Vehicle environment data uploading method and device, equipment and storage medium

Abstract

The invention discloses a vehicle environment data uploading method and device, equipment and a storage medium, and relates to the technical field of data processing, and the vehicle environment data uploading method comprises the steps: obtaining sensor data and an environment change flag bit; when the change frame number of the environment change flag bit reaches a preset frame number threshold value, a yaw angle change value and a pose change value are obtained according to the sensor data; when the system performance, the yaw angle change value and the pose change value all meet preset conditions, caching the sensor data; and when the sensor data reaches a preset data threshold value, uploading the sensor data. According to the method, efficient acquisition and uploading of the environment data are realized through judgment of the environment change mark monitored by the continuous frame vehicle in real time and modification of the key frame screening threshold value by the system resource information. The data acquisition efficiency and the system resource use efficiency are improved, the acquired data transmission and storage pressure is reduced, and the resource processing consumption of the cloud server is reduced.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a method, device, equipment and storage medium for uploading vehicle environment data. Background Art

[0002] With the rapid development of intelligent driving technology, the demand for autonomous driving functions in urban scenarios is growing. To support this function, high-precision map data is required, and the update of this data depends on the environmental data collected by smart car sensors and uploaded to the cloud. However, the rapid development and changes in urban areas require high freshness of map data, and the update speed of existing high-precision maps or LD maps can no longer meet this demand.

[0003] There are currently two methods. One data collection method involves the user inputting scene information, determining the target sensor based on this information, collecting data, and sending a sample set to the user based on the scene relevance, and then uploading it to the server. The other method monitors the performance load data of the target system, dynamically adjusts the data collection parameters, and extracts key indicator data from the raw data for fault warning. These methods attempt to optimize the data collection process through user input or system performance monitoring.

[0004] Despite the efforts made in data collection, they have some defects. The first method requires users to make selections, which increases labor costs. Although the second method takes system resources into consideration, it does not involve data screening, resulting in data redundancy and high costs. When uploading all sensor data at all times, these methods not only cause redundant consumption of data transmission and caching, but also increase the consumption of cloud processing resources and reduce data utilization. Therefore, reducing data transmission and storage pressure has become an urgent problem to be solved. Summary of the invention

[0005] The purpose of this application is to provide a method, device, equipment and storage medium for uploading vehicle environment data, aiming to solve the technical problem of reducing data transmission and storage pressure.

[0006] To achieve the above purpose, the present application proposes a method for uploading vehicle environment data, the method comprising:

[0007] Get sensor data and environmental change flags;

[0008] When the number of frames of change of the environment change flag reaches a preset frame number threshold, obtaining a yaw angle change value and a posture change value according to the sensor data;

[0009] When the system performance, the yaw angle change value and the posture change value all meet preset conditions, caching the sensor data;

[0010] When the sensor data reaches a preset data threshold, the sensor data is uploaded.

[0011] In one embodiment, the system performance includes a CPU occupancy rate, a hard disk space occupancy rate, and an interface occupancy rate, and when the system performance, the yaw angle change value, and the posture change value all meet preset conditions, caching the sensor data includes:

[0012] When the CPU occupancy rate, the hard disk space occupancy rate and the interface occupancy rate are all less than a preset occupancy rate threshold, a system performance coefficient is obtained according to the CPU occupancy rate, the hard disk space occupancy rate and the interface occupancy rate and a preset weight coefficient;

[0013] If the system performance coefficient, the yaw angle change value and the posture change value all meet preset conditions, the sensor data is cached.

[0014] In one embodiment, the sensor data includes speed data, position data, and inertial measurement unit data. If the system performance coefficient, the yaw angle change value, and the posture change value all meet the preset conditions, before caching the sensor data, it also includes:

[0015] Get location collection data;

[0016] Matching the location acquisition data with the location data to obtain a location matching result;

[0017] If the position matching result is a match, then the yaw angle change value and the posture change value are judged;

[0018] If the position matching result is a mismatch, the sensor data is cleared and the data upload control is exited.

