Vehicle automatic driving data recording method and device and storage equipment

Abstract

The invention provides a vehicle automatic driving data recording method and device and storage equipment. The method comprises the following steps: in response to an activation operation executed on an automatic driving mode of a target vehicle, caching initial automatic driving data of the target vehicle by utilizing an automatic driving domain controller; screening the initial automatic driving data according to a preset classification rule to obtain a screening result; in response to a received collision event trigger signal of the target vehicle, controlling an Internet of Vehicles communication unit to obtain target automatic driving data from the screening result; and performing analysis processing on the collision event based on the target automatic driving data to obtain an event analysis result. The technical problems of poor data integrity and low reliability during recording of the automatic driving data of the vehicle in related technologies are solved.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving, and in particular to a method, apparatus and storage device for recording vehicle autonomous driving data. Background Art

[0002] With the continuous advancement of autonomous driving technology, national mandatory standards have put forward higher requirements for the comprehensiveness of autonomous driving functions at levels L3 and above, especially in terms of autonomous driving data recording. The vehicle autonomous driving data recording method in the related technology usually uses an event data recorder (EDR) or a data storage system for automated driving (DSSAD) to record the vehicle's autonomous driving data to support accident cause analysis and responsibility determination. Among them, EDR mainly records the vehicle's key operating data in the event of an accident, and DSSAD focuses more on continuously recording relevant information in the autonomous driving mode to support responsibility determination and cause analysis. However, the vehicle autonomous driving data recording method in the related technology may cause data corruption or loss when the power supply of the autonomous driving system is abnormal or the power is lost after an accident, thereby affecting the integrity and reliability of the vehicle's autonomous driving data recording.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present disclosure provide a method, apparatus and storage device for recording vehicle autonomous driving data, so as to at least solve the technical problems of poor data integrity and low reliability in the related art when recording vehicle autonomous driving data.

[0005] According to one aspect of an embodiment of the present disclosure, a vehicle autonomous driving data recording method is provided, comprising: in response to an activation operation performed on an autonomous driving mode of a target vehicle, using an autonomous driving domain controller to cache initial autonomous driving data of the target vehicle, wherein the initial autonomous driving data is used to represent driving log data corresponding to the target vehicle; filtering and processing the initial autonomous driving data according to preset classification rules to obtain filtering results, wherein the preset classification rules are used to determine multiple data element categories to be recorded, and the filtering results are used to represent the content of the data elements to be recorded; in response to receiving a collision event trigger signal of the target vehicle, controlling a vehicle network communication unit to obtain target autonomous driving data from the filtering results, wherein the target autonomous driving data is used to represent vehicle driving data associated with the collision event; and analyzing and processing the collision event based on the target autonomous driving data to obtain an event analysis result.

[0006] Optionally, using the autonomous driving domain controller to cache the initial autonomous driving data of the target vehicle includes: obtaining the initial autonomous driving data collected by multiple autonomous driving sensors, wherein the multiple autonomous driving sensors include at least: a vehicle camera, a millimeter wave radar, an ultrasonic radar, and a lidar; and caching the initial autonomous driving data to a first local storage area in the autonomous driving domain controller.

[0007] Optionally, in response to receiving a collision event trigger signal of the target vehicle, controlling the Internet of Vehicles communication unit to obtain target autonomous driving data from the screening results includes: sending a data recording instruction to the Internet of Vehicles communication unit in response to receiving a collision event trigger signal of the target vehicle; based on the data recording instruction, controlling the Internet of Vehicles communication unit to determine the target autonomous driving data from the screening results; and storing the target autonomous driving data in a second local storage area in the Internet of Vehicles communication unit.

[0008] Optionally, controlling the Internet of Vehicles communication unit to determine target autonomous driving data from the screening results includes: obtaining a first recording moment and a second recording moment, wherein the first recording moment is used to indicate the start moment of a target collision time period, and the second recording moment is used to indicate the end moment of the target collision time period; determining the target collision time period based on the first recording moment and the second recording moment; and determining the target autonomous driving data from the screening results based on the target collision time period.

[0009] Optionally, obtaining the first recording moment includes: obtaining a first candidate moment and a second candidate moment, wherein the first candidate moment is used to indicate a moment before the start moment of the collision event and separated from the start moment of the collision event by a first preset time length, and the second candidate moment is used to indicate an activation moment of the automatic driving mode; and selecting the latest moment between the first candidate moment and the second candidate moment as the first recording moment.

[0010] Optionally, obtaining the second recording moment includes: obtaining a third candidate moment, a fourth candidate moment and a fifth candidate moment, wherein the third candidate moment is used to indicate a moment after the start moment of the collision event and separated from the start moment of the collision event by a second preset time length, the fourth candidate moment is used to indicate an exit moment of the automatic driving mode, and the fifth candidate moment is used to indicate an end moment of the collision event; the earliest moment among the third candidate moment, the fourth candidate moment and the fifth candidate moment is selected as the second recording moment.

[0011] Optionally, the collision event is analyzed and processed based on the target autonomous driving data to obtain an event analysis result including: receiving a diagnostic read instruction from a central gateway; reading the target autonomous driving data from a second local storage area based on the diagnostic read instruction; and determining an event analysis result corresponding to the collision event based on the target autonomous driving data.

[0012] Optionally, the multiple data elements include: basic vehicle information, vehicle dynamic information, automatic driving system operation information, driving environment information, driver operation and status information.

