally, the first processor includes a plurality of processing devices, and the data processing unit 610 is configured to: process the first data through the plurality of processing devices; process the second data through some of the plurality of processing devices; or process the third data through some of the processing devices.

[0234] Optionally, the determining unit 620 is further configured to: determine that the temperature of the first processor is greater than or equal to the second preset temperature; the data processing unit is further configured to: stop data processing through the first processor.

[0235] Optionally, the determining unit 620 is further configured to: determine that the duration for which the temperature of the first processor is greater than or equal to the second preset temperature is greater than or equal to the first preset duration; the data processing unit 610 is further configured to: stop data processing through the first processor.

[0236] Optionally, the determining unit 620 is further configured to: determine that the temperature of the first processor is less than or equal to a third preset temperature; the data processing unit 610 is further configured to acquire fourth data from the sensors in the first sensor group and process the fourth data, the fourth data corresponding to the first frame rate; wherein the first preset temperature is greater than the third preset temperature.

[0237] Optionally, the second sensor group includes the first sensor group and the third sensor group, and the first frame rate is less than the second frame rate.

[0238] Optionally, the data processing unit 610 is configured to: when the determining unit 620 determines that the intelligent driving device is in a first driving scenario, acquire first data from sensors in the first sensor group and process the first data, wherein the first driving scenario is associated with the first frame rate; when the determining unit 620 determines that the intelligent driving device switches from the first driving scenario to a second driving scenario, acquire second data from sensors in the second sensor group and process the second data, or acquire third data from sensors in the first sensor group and process the third data, wherein the second driving scenario is associated with the second frame rate.

[0239] Optionally, the data processing unit 610 is configured to: process the first data by the first processor; and when the determining unit 620 determines that the temperature of the first processor is less than a fourth preset temperature and greater than or equal to a fifth preset temperature, acquire second data from the sensors in the second sensor group and process the second data, or acquire third data from the sensors in the first sensor group and process the third data, wherein the fourth preset temperature is greater than the fifth preset temperature.

[0240] It should be understood that the division of units in the above device is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the device can be implemented by a processor calling software; for example, the device includes a processor connected to memory, which stores instructions. The processor calls the instructions stored in memory to implement any of the above methods or to implement the functions of each unit in the device. The processor can be, for example, a general-purpose processor, such as a CPU or microprocessor, and the memory can be internal or external to the device. Alternatively, the units in the device can be implemented as hardware circuits. The functions of some or all units can be implemented through the design of the hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all units are implemented through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a PLD, such as an FPGA, which can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files, thereby implementing the functions of some or all units. All units of the above devices can be implemented entirely through processor calling software, or entirely through hardware circuits, or partially through processor calling software with the remaining parts implemented through hardware circuits.

[0241] Each unit in the above device may be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor types.

[0242] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a System-on-Chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the device. The at least one processor may be of different types, such as CPU and FPGA, CPU and artificial intelligence processor, CPU and GPU, etc.

[0243] This application also provides an apparatus comprising a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to cause the apparatus to perform the methods or steps described above.

[0244] Optionally, if the device is located in an intelligent driving system, the aforementioned processing unit may be... Figure 1 The processors shown are 121-12n.

[0245] This application also provides a data processing system, which includes multiple sensors and a computing platform, wherein the computing platform may include the aforementioned device 600.

[0246] This application also provides an intelligent driving device, which may include the data processing device 600 or the data processing system described above.

[0247] Alternatively, the intelligent driving device can be a vehicle.

[0248] This application also provides a computer program product, which includes computer program code that, when run on a computer, causes the computer to execute the above-described data processing method.

[0249] This application also provides a computer-readable medium storing program code that, when run on a computer, causes the computer to perform the above-described data processing method.

[0250] In implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software. The method disclosed in the embodiments of this application can be directly implemented by a hardware processor, or by a combination of hardware and software modules within the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, power-on erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0251] It should be understood that in the embodiments of this application, the memory may include read-only memory and random access memory, and provides instructions and data to the processor.

[0252] It should also be understood that, in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0253] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0254] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0255] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0256] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0257] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0258] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0259] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be covered.