[0019] In one embodiment, when the number of frames of change of the environment change flag reaches a preset frame number threshold, obtaining a yaw angle change value and a posture change value according to the sensor data includes:

[0020] When the number of frames of change of the environment change flag reaches a preset frame number threshold, obtaining a historical upload record;

[0021] If there is historical posture data in the historical upload record, obtaining a yaw angle change value and a posture change value based on the historical posture data and the sensor data;

[0022] If the historical posture data does not exist in the historical upload record, the historical posture data is assigned a value according to the sensor data, and then the yaw angle change value and the posture change value are obtained according to the historical posture data and the sensor data.

[0023] In one embodiment, if the system performance coefficient, the yaw angle change value, and the posture change value all meet preset conditions, caching the sensor data includes:

[0024] Obtain a preset yaw angle threshold and a preset translation attitude threshold;

[0025] Based on the posture change value and the system performance coefficient, a posture offset value is obtained;

[0026] Obtaining a yaw angle offset value based on the yaw angle change value and the system performance coefficient;

[0027] If the posture offset value is greater than the preset translation posture threshold, or the yaw angle offset value is greater than the preset yaw angle threshold, the sensor data is cached in the memory.

[0028] In one embodiment, when the sensor data reaches a preset data threshold, after uploading the sensor data, the method further includes:

[0029] Get the target folder;

[0030] Monitoring the writing status of the sensor data into the target folder;

[0031] If there is no abnormality in the writing state, clearing the cached sensor data after writing is completed;

[0032] If the write state is abnormal, a repeated write operation is performed. When the repeated write operation reaches a preset write threshold, an alarm signal is issued and the data upload control is exited.

[0033] In one embodiment, after monitoring the writing status of the sensor data into the target folder, the method further includes:

[0034] Get vehicle status and upload task status;

[0035] If the vehicle state is in an idle state and the upload task state is in an unfinished task, the target folder is uploaded after the unfinished task is executed, and the upload status of the target folder is recorded, and the upload status is saved to the upload task;

[0036] If the vehicle state is in an idle state and the upload task state is in a state where there is no unfinished task, the target folder is uploaded, the upload state of the target folder is recorded, and the upload state is saved to the upload task.

[0037] In addition, to achieve the above purpose, the present application also proposes a vehicle environment data uploading device, the device comprising:

[0038] Acquisition module, used to obtain sensor data and environmental change flags;

[0039] An obtaining module is used to obtain a yaw angle change value and a posture change value according to sensor data when the number of change frames of the environment change flag reaches a preset frame number threshold;

[0040] A cache module, used for caching the sensor data when the system performance, the yaw angle change value and the posture change value all meet preset conditions;

[0041] The uploading module is used to upload the sensor data when the sensor data reaches a preset data threshold.

[0042] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle environment data uploading device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the vehicle environment data uploading method described above.

[0043] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the vehicle environment data uploading method described above are implemented.

[0044] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the vehicle environment data uploading method described above are implemented.

[0045] One or more technical solutions proposed in this application have at least the following technical effects:

[0046] The present application first monitors the real-time changes of the vehicle's surrounding environment by acquiring sensor data and environmental change flags. When the number of frames of the environmental change flag reaches the preset frame number threshold, the sensor data will be analyzed to calculate the yaw angle change value and the posture change value, which reflect the position and direction changes of the vehicle relative to the environment. Then evaluate the current system performance, including CPU occupancy, hard disk space occupancy and interface occupancy, as well as the change values ​​of yaw angle and posture, to determine whether the preset conditions are met. If all these conditions are met, the sensor data will be cached for subsequent processing. Finally, when the cached sensor data reaches the preset data threshold, the data upload operation will be performed to transfer the data to the cloud. Through this method of continuous monitoring and conditional judgment, the present application can intelligently screen out the truly important environmental change data, cache and upload data only when necessary, thereby reducing unnecessary data transmission and storage, optimizing the use of system resources, and improving the efficiency of data collection and the performance of cloud data processing. This method effectively reduces the resource consumption during data collection and upload, while ensuring the timely upload of key data, providing strong data support for autonomous driving functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0049] Figure 1 A flow chart of the first embodiment of the method for uploading vehicle environment data of the present application;

[0050] Figure 2 A flow chart of the second embodiment of the vehicle environment data uploading method of the present application;

[0051] Figure 3 This is a schematic diagram of the module structure of the vehicle environment data uploading device according to an embodiment of the present application;

[0052] Figure 4 Schematic diagram of the device structure of the hardware operating environment involved in the vehicle environment data uploading method in the embodiment of the present application.