[0013] According to one embodiment of the present disclosure, there is also provided a vehicle autonomous driving data recording device, comprising: a cache module, for responding to an activation operation performed on an autonomous driving mode of a target vehicle, and using an autonomous driving domain controller to cache initial autonomous driving data of the target vehicle, wherein the initial autonomous driving data is used to represent driving log data corresponding to the target vehicle; a screening module, for screening and processing the initial autonomous driving data according to preset classification rules to obtain screening results, wherein the preset classification rules are used to determine multiple data element categories to be recorded, and the screening results are used to represent the content of the data elements to be recorded; an acquisition module, for responding to receiving a collision event trigger signal of the target vehicle, and controlling a vehicle network communication unit to obtain target autonomous driving data from the screening results, wherein the target autonomous driving data is used to represent vehicle driving data associated with the collision event; and an analysis module, for analyzing and processing the collision event based on the target autonomous driving data to obtain an event analysis result.

[0014] Optionally, the cache module is also used to: obtain initial autonomous driving data collected by multiple autonomous driving sensors, wherein the multiple autonomous driving sensors include at least: vehicle cameras, millimeter wave radars, ultrasonic radars and lidars; and cache the initial autonomous driving data to a first local storage area in the autonomous driving domain controller.

[0015] Optionally, the screening module is also used to: send a data recording instruction to the Internet of Vehicles communication unit in response to receiving a collision event trigger signal of the target vehicle; based on the data recording instruction, control the Internet of Vehicles communication unit to determine the target autonomous driving data from the screening results; and store the target autonomous driving data in a second local storage area in the Internet of Vehicles communication unit.

[0016] Optionally, the screening module is also used to: obtain a first recording moment and a second recording moment, wherein the first recording moment is used to indicate the start moment of the target collision time period, and the second recording moment is used to indicate the end moment of the target collision time period; determine the target collision time period based on the first recording moment and the second recording moment; and determine the target autonomous driving data from the screening results based on the target collision time period.

[0017] Optionally, the acquisition module is also used to: obtain a first candidate moment and a second candidate moment, wherein the first candidate moment is used to represent a moment before the start moment of the collision event and separated from the start moment of the collision event by a first preset time length, and the second candidate moment is used to represent the activation moment of the automatic driving mode; and select the latest moment between the first candidate moment and the second candidate moment as the first recording moment.

[0018] Optionally, the acquisition module is also used to: obtain the second recording time, including: obtaining a third candidate time, a fourth candidate time and a fifth candidate time, wherein the third candidate time is used to indicate a time after the start time of the collision event and separated from the start time of the collision event by a second preset time length, the fourth candidate time is used to indicate the exit time of the automatic driving mode, and the fifth candidate time is used to indicate the end time of the collision event; the earliest time among the third candidate time, the fourth candidate time and the fifth candidate time is selected as the second recording time.

[0019] Optionally, the analysis module is also used to: analyze and process the collision event based on the target autonomous driving data, and obtain the event analysis result including: receiving a diagnostic read instruction from the central gateway; reading the target autonomous driving data from the second local storage area based on the diagnostic read instruction; and determining the event analysis result corresponding to the collision event based on the target autonomous driving data.

[0020] According to one embodiment of the present disclosure, a vehicle is also provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute instructions to implement the vehicle autonomous driving data recording method in the embodiment of the present disclosure.

[0021] According to one embodiment of the present disclosure, a computer-readable storage medium is also provided, which includes a stored executable program, wherein when the executable program is running, the device where the storage medium is located is controlled to execute the vehicle automatic driving data recording method in the embodiment of the present disclosure.

[0022] According to one embodiment of the present disclosure, a computer program product is also provided, including a computer program, which implements the vehicle automatic driving data recording method in the embodiment of the present disclosure when executed by a processor.

[0023] In the disclosed embodiment, in response to an activation operation performed on the autonomous driving mode of a target vehicle, the autonomous driving domain controller is used to cache the initial autonomous driving data of the target vehicle, and the initial autonomous driving data is screened and processed according to preset classification rules to obtain a screening result, and then in response to receiving a collision event trigger signal of the target vehicle, the Internet of Vehicles communication unit is controlled to obtain the target autonomous driving data from the screening result, and finally the collision event is analyzed and processed based on the target autonomous driving data to obtain an event analysis result, thereby achieving the purpose of recording the vehicle autonomous driving data, thereby realizing the technical effect of improving the integrity and reliability of the vehicle autonomous driving data recording, and thus solving the technical problems of poor data integrity and low reliability in recording vehicle autonomous driving data in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure. In the drawings:

[0025] Figure 1 is a flow chart of a method for recording vehicle autonomous driving data according to one embodiment of the present disclosure;

[0026] Figure 2 is a schematic diagram of an autonomous driving vehicle data recording system according to one embodiment of the present disclosure;

[0027] Figure 3 is a schematic diagram of a method for recording data of an autonomous driving vehicle according to one embodiment of the present disclosure;

[0028] Figure 4 It is a structural block diagram of an autonomous driving vehicle data recording device according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present disclosure, the technical scheme in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present disclosure.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0031] The vehicle autonomous driving data recording method in the related art usually uses EDR or DSSAD to record the vehicle autonomous driving data to support accident cause analysis and responsibility determination. Among them, EDR mainly records the key operating data of the vehicle in the event of an accident, and DSSAD focuses more on continuously recording relevant information in the autonomous driving mode to support responsibility determination and cause analysis. However, the vehicle autonomous driving data recording method in the related art may cause data corruption or loss when the autonomous driving system power supply is abnormal or power is lost after an accident, thereby affecting the integrity and reliability of the vehicle autonomous driving data recording.