Claims

1. A data processing method, characterized in that, include: Determine that the intelligent driving device is in the primary driving scenario; First data is acquired from the sensors in the first sensor group and the first data is processed. The first data corresponds to a first frame rate, and the first driving scenario is associated with the first frame rate. When the intelligent driving device determines that it is switching from the first driving scenario to the second driving scenario, it acquires second data from the sensors in the second sensor group and processes the second data, or acquires third data from the sensors in the first sensor group and processes the third data, wherein the third data corresponds to the second frame rate, and the second driving scenario is associated with the second frame rate; The second sensor group includes some of the sensors in the first sensor group, and the first frame rate is greater than the second frame rate.

2. The method as described in claim 1, characterized in that, The processing of the first data includes: The first data is processed by multiple processing devices in the first processor; The step of acquiring second data from sensors in the second sensor group and processing the second data, or acquiring third data from sensors in the first sensor group and processing the third data, includes: The second data may be processed by a portion of the plurality of processing devices, or the third data may be processed by the portion of the processing devices.

3. The method as described in claim 2, characterized in that, Before acquiring and processing second data from sensors in the second sensor group, or acquiring and processing third data from sensors in the first sensor group, the method further includes: The temperature of the first processor is determined to be greater than or equal to a first preset temperature and less than a second preset temperature, wherein the second preset temperature is greater than the first preset temperature.

4. The method as described in claim 3, characterized in that, The method further includes: When the temperature of the first processor is determined to be greater than or equal to the second preset temperature, data processing through the first processor is stopped.

5. The method as described in claim 3, characterized in that, The method further includes: When the duration for which the temperature of the first processor is greater than or equal to the second preset temperature is greater than or equal to the first preset duration, data processing through the first processor is stopped.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: When the intelligent driving device determines that it is switching from the second intelligent driving scenario to the first intelligent driving scenario, it acquires fourth data from the sensors in the first sensor group and processes the fourth data, wherein the fourth data corresponds to the first frame rate.

7. A data processing method, characterized in that, include: First data is acquired from the sensors in the first sensor group and processed by the first processor, wherein the first data corresponds to the first frame rate; When it is determined that the temperature of the first processor is greater than or equal to the first preset temperature and less than the second preset temperature, second data from the sensors in the second sensor group is acquired and the second data is processed; or, third data from the sensors in the first sensor group is acquired and the third data is processed, wherein the third data corresponds to the second frame rate. Wherein, the first preset temperature is lower than the second preset temperature, the second sensor group includes some of the sensors in the first sensor group, and the first frame rate is higher than the second frame rate.

8. The method as described in claim 7, characterized in that, The first processor includes multiple processing devices, and the processing of the first data by the first processor includes: The first data is processed by the plurality of processing devices; The step of acquiring second data from sensors in the second sensor group and processing the second data, or acquiring third data from sensors in the first sensor group and processing the third data, includes: The second data may be processed by a portion of the plurality of processing devices, or the third data may be processed by the portion of the processing devices.

9. The method as described in claim 7 or 8, characterized in that, The method further includes: When the temperature of the first processor is determined to be greater than or equal to the second preset temperature, data processing through the first processor is stopped.

10. The method as described in claim 7 or 8, characterized in that, The method further includes: When the duration for which the temperature of the first processor is greater than or equal to the second preset temperature is greater than or equal to the first preset duration, data processing through the first processor is stopped.

11. The method as described in claim 7 or 8, characterized in that, The method further includes: When it is determined that the temperature of the first processor is less than or equal to the third preset temperature, fourth data from the sensors in the first sensor group is acquired and the fourth data is processed, the fourth data corresponding to the first frame rate; Wherein, the first preset temperature is greater than the third preset temperature.

12. A data processing apparatus, characterized in that, include: The determining unit is used to determine whether the intelligent driving device is in the first driving scenario; A data processing unit is configured to acquire first data from sensors in a first sensor group and process the first data, wherein the first data corresponds to a first frame rate and the first driving scenario is associated with the first frame rate. The determining unit is further configured to determine that the intelligent driving device switches from the first driving scenario to the second driving scenario; The data processing unit is further configured to acquire second data from sensors in the second sensor group and process the second data, or acquire third data from sensors in the first sensor group and process the third data, wherein the third data corresponds to the second frame rate and the second driving scenario is associated with the second frame rate. The second sensor group includes some of the sensors in the first sensor group, and the first frame rate is greater than the second frame rate.