[0053] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0055] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0056] With the development of intelligent driving technology, the demand for urban autonomous driving functions has increased, requiring real-time updated high-precision map data support. The existing map update speed cannot keep up with urban changes. Existing technologies include data collection driven by user input and data collection based on dynamic adjustment of system performance, but both have efficiency and resource consumption issues.

[0057] The main solution of the embodiment of the present application is: the embodiment first monitors the real-time changes of the vehicle's surrounding environment by acquiring sensor data and environmental change flags. When the number of frames of the change of the environmental change flag reaches the preset frame number threshold, the sensor data will be analyzed to calculate the yaw angle change value and the posture change value, which reflect the position and direction changes of the vehicle relative to the environment. Then evaluate the current system performance, including CPU occupancy, hard disk space occupancy and interface occupancy, as well as the change values ​​of yaw angle and posture, to determine whether the preset conditions are met. If all these conditions are met, the sensor data will be cached for subsequent processing. Finally, when the cached sensor data reaches the preset data threshold, the data upload operation will be performed to transmit the data to the cloud. Through this method of continuous monitoring and conditional judgment, the embodiment can intelligently screen out the truly important environmental change data, cache and upload data only when necessary, thereby reducing unnecessary data transmission and storage, optimizing the use of system resources, and improving the efficiency of data collection and the performance of cloud data processing. This method effectively reduces the resource consumption in the process of data collection and uploading, while ensuring the timely upload of key data, providing strong data support for the automatic driving function.

[0058] It should be noted that the execution subject of the embodiment of the present application may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, an electronic control unit, etc. The following takes the electronic control unit as an example to illustrate this embodiment and the following embodiments.

[0059] Based on this, the embodiment of the present application provides a method for uploading vehicle environment data, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle environment data uploading method of the present application.

[0060] In this embodiment, the vehicle environment data uploading method includes steps S10 to S40:

[0061] Step S10, obtaining sensor data and environment change flags;

[0062] It should be noted that sensor data can be information collected by various sensors carried by the vehicle, which is used to perceive the vehicle's surrounding environment and the vehicle's own state. These sensors may include but are not limited to: Inertial Measurement Unit (IMU), which provides acceleration and angular velocity data of the vehicle to determine the vehicle's motion state; wheel speed sensor, which measures the rotation speed of the wheel, which is used to calculate the vehicle's speed and position; camera, which captures visual information of the road and surrounding environment for object detection and recognition; radar and laser radar (LiDAR), which provide distance and speed information of objects around the vehicle for obstacle avoidance and environmental modeling; GPS and other positioning systems, which provide precise geographic location information of the vehicle. Environmental change flags can be signals or data used to identify significant changes in the vehicle's surrounding environment, which may have a significant impact on the vehicle's driving and decision-making. Environmental change flags may include changes in road conditions, such as slippery roads, construction areas, or the presence of obstacles. By acquiring these sensor data and environmental change flags in real time, smart cars can better understand the surrounding environment and respond in a timely manner, thereby improving the safety and efficiency of autonomous driving.

[0063] It is understandable that by collecting real-time data such as the vehicle's position, speed, and surrounding object information through onboard sensors such as IMU, wheel speed sensors, cameras, radars, etc., while monitoring key signs of environmental changes such as traffic signals, road conditions, and traffic flow, these changes may affect the vehicle's data upload decisions.

[0064] Step S20, when the number of frames of change of the environment change flag reaches a preset frame number threshold, obtaining a yaw angle change value and a posture change value according to the sensor data;

[0065] It should be noted that the yaw angle change value can be the change in the rotation angle of the vehicle around the vertical axis (i.e., the up-down axis of the vehicle) in the horizontal plane. This value reflects how many degrees the direction (orientation) of the vehicle has changed from its initial position or previous state. In autonomous driving, the yaw angle change value is a key parameter for determining the change in the vehicle's heading, which is very important for vehicle positioning and path planning. The posture change value can be a change in the vehicle's position, including translation in the horizontal plane (i.e., the front and back, left and right movement of the vehicle) and movement in the vertical direction (although in most ground vehicle navigation, vertical movement can be ignored). The posture change value usually includes three dimensions: displacement changes in the X-axis (lateral), Y-axis (longitudinal), and Z-axis (vertical), but in most ground vehicle applications, the main focus is on changes in the X-axis and Y-axis.