[0032] Specifically, EDR is a device that automatically starts and records key driving data when a vehicle crashes. It can capture and store information about vehicle speed, acceleration, braking action, steering angle, engine operating status, and safety system activation before and after an accident, so as to facilitate subsequent accident analysis and liability determination. DSSAD focuses on recording all-round data of vehicles in autonomous driving mode to meet the regulatory requirements and functional requirements of intelligent connected vehicles. However, the above two vehicle autonomous driving data recording methods will stop working when the vehicle power supply is abnormal and cannot be powered normally, resulting in the inability to save data or interrupted recording, which in turn affects the integrity of the vehicle autonomous driving data recording.

[0033] According to an embodiment of the present disclosure, a method embodiment of a method for recording vehicle autonomous driving data is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0034] According to an embodiment of the present disclosure, a method embodiment of a method for recording vehicle autonomous driving data is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0035] The method embodiment can be executed in an electronic device or a similar computing device including a memory and a processor. Taking running on a computer terminal as an example, the computer terminal may include one or more processors (processors may include but are not limited to central processing units (CPU), graphics processing units (GPU), digital signal processing (DSP) chips, microprocessors (MCU), programmable logic devices (Field Programmable Gate Array, FPGA), neural network processors (Neural-network Processor Unit, NPU), tensor processors (TensorProcessing Unit, TPU), artificial intelligence (Artificial Intelligence, AI) type processors and other processing devices) and a memory for storing data. Optionally, the above-mentioned computer terminal may also include a transmission device, an input and output device, and a display device for communication functions. It can be understood by those of ordinary skill in the art that the above-mentioned structural description is only for illustration, and it does not limit the structure of the above-mentioned computer terminal. For example, the computer terminal may also include more or fewer components than the above-mentioned structural description, or have a configuration different from the above-mentioned structural description.

[0036] The memory can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the vehicle autonomous driving data recording method in the embodiment of the present disclosure. The processor executes various functional applications and data processing by running the computer program stored in the memory, that is, the above-mentioned vehicle autonomous driving data recording method is realized. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0037] The transmission device is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0038] The display device may be, for example, a touch screen type liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display may enable a user to interact with a user interface of a mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), and a user may interact with the GUI by finger contacts and / or gestures on a touch-sensitive surface, wherein the human-computer interaction functions here may optionally include the following interactions: creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music and / or web browsing, etc. The executable instructions for executing the above human-computer interaction functions are configured / stored in a computer program product or readable storage medium executable by one or more processors.

[0039] Figure 1 is a flow chart of a method for recording vehicle automatic driving data according to one embodiment of the present disclosure. Figure 1 As shown, the method comprises the following steps:

[0040] Step S11, in response to an activation operation performed on the autonomous driving mode of the target vehicle, using the autonomous driving domain controller to cache initial autonomous driving data of the target vehicle, wherein the initial autonomous driving data is used to represent driving log data corresponding to the target vehicle;

[0041] Step S12, screening the initial autonomous driving data according to a preset classification rule to obtain a screening result, wherein the preset classification rule is used to determine the categories of multiple data elements to be recorded, and the screening result is used to represent the content of the data elements to be recorded;

[0042] Step S13, in response to receiving a collision event trigger signal of the target vehicle, controlling the vehicle network communication unit to obtain target autonomous driving data from the screening results, wherein the target autonomous driving data is used to represent vehicle driving data associated with the collision event;

[0043] Step S14: analyzing and processing the collision event based on the target autonomous driving data to obtain an event analysis result.

[0044] The above-mentioned autonomous driving domain controller is the core computing unit of the autonomous driving system. It is an intelligent system that integrates multiple sensors, actuators and high-performance computing units. It is responsible for processing various sensor data, executing algorithms and control commands to realize autonomous driving functions.

[0045] The above-mentioned initial autonomous driving data refers to the autonomous driving data within a certain period of time cached in the local non-volatile storage area of ​​the autonomous driving domain controller, including but not limited to the vehicle's sensor data, location information, speed, direction, surrounding environment information, and vehicle operation instructions, etc., which is used to represent the driving log data corresponding to the target vehicle, that is, the autonomous driving log information cached in real time by the autonomous driving domain controller.

[0046] The above-mentioned preset classification rules, i.e., the regulatory data element recording requirements, are used to determine the multiple data element categories to be recorded. By carefully classifying and recording different categories of data elements, it can not only provide detailed data support for accident responsibility determination, but also help analyze the cause of the accident and optimize the operating performance of the autonomous driving system.

[0047] The above-mentioned screening process refers to screening out key element information in the initial autonomous driving data that meets the regulatory data element recording requirements. Through data screening, it can be ensured that the recorded information fully reflects the actual operating status and environmental conditions of the autonomous driving vehicle, providing strong data support for subsequent data analysis, accident cause investigation, and system optimization. At the same time, the screening process complies with relevant laws and regulations on data protection and privacy security, thereby avoiding the leakage of sensitive information and ensuring the compliance and security of data, which plays a vital role in the safety assessment, performance improvement, and regulatory compliance of autonomous driving vehicles.

[0048] The above-mentioned collision event trigger signal usually refers to an emergency response signal issued when the system detects a potentially harmful collision event during the operation of an autonomous vehicle. The collision event trigger signal is generally generated by the vehicle's built-in sensor system after automatic perception and analysis and judgment. The generation of the collision event trigger signal is part of the vehicle's safety protection mechanism. In the data recording system of the autonomous vehicle, it also plays the role of activating the data storage and protection mechanism to ensure that in an emergency, it can respond quickly and initiate a series of emergency procedures including data recording and safety protection measures.