13. The apparatus as claimed in claim 12, characterized in that, The data processing unit is configured to: process the first data through a plurality of processing devices in the first processor; The second data may be processed by a portion of the plurality of processing devices, or the third data may be processed by the portion of the processing devices.

14. The apparatus as claimed in claim 13, characterized in that, The determining unit is further configured to: Before the data processing unit processes the second data or the third data, it is determined that the temperature of the first processor is greater than or equal to a first preset temperature and less than a second preset temperature, wherein the second preset temperature is greater than the first preset temperature.

15. The apparatus as claimed in claim 14, characterized in that, The determining unit is further configured to: determine that the temperature of the first processor is greater than or equal to the second preset temperature; The data processing unit is further configured to: stop data processing via the first processor.

16. The apparatus as claimed in claim 14, characterized in that, The determining unit is further configured to: determine that the duration during which the temperature of the first processor is greater than or equal to the second preset temperature is greater than or equal to the first preset duration; The data processing unit is further configured to: stop data processing via the first processor.

17. The apparatus as claimed in any one of claims 12 to 16, characterized in that, The determining unit is further configured to: determine that the intelligent driving device switches from the second intelligent driving scenario to the first intelligent driving scenario; The data processing unit is further configured to: acquire fourth data from the sensors in the first sensor group and process the fourth data, wherein the fourth data corresponds to the first frame rate.

18. A data processing apparatus, characterized in that, include: A data processing unit is configured to acquire first data from sensors in a first sensor group and process the first data through a first processor, wherein the first data corresponds to a first frame rate. A determining unit is configured to determine that the temperature of the first processor is greater than or equal to a first preset temperature and less than a second preset temperature; The processing unit is further configured to acquire second data from the sensors in the second sensor group and process the second data, or acquire third data from the sensors in the first sensor group and process the third data, wherein the third data corresponds to the second frame rate; Wherein, the first preset temperature is lower than the second preset temperature, the second sensor group includes some of the sensors in the first sensor group, and the first frame rate is higher than the second frame rate.

19. The apparatus as claimed in claim 18, characterized in that, The first processor includes multiple processing devices, the data processing unit being used for: The first data is processed by the plurality of processing devices; The second data may be processed by a portion of the plurality of processing devices, or the third data may be processed by the portion of the processing devices.

20. The apparatus as claimed in claim 18 or 19, characterized in that, The determining unit is further configured to: determine that the temperature of the first processor is greater than or equal to the second preset temperature; The data processing unit is further configured to: stop data processing via the first processor.

21. The apparatus as claimed in claim 18 or 19, characterized in that, The determining unit is further configured to: determine that the duration during which the temperature of the first processor is greater than or equal to the second preset temperature is greater than or equal to the first preset duration; The data processing unit is further configured to: stop data processing via the first processor.

22. The apparatus as claimed in claim 18 or 19, characterized in that, The determining unit is further configured to: determine that the temperature of the first processor is less than or equal to a third preset temperature; The data processing unit is further configured to acquire fourth data from the sensors in the first sensor group and process the fourth data, wherein the fourth data corresponds to the first frame rate. Wherein, the first preset temperature is greater than the third preset temperature.

23. A data processing apparatus, characterized in that, include: Memory, used to store computer programs; A processor for executing a computer program stored in the memory to cause the apparatus to perform the method as described in any one of claims 1 to 11.

24. A data processing system, characterized in that, It includes multiple sensor groups and a computing platform, wherein the computing platform includes a data processing device as described in any one of claims 12 to 23.

25. An intelligent driving device, characterized in that, It includes the data processing apparatus as described in any one of claims 12 to 23, or the data processing system as described in claim 24.

26. The intelligent driving device according to claim 25, characterized in that, The intelligent driving device is a vehicle.

27. A computer-readable storage medium, characterized in that, It stores a computer program thereon, which, when executed by a computer, enables the data processing method as described in any one of claims 1 to 11.

28. A chip, characterized in that, The chip includes a circuit for performing the data processing method as described in any one of claims 1 to 11.

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