[0066] It is understandable that when the number of frames of change of the environment change flag reaches the preset threshold, it means that the environment has changed significantly enough and the vehicle status needs to be updated. The yaw angle change value and the posture change value are calculated based on the sensor data. These data help understand the dynamic changes of the vehicle relative to the environment to achieve accurate navigation and control.

[0067] As an example, when the number of change frames of the environment change flag reaches a preset frame number threshold, the yaw angle change value and the posture change value are obtained according to the sensor data, including: when the number of change frames of the environment change flag reaches the preset frame number threshold, the historical upload record is obtained; if there is historical posture data in the historical upload record, the yaw angle change value and the posture change value are obtained based on the historical posture data and the sensor data; if the historical posture data does not exist in the historical upload record, the historical posture data is assigned according to the sensor data, and then the yaw angle change value and the posture change value are obtained according to the historical posture data and the sensor data.

[0068] Among them, the preset frame number threshold can be a pre-set frame number used to determine when the environmental change is significant enough to update the vehicle's posture data. When the environmental change flag reaches this preset threshold in a continuous number of frames, it is considered that the environmental change is significant enough and requires further processing. The historical upload record can be a record of previously uploaded posture data, which is usually stored in the vehicle's local memory or cloud database. These records contain the posture information of the vehicle at a specific point in the past, which is used to compare with the current sensor data to calculate the posture change. The historical posture data can be the past posture data of the vehicle obtained from the historical upload records, including the past position and direction (yaw angle) of the vehicle. These data are used to compare with the current sensor data to calculate the yaw angle change value and the posture change value, so as to understand the movement and position changes of the vehicle since the last upload.

[0069] Specifically, when the number of frames of change of the environment change flag reaches a pre-set threshold, indicating that the environment has changed significantly, the historical upload records will be retrieved to obtain the previously stored posture data. If there is valid posture data in the historical records, these data and the current sensor data will be used to calculate the yaw angle change value and posture change value to determine the direction and position changes of the vehicle since the last record. If there is no posture data in the historical records, the current sensor data will be used as the initial posture data, and the subsequent yaw angle and posture changes will be calculated based on this data to ensure that the vehicle's motion tracking is continuous from the current state.

[0070] Step S30, when the system performance, the yaw angle change value and the posture change value all meet preset conditions, caching the sensor data;

[0071] It should be noted that system performance here refers to key performance indicators such as the central processing unit (CPU) occupancy rate, hard disk space occupancy rate and interface (IO) occupancy rate in the vehicle computing system. These indicators reflect the load and resource availability of the vehicle computing system when processing data. Preset conditions refer to a series of thresholds or standards set during system design to ensure data validity and system stability. Specifically, they include CPU occupancy rate threshold, hard disk space occupancy rate threshold, interface occupancy rate threshold, yaw angle change value threshold and posture change value threshold.

[0072] It is understandable that when the vehicle's performance indicators and the yaw angle change and posture change values ​​calculated from the sensor data reach the pre-set safety and efficiency thresholds, these key sensor data will be cached for further processing and analysis to ensure that important information is preserved when resources are sufficient and data changes are significant, thereby improving the efficiency and accuracy of data processing.

[0073] Step S40: when the sensor data reaches a preset data threshold, the sensor data is uploaded.

[0074] It should be noted that the preset data threshold can be a standard or limit set in the data upload process to determine when the amount or importance of sensor data is large enough to be uploaded to the cloud or other data processing center. This threshold can be set based on a variety of factors, including but not limited to the amount of data and cache capacity. The setting of the preset data threshold is intended to balance the real-time nature of the data, storage costs, network bandwidth, and data processing capabilities to ensure that only the most relevant and valuable data is uploaded, thereby optimizing the efficiency and effectiveness of the entire data collection and upload process.