[0049] The above-mentioned Internet of Vehicles communication unit is the Telematics BOX (TBOX). TBOX is the core component of the Internet of Vehicles system. Its main function is to realize the communication between the vehicle and the outside world and provide intelligent automobile services through multiple built-in functions. TBOX usually integrates multiple communication modules, sensors and storage devices. Its functions include but are not limited to remote communication, vehicle status monitoring, redundant power supply, fault detection, vehicle positioning, status query and remote control, and is responsible for realizing the remote transmission of automobile data. Among them, the redundant power supply function of TBOX can ensure the stable storage and safe transmission of key data elements when the power supply of the autonomous driving system is abnormal.

[0050] Exemplarily, when the driver of the target vehicle activates the autonomous driving mode, the local non-volatile storage area of ​​the autonomous driving domain controller caches the autonomous driving data for a certain period of time, and screens and processes the above data in accordance with the regulatory data element recording requirements to determine which data element categories need to be recorded. For example, record categories such as vehicle status information, driver operation information, and driving environment information. When the system receives a collision event trigger signal from the target vehicle, TBOX immediately responds to the collision event trigger signal and obtains the target autonomous driving data related to the collision event from the screening results. Based on the target autonomous driving data, the system uses data analysis and pattern recognition algorithms to analyze the cause of the collision, responsibility judgment, system response evaluation, etc., to form a detailed event analysis result.

[0051] Through the above steps S11 to S14, in response to the activation operation performed on the automatic driving mode of the target vehicle, the automatic driving domain controller is used to cache the initial automatic driving data of the target vehicle, and the initial automatic driving data is screened and processed according to the preset classification rules to obtain the screening results, and then in response to receiving the collision event trigger signal of the target vehicle, the vehicle network communication unit is controlled to obtain the target automatic driving data from the screening results, and finally the collision event is analyzed and processed based on the target automatic driving data to obtain the event analysis result, thereby achieving the purpose of recording the vehicle automatic driving data, thereby achieving the technical effect of improving the integrity and reliability of the vehicle automatic driving data recording, and then solving the technical problems of poor data integrity and low reliability in recording vehicle automatic driving data in related technologies.

[0052] Optionally, in step S11, using the autonomous driving domain controller to cache the initial autonomous driving data of the target vehicle includes:

[0053] Step S111, obtaining initial autonomous driving data collected by multiple autonomous driving sensors, wherein the multiple autonomous driving sensors include at least: a vehicle camera, a millimeter wave radar, an ultrasonic radar, and a laser radar;

[0054] Step S112: cache the initial autonomous driving data to the first local storage area in the autonomous driving domain controller.

[0055] The above-mentioned autonomous driving sensors include but are not limited to: vehicle cameras, millimeter-wave radars, ultrasonic radars and lidars. Vehicle cameras collect visual information about the surrounding environment by capturing images and video data in real time; millimeter-wave radars detect the distance, speed and angle of objects by emitting and receiving electromagnetic waves with a frequency range of 30-300GHz; ultrasonic radars detect the distance between objects by emitting high-frequency sound waves and receiving their echoes, and are mainly used for short-distance detection; lidars determine the relative speed and distance between objects by emitting laser pulses and measuring the time required for the pulses to return, and can also assist in detecting the driver's status. Each sensor has advantages and limitations in its specific application scenario. For example, cameras perform well in well-lit environments, but their performance deteriorates at night or in bad weather conditions; millimeter-wave radars and lidars are more stable under these conditions. Therefore, autonomous vehicles usually use a combination of multiple sensors to achieve more comprehensive and reliable environmental perception.

[0056] The first local storage area refers to the local non-volatile storage area of ​​the autonomous driving domain controller, which is used to store real-time sensor data, map information, decision algorithms and other key data to ensure the normal operation of the autonomous driving system without network connection. The local non-volatile storage area of ​​the autonomous driving domain controller usually has high read and write speeds to ensure that the system can obtain and process necessary information in a timely manner and perform data backup, so as to provide necessary information support in the event of system failure or network interruption to ensure the safe driving of the vehicle.

[0057] Specifically, data is collected based on sensors such as vehicle cameras, millimeter-wave radars, ultrasonic radars and lidars installed in autonomous vehicles, and the initial autonomous driving data information collected by the sensors is transmitted to the autonomous driving domain controller. After receiving the initial autonomous driving data collected by the sensors, the autonomous driving domain controller caches these data in the local non-volatile storage area.

[0058] Based on the above optional embodiments, by acquiring the initial autonomous driving data collected by multiple autonomous driving sensors and caching the initial autonomous driving data in the first local storage area in the autonomous driving domain controller, the initial autonomous driving data can be backed up, thereby avoiding data loss and improving the safety and stability of the autonomous driving system.

[0059] Optionally, in step S13, in response to receiving a collision event trigger signal of the target vehicle, controlling the vehicle networking communication unit to obtain target autonomous driving data from the screening results includes:

[0060] Step S131, in response to receiving a collision event trigger signal of the target vehicle, sending a data recording instruction to the vehicle networking communication unit;

[0061] Step S132, based on the data recording instruction, controlling the vehicle networking communication unit to determine the target autonomous driving data from the screening results;

[0062] Step S133: Store the target autonomous driving data in the second local storage area in the Internet of Vehicles communication unit.

[0063] The second local storage area mentioned above refers to the non-volatile storage area of ​​TBOX, which has high stability and redundant power backup capability, and can maintain data integrity and reliability in the event of power outages or unexpected failures. Its main function is to store key data and parameters, ensure that the system can quickly recover and maintain normal operation under abnormal circumstances, and provide reliable data support and backup functions for equipment and systems.