[0075] It is understandable that when the amount of data collected from vehicle sensors reaches a pre-set threshold, the accumulated sensor data will be automatically packaged and uploaded to the cloud server for further analysis and processing. Such a mechanism can ensure the timely transmission of critical data while optimizing the use of storage and network resources.

[0076] As an example, when the sensor data reaches a preset data threshold, after uploading the sensor data, it also includes: obtaining a target folder; monitoring the write status of the sensor data written to the target folder; if there is no abnormality in the write status, clearing the cached sensor data after the write is completed; if there is an abnormality in the write status, performing a repeated write operation, and when the repeated write operation reaches the preset write threshold, issuing an alarm signal and exiting the data upload control.

[0077] Among them, the target folder can be a specific directory pre-designated in a storage device or cloud storage system for storing sensor data files. This folder is usually named according to certain rules (such as date, vehicle number, etc.) for easy management and retrieval. The write status can be the status when the sensor data is written to the target folder, including whether the write is successful, whether an error is encountered, whether it is completed, etc. This status will be monitored to ensure that the data is stored correctly. The repeated write operation can be the process of clearing the folder and automatically trying to rewrite the data when an exception or failure is encountered when the sensor data is written to the target folder. This operation will be repeated until the data is successfully written or a certain number of attempts is reached. The preset write threshold can be a pre-set number of attempts, which is used to define the maximum number of times the system can repeat the write operation before giving up the write operation and issuing an alarm signal. This threshold is used to prevent endless write attempts, ensure system stability, and trigger an error handling mechanism when the write fails continuously.

[0078] Specifically, the target folder for storing sensor data is first determined, and then the process of writing this data to the folder is continuously monitored. If the writing process goes smoothly and there are no exceptions, the sensor data in the cache is cleared after the data is successfully written. However, if an exception occurs during the writing process, the write operation will be attempted repeatedly until the number of attempts reaches a pre-set threshold. If repeated write attempts still fail, an exception signal will be issued and further data upload operations will be terminated to ensure data integrity and system stability. This mechanism helps to maintain data consistency and reliability in the face of write errors.

[0079] As an example, after monitoring the writing status of the sensor data written to the target folder, it also includes: obtaining the vehicle status and the upload task status; if the vehicle status is in an idle state and the upload task status is in a state where there is an unfinished task, uploading the target folder after executing the unfinished task, and recording the upload status of the target folder, and saving the upload status to the upload task; if the vehicle status is in an idle state and the upload task status is in a state where there is no unfinished task, uploading the target folder, and recording the upload status of the target folder, and saving the upload status to the upload task.

[0080] Among them, the vehicle status may refer to the current working status of the vehicle, including but not limited to driving, stopping, maintenance, charging, etc. The upload task status may be the current status of tasks related to data upload, including all planned, executing and completed upload tasks. The upload task status may indicate whether there is an ongoing data upload task. The idle state may mean that the vehicle is not performing any main functions, such as driving or charging, and the system resources (such as CPU, memory) are not occupied or the occupancy rate is low, and there is sufficient capacity to handle additional tasks, such as data upload. This state may be the state of the vehicle in P gear. An unfinished task may be a data upload task that has been started but not yet completed. This may include partially uploaded data or upload tasks that have been interrupted due to network problems, system errors, etc. The upload status may be the result of the data upload operation, including states such as success, failure, or partial success. The upload status records the execution of the upload task in detail, including any error information or completion percentage.

[0081] Specifically, check whether the vehicle is idle and whether there are any unfinished upload tasks. If the vehicle is idle and there are unfinished upload tasks, these tasks will be completed first, then the target folder will be uploaded, and the result status of the upload will be recorded, and finally this status will be saved in the upload task record. If the vehicle is idle and there are no unfinished upload tasks, the target folder will be uploaded directly, and the upload status will also be recorded and saved. This process ensures that all pending data can be effectively uploaded when vehicle conditions permit, and the uploaded results are properly recorded for subsequent tracking and management.