[0064] For example, when a collision occurs after the vehicle enters the autonomous driving mode, the autonomous driving domain controller immediately detects the abnormal situation and sends a data recording instruction to the vehicle's TBOX. After receiving the instruction, the TBOX quickly activates the internal non-volatile storage area, and determines the target driving data to be recorded from the screening results of the initial driving data based on the data recording instruction, and stores the data of the collision event on the disk, ensuring that the data can be safely stored even in the event of a power abnormality.

[0065] Based on the above optional embodiments, in response to receiving a collision event trigger signal of the target vehicle, a data recording instruction is sent to the Internet of Vehicles communication unit, and based on the data recording instruction, the Internet of Vehicles communication unit is controlled to determine the target autonomous driving data from the screening results, and finally the target autonomous driving data is stored in the second local storage area in the Internet of Vehicles communication unit. When the power supply of the autonomous driving system is abnormal, key data can be stored in time for subsequent accident analysis and processing.

[0066] Optionally, in step S131, controlling the Internet of Vehicles communication unit to determine the target autonomous driving data from the screening results includes:

[0067] Step S1311, obtaining a first recording time and a second recording time, wherein the first recording time is used to indicate the start time of the target collision time period, and the second recording time is used to indicate the end time of the target collision time period;

[0068] Step S1312, determining a target collision time period based on the first recording time and the second recording time;

[0069] Step S1313, determining the target automatic driving data from the screening results according to the target collision time period.

[0070] Specifically, when a collision event occurs, the start time and end time of the collision event are first recorded, and the start time is determined as the first recording time, the end time is determined as the second recording time, and the target collision time period is determined based on the first recording time and the second recording time. Finally, the target autonomous driving data to be recorded is determined from the screening results based on the target collision time period.

[0071] Exemplarily, two recording moments are first set. Assume that the first recording moment is 8:30 a.m. on April 1, 2023, and use it as the starting moment of the target collision time period; the second recording moment is 8:35 a.m. on April 1, 2023, and use it as the terminal moment of the target collision time period. Then, based on the first recording moment and the second recording moment, the target collision time period is determined to be the time period from 8:30 a.m. on April 1, 2023 to 8:35 a.m. on April 1, 2023. Finally, based on the determined target collision time period, the target autonomous driving data within this time period is filtered out from the pre-screened results.

[0072] Based on the above optional embodiments, by obtaining the start time and end time of the target collision event, determining the target collision time period based on the start time and end time, and determining the target autonomous driving data from the screening results according to the target collision time period, the target collision time period can be clearly defined, and the autonomous driving data related to the collision event can be accurately screened, which is helpful for accident analysis and liability determination.

[0073] Optionally, in step S1311, obtaining the first recording moment includes: obtaining a first candidate moment and a second candidate moment, wherein the first candidate moment is used to indicate a moment before the start moment of the collision event and separated from the start moment of the collision event by a first preset time length, and the second candidate moment is used to indicate an activation moment of the automatic driving mode; and selecting the latest moment between the first candidate moment and the second candidate moment as the first recording moment.

[0074] Exemplarily, first set the starting time of the collision event as T0. In order to collect relevant circumstances before the collision event occurs, it is necessary to trace back a preset time length to obtain the first candidate time. Assuming that the first preset time length is 15 seconds, the moment 15 seconds before T0 is recorded as T1, which is the first candidate time; secondly, the activation time of the automatic driving mode, that is, the moment when the vehicle switches from manual driving to automatic driving mode, is recorded as T2, which is the second candidate time; thirdly, select the latest time between T1 and T2 as the first recording time.

[0075] Based on the above optional embodiments, by obtaining the first candidate moment and the second candidate moment, and selecting the latest moment of the first candidate moment and the second candidate moment as the first recording moment, it can be ensured that during the period from system activation to event occurrence, all key data can be stably and reliably recorded, reducing record loss caused by system failure or abnormality.

[0076] Optionally, in step S1311, obtaining the second recording time includes: obtaining a third candidate time, a fourth candidate time and a fifth candidate time, wherein the third candidate time is used to indicate a time after the start time of the collision event and separated from the start time of the collision event by a second preset time length, the fourth candidate time is used to indicate an exit time of the automatic driving mode, and the fifth candidate time is used to indicate an end time of the collision event; the earliest time among the third candidate time, the fourth candidate time and the fifth candidate time is selected as the second recording time.

[0077] For example, assuming that the second preset time length is 5s, the time 5s after the start time of the collision event is recorded as T3, i.e., the third candidate time; the exit time of the automatic driving mode is recorded as T4, i.e., the fourth candidate time; the end time of the collision event is recorded as T5, i.e., the fifth candidate time. The earliest time among T3, T4 and T5 is selected as the second recording time.

[0078] Based on the above optional embodiments, by obtaining the third candidate moment, the fourth candidate moment and the fifth candidate moment, and selecting the earliest moment among the third candidate moment, the fourth candidate moment and the fifth candidate moment as the second recording moment, the comprehensiveness and reliability of data recording can be maximized to meet the data recording needs of autonomous driving vehicles when critical events occur.

[0079] Optionally, in step S14, the collision event is analyzed and processed based on the target autonomous driving data, and the event analysis results obtained include:

[0080] Step S141, receiving a diagnostic read instruction from a central gateway;

[0081] Step S142, reading target autonomous driving data from the second local storage area based on the diagnostic read instruction;

[0082] Step S143: determining an event analysis result corresponding to the collision event based on the target autonomous driving data.

[0083] The above diagnostic read instructions generally refer to commands or processes used to extract diagnostic information from the vehicle system. In the process of recording autonomous driving data, the central gateway needs to send diagnostic read instructions to the vehicle's On-Board Diagnostics (OBD) interface or other related on-board electronic control unit (ECU) to obtain the vehicle's operating status, performance indicators, fault codes and other data.

[0084] Based on the above optional embodiments, the central gateway issues a diagnostic read instruction and reads the target autonomous driving data in the non-volatile storage area of ​​TBOX, and finally determines the event analysis result corresponding to the collision event based on the target autonomous driving data, thereby achieving the purpose of analyzing the collision event and ensuring that even in collisions or other extreme situations, key autonomous driving data will not be lost, thereby ensuring the integrity of the data.

[0085] Optionally, the multiple data elements include: basic vehicle information, vehicle dynamic information, automatic driving system operation information, driving environment information, driver operation and status information.

[0086] The above-mentioned basic vehicle information, vehicle dynamic information, automatic driving system operation information, driving environment information, driver operation and status information are the core components of DSSAD. Basic vehicle information includes static information such as vehicle identification code, vehicle model, manufacturing year, and vehicle configuration, which provides a basic identity for the vehicle and facilitates tracking and management of the vehicle; vehicle dynamic information involves real-time dynamic data of the vehicle, including but not limited to vehicle speed, acceleration, turning angle, driving direction, vehicle position, etc.; automatic driving system operation information includes the activation status of the automatic driving system, sensor input data, controller decision logic, actuator output status, etc.; driving environment information includes but is not limited to traffic signals, road conditions, weather conditions, the location and speed of surrounding vehicles and pedestrians, etc.; driver operation and status information refers to the driver's operating behavior in the automatic driving mode, including but not limited to steering, acceleration, deceleration, shifting, etc. The recording of the above information is of great significance for the safe operation, performance evaluation, accident analysis and regulatory compliance of automatic driving vehicles.

[0087] Figure 2 is a schematic diagram of an autonomous driving vehicle data recording system according to one embodiment of the present disclosure, such as Figure 2 As shown, autonomous driving vehicle data recording mainly includes the following four functions: real-time data caching, event judgment, data storage, and data reading.

[0088] Exemplarily, the data real-time cache function is responsible for collecting and temporarily storing real-time driving data captured by sensors, including speed, acceleration, steering angle and other parameters, for further processing and analysis. The event judgment function evaluates the real-time data according to preset conditions and logic to determine whether there is an abnormality or emergency, such as a collision event or an automatic driving system failure. Once a collision event is detected, the data storage function is immediately activated and the relevant data is saved in the non-volatile storage medium of TBOX. The data reading module allows authorized users or systems to access these data through a specific interface for subsequent analysis, accident investigation or system optimization. In the event of a collision, the vehicle power supply is usually disconnected to power off the vehicle, causing the automatic driving domain controller to fail to work properly, thereby missing the data when the collision event occurs. The TBOX in the present disclosure has redundant backup power capabilities, avoiding the disadvantages of data damage or loss caused by abnormal power supply of the automatic driving domain controller itself and power failure after the accident, and maintaining the integrity of the data even in the case of a sudden power outage of the system, thereby improving the integrity and reliability of the vehicle's automatic driving data record, thereby improving the safety of the vehicle's automatic driving.

[0089] Figure 3 is a schematic diagram of a method for recording data of an autonomous driving vehicle according to one embodiment of the present disclosure, such as Figure 3 As shown in FIG. 1 , the autonomous driving vehicle data recording system mainly includes an autonomous driving sensor, an autonomous driving domain controller, an actuator, a TBOX, a central gateway, and an on-board diagnostic interface. The method includes the following steps: first, the initial autonomous driving data of the vehicle is obtained through the autonomous driving sensor, and the initial autonomous driving data is cached in a local non-volatile storage area through the autonomous driving domain controller, and then the initial autonomous driving data is sent to the TBOX through the controller area network bus or the Ethernet bus; secondly, when a collision event occurs, the TBOX stores the target driving data in its local non-volatile storage area, and sends a diagnostic analysis instruction to the central gateway through the controller area network bus or the Ethernet bus; finally, the central gateway responds to the diagnostic analysis instruction, reads the target driving data stored in the TBOX through the controller area network bus or the Ethernet bus, and based on the on-board diagnostic interface, uses the automobile diagnostic protocol to perform event analysis on the target driving data to obtain the event analysis result, and sends the event analysis result to the actuator, and the actuator performs corresponding operations based on the event analysis result, such as controlling the vehicle to decelerate, prohibiting steering, etc. In addition, the target autonomous driving data stored in the TBOX can also be uploaded to the cloud platform for backup, which further ensures the integrity and reliability of the autonomous driving data recording.

[0090] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present disclosure.

[0091] In the embodiments of the present disclosure, an autonomous driving vehicle data recording device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and will not be repeated hereafter. As used below, the term "module" may be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0092] Figure 4 is a structural block diagram of an autonomous driving vehicle data recording device according to one embodiment of the present disclosure, such as Figure 4 As shown, the device comprises:

[0093] A cache module 401 is used to respond to an activation operation performed on the automatic driving mode of the target vehicle, and cache the initial automatic driving data of the target vehicle using the automatic driving domain controller, wherein the initial automatic driving data is used to represent the driving log data corresponding to the target vehicle;

[0094] A screening module 402 is used to screen the initial autonomous driving data according to a preset classification rule to obtain a screening result, wherein the preset classification rule is used to determine the categories of multiple data elements to be recorded, and the screening result is used to represent the content of the data elements to be recorded;

[0095] An acquisition module 403, configured to control the vehicle networking communication unit to acquire target autonomous driving data from the screening results in response to receiving a collision event trigger signal of the target vehicle, wherein the target autonomous driving data is used to represent vehicle driving data associated with the collision event;

[0096] The analysis module 404 is used to analyze and process the collision event based on the target automatic driving data to obtain an event analysis result.

[0097] Optionally, the cache module 401 is also used to: obtain initial autonomous driving data collected by multiple autonomous driving sensors, wherein the multiple autonomous driving sensors include at least: vehicle cameras, millimeter wave radars, ultrasonic radars and lidars; and cache the initial autonomous driving data to a first local storage area in the autonomous driving domain controller.

[0098] Optionally, the screening module 402 is also used to: send a data recording instruction to the Internet of Vehicles communication unit in response to receiving a collision event trigger signal of the target vehicle; based on the data recording instruction, control the Internet of Vehicles communication unit to determine the target autonomous driving data from the screening results; and store the target autonomous driving data in a second local storage area in the Internet of Vehicles communication unit.

[0099] Optionally, the screening module 402 is also used to: obtain a first recording moment and a second recording moment, wherein the first recording moment is used to indicate the start moment of the target collision time period, and the second recording moment is used to indicate the end moment of the target collision time period; determine the target collision time period based on the first recording moment and the second recording moment; and determine the target autonomous driving data from the screening results based on the target collision time period.

[0100] Optionally, the acquisition module 403 is also used to: obtain a first candidate moment and a second candidate moment, wherein the first candidate moment is used to represent a moment before the start moment of the collision event and separated from the start moment of the collision event by a first preset time length, and the second candidate moment is used to represent the activation moment of the automatic driving mode; and select the latest moment between the first candidate moment and the second candidate moment as the first recording moment.

[0101] Optionally, the acquisition module 403 is also used to: obtain the second recording time, including: obtaining a third candidate time, a fourth candidate time and a fifth candidate time, wherein the third candidate time is used to indicate a time after the start time of the collision event and separated from the start time of the collision event by a second preset time length, the fourth candidate time is used to indicate the exit time of the automatic driving mode, and the fifth candidate time is used to indicate the end time of the collision event; the earliest time among the third candidate time, the fourth candidate time and the fifth candidate time is selected as the second recording time.

[0102] Optionally, the analysis module 404 is also used to: analyze and process the collision event based on the target autonomous driving data, and obtain the event analysis result including: receiving a diagnostic read instruction from the central gateway; reading the target autonomous driving data from the second local storage area based on the diagnostic read instruction; and determining the event analysis result corresponding to the collision event based on the target autonomous driving data.

[0103] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0104] According to one embodiment of the present disclosure, a vehicle is also provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute instructions to implement the vehicle autonomous driving data recording method in the embodiment of the present disclosure.

[0105] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0106] Step S1, in response to an activation operation performed on an autonomous driving mode of a target vehicle, using an autonomous driving domain controller to cache initial autonomous driving data of the target vehicle, wherein the initial autonomous driving data is used to represent driving log data corresponding to the target vehicle;

[0107] Step S2, screening the initial autonomous driving data according to a preset classification rule to obtain a screening result, wherein the preset classification rule is used to determine the categories of multiple data elements to be recorded, and the screening result is used to represent the content of the data elements to be recorded;

[0108] Step S3, in response to receiving a collision event trigger signal of the target vehicle, controlling the vehicle network communication unit to obtain target autonomous driving data from the screening results, wherein the target autonomous driving data is used to represent vehicle driving data associated with the collision event;

[0109] Step S4: Analyze and process the collision event based on the target autonomous driving data to obtain an event analysis result.

[0110] According to one embodiment of the present disclosure, a computer-readable storage medium is also provided, which includes a stored executable program, wherein when the executable program is running, the device where the storage medium is located is controlled to execute the vehicle automatic driving data recording method in the embodiment of the present disclosure.

[0111] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0112] Step S1, in response to an activation operation performed on an autonomous driving mode of a target vehicle, using an autonomous driving domain controller to cache initial autonomous driving data of the target vehicle, wherein the initial autonomous driving data is used to represent driving log data corresponding to the target vehicle;

[0113] Step S2, screening the initial autonomous driving data according to a preset classification rule to obtain a screening result, wherein the preset classification rule is used to determine the categories of multiple data elements to be recorded, and the screening result is used to represent the content of the data elements to be recorded;

[0114] Step S3, in response to receiving a collision event trigger signal of the target vehicle, controlling the vehicle network communication unit to obtain target autonomous driving data from the screening results, wherein the target autonomous driving data is used to represent vehicle driving data associated with the collision event;

[0115] Step S4: Analyze and process the collision event based on the target autonomous driving data to obtain an event analysis result.

[0116] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0117] According to one embodiment of the present disclosure, a computer program product is also provided, including a computer program, which implements the vehicle automatic driving data recording method in the embodiment of the present disclosure when executed by a processor.

[0118] Optionally, in this embodiment, the computer program product may be configured as a computer program for executing the following steps:

[0119] Step S1, in response to an activation operation performed on an autonomous driving mode of a target vehicle, using an autonomous driving domain controller to cache initial autonomous driving data of the target vehicle, wherein the initial autonomous driving data is used to represent driving log data corresponding to the target vehicle;

[0120] Step S2, screening the initial autonomous driving data according to a preset classification rule to obtain a screening result, wherein the preset classification rule is used to determine the categories of multiple data elements to be recorded, and the screening result is used to represent the content of the data elements to be recorded;

[0121] Step S3, in response to receiving a collision event trigger signal of the target vehicle, controlling the vehicle network communication unit to obtain target autonomous driving data from the screening results, wherein the target autonomous driving data is used to represent vehicle driving data associated with the collision event;

[0122] Step S4: Analyze and process the collision event based on the target autonomous driving data to obtain an event analysis result.

[0123] The serial numbers of the above-mentioned embodiments of the present disclosure are only for description and do not represent the advantages or disadvantages of the embodiments.

[0124] In the above embodiments of the present disclosure, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0125] In the several embodiments provided in the present disclosure, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0126] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0127] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0128] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0129] The above is only a preferred embodiment of the present disclosure. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present disclosure. These improvements and modifications should also be regarded as the scope of protection of the present disclosure.

Claims

1. A method for recording vehicle automatic driving data, characterized in that: include: In response to an activation operation performed on an autonomous driving mode of a target vehicle, using an autonomous driving domain controller to cache initial autonomous driving data of the target vehicle, wherein the initial autonomous driving data is used to represent driving log data corresponding to the target vehicle; Screening the initial autonomous driving data according to a preset classification rule to obtain a screening result, wherein the preset classification rule is used to determine a plurality of data element categories to be recorded, and the screening result is used to represent the content of the data elements to be recorded; In response to receiving a collision event trigger signal of the target vehicle, controlling the vehicle networking communication unit to obtain target autonomous driving data from the screening result, wherein the target autonomous driving data is used to represent vehicle driving data associated with the collision event; The collision event is analyzed and processed based on the target automatic driving data to obtain an event analysis result.

2. The vehicle automatic driving data recording method according to claim 1, characterized in that: Utilizing the autonomous driving domain controller to cache the initial autonomous driving data of the target vehicle includes: Acquire the initial autonomous driving data collected by a plurality of autonomous driving sensors, wherein the plurality of autonomous driving sensors include at least: a vehicle camera, a millimeter wave radar, an ultrasonic radar, and a laser radar; The initial autonomous driving data is cached in a first local storage area in the autonomous driving domain controller.

3. The vehicle automatic driving data recording method according to claim 1, characterized in that: In response to receiving the collision event trigger signal of the target vehicle, controlling the vehicle network communication unit to obtain the target automatic driving data from the screening result includes: In response to receiving the collision event trigger signal of the target vehicle, sending a data recording instruction to the vehicle networking communication unit; Based on the data recording instruction, controlling the vehicle networking communication unit to determine the target autonomous driving data from the screening results; The target autonomous driving data is stored in a second local storage area in the Internet of Vehicles communication unit.

4. The vehicle automatic driving data recording method according to claim 3, characterized in that: Controlling the Internet of Vehicles communication unit to determine the target autonomous driving data from the screening results includes: Acquire a first recording time and a second recording time, wherein the first recording time is used to indicate the start time of the target collision time period, and the second recording time is used to indicate the end time of the target collision time period; determining the target collision time period based on the first recorded time and the second recorded time; The target automatic driving data is determined from the screening results according to the target collision time period.

5. The vehicle automatic driving data recording method according to claim 4, characterized in that: Acquiring the first recording moment includes: Acquire a first candidate time and a second candidate time, wherein the first candidate time is used to represent a time before a collision event start time and separated from the collision event start time by a first preset time length, and the second candidate time is used to represent an activation time of the automatic driving mode; The latest time between the first candidate time and the second candidate time is selected as the first recording time.

6. The vehicle automatic driving data recording method according to claim 4, characterized in that: Acquiring the second recording moment includes: Obtaining a third candidate time, a fourth candidate time, and a fifth candidate time, wherein the third candidate time is used to represent a time after the start time of the collision event and separated from the start time of the collision event by a second preset time length, the fourth candidate time is used to represent the exit time of the automatic driving mode, and the fifth candidate time is used to represent the end time of the collision event; The earliest time among the third candidate time, the fourth candidate time and the fifth candidate time is selected as the second recording time.

7. The vehicle automatic driving data recording method according to claim 4, characterized in that: Analyzing and processing the collision event based on the target autonomous driving data to obtain the event analysis result includes: Receive diagnostic read instructions from the central gateway; reading the target autonomous driving data from the second local storage area based on the diagnostic read instruction; The event analysis result corresponding to the collision event is determined based on the target autonomous driving data.

8. The vehicle automatic driving data recording method according to claim 1, characterized in that: The multiple data elements include: basic vehicle information, vehicle dynamic information, automatic driving system operation information, driving environment information, and driver operation and status information.

9. A vehicle automatic driving data recording device, characterized in that: include: a cache module, configured to respond to an activation operation performed on an autonomous driving mode of a target vehicle, and cache initial autonomous driving data of the target vehicle using an autonomous driving domain controller, wherein the initial autonomous driving data is used to represent driving log data corresponding to the target vehicle; a screening module, configured to screen the initial autonomous driving data according to a preset classification rule to obtain a screening result, wherein the preset classification rule is used to determine a plurality of data element categories to be recorded, and the screening result is used to represent the content of the data elements to be recorded; an acquisition module, configured to control the vehicle networking communication unit to acquire target autonomous driving data from the screening result in response to receiving a collision event trigger signal of the target vehicle, wherein the target autonomous driving data is used to represent vehicle driving data associated with the collision event; The analysis module is used to analyze and process the collision event based on the target automatic driving data to obtain an event analysis result.

10. A vehicle, characterized in that: include: processor; a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement the vehicle automatic driving data recording method described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the storage medium is located is controlled to execute the vehicle automatic driving data recording method described in any one of claims 1 to 8.

12. A computer program product, characterized in that It comprises a computer program which, when executed by a processor, implements the vehicle automatic driving data recording method according to any one of claims 1 to 8.

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