[0082] This embodiment provides a method for uploading vehicle environment data. This embodiment first monitors the real-time changes of the vehicle's surrounding environment by acquiring sensor data and environmental change flags. When the number of frames of the environmental change flag reaches a preset frame number threshold, the sensor data will be analyzed to calculate the yaw angle change value and the posture change value, which reflect the position and direction changes of the vehicle relative to the environment. Then the current system performance is evaluated, including CPU occupancy, hard disk space occupancy and interface occupancy, as well as the change values ​​of yaw angle and posture, to determine whether the preset conditions are met. If all these conditions are met, the sensor data will be cached for subsequent processing. Finally, when the cached sensor data reaches the preset data threshold, the data upload operation will be performed to transmit the data to the cloud. Through this method of continuous monitoring and conditional judgment, this embodiment can intelligently screen out the truly important environmental change data, cache and upload data only when necessary, thereby reducing unnecessary data transmission and storage, optimizing the use of system resources, and improving the efficiency of data collection and the performance of cloud data processing. This method effectively reduces the resource consumption in the process of data collection and uploading, while ensuring the timely upload of key data, providing strong data support for the automatic driving function.

[0083] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 2 , Figure 2 This is a flow chart of the second embodiment of the vehicle environment data uploading method of the present application. The system performance includes the CPU occupancy rate, the hard disk space occupancy rate and the interface occupancy rate. Step S30 of the vehicle environment data uploading method includes steps S31 to S32:

[0084] Step S31, when the CPU occupancy rate, the hard disk space occupancy rate and the interface occupancy rate are all less than a preset occupancy rate threshold, a system performance coefficient is obtained according to the CPU occupancy rate, the hard disk space occupancy rate and the interface occupancy rate and a preset weight coefficient;

[0085] It should be noted that the preset occupancy thresholds can be the maximum allowable values ​​of CPU occupancy, hard disk space occupancy, and interface occupancy set to ensure stable operation of the system. These thresholds define the safe upper limit of system resource usage to prevent system performance degradation or crash due to resource overload. It can be set to 80%. The preset weight coefficient can be a numerical value assigned to the relative importance or contribution of each resource occupancy (CPU occupancy, hard disk space occupancy, and interface occupancy) when calculating the system performance coefficient. These weight coefficients reflect the importance of different resources in the overall system performance, allowing the system to perform more refined performance evaluation based on the actual usage and importance of the resources. The system performance coefficient can be a comprehensive indicator, which is calculated by combining the CPU occupancy, hard disk space occupancy, and interface occupancy with their respective preset weight coefficients. This coefficient provides a quantitative measure to evaluate the overall performance status of the system at a given point in time. The specific system performance coefficient calculation formula can be:

[0086]

[0087] x i =c1·P ci +c2·P oi +c3·P mi

[0088] c1+c2+c3=1

[0089] Among them, k i is the system performance coefficient, x i is the middle value, P ci is the CPU occupancy rate of i, P oi is the interface occupancy rate at time i, P miis the hard disk space occupancy rate at time i, c1, c2, c3 are their weight coefficients respectively.

[0090] It is understandable that when the vehicle's central processing unit (CPU) occupancy rate, hard disk space occupancy rate and interface (IO) occupancy rate are all below the pre-set safety threshold, these occupancy values ​​and the preset weight coefficients assigned to each resource are used to obtain a system performance coefficient through a specific calculation formula. This coefficient comprehensively reflects the current performance status and is used to determine whether there are sufficient resources to process and cache sensor data, ensuring that data collection and subsequent processing can be effectively performed when the load is low.

[0091] Step S32: If the system performance coefficient, the yaw angle change value, and the posture change value all meet preset conditions, the sensor data is cached.

[0092] It is understandable that when the calculated performance coefficient, that is, the performance indicator that comprehensively considers the CPU occupancy rate, the hard disk space occupancy rate and the interface occupancy rate, and the yaw angle change value and the posture change value calculated from the sensor data, these three key parameters meet or exceed the preset conditions, the current data will be considered to have sufficient importance and value, so the sensor data will be cached for subsequent processing and analysis to ensure that key information is not lost and to optimize data storage and transmission efficiency.

[0093] As an example, the sensor data includes speed data, position data and inertial measurement unit data. If the system performance coefficient, the yaw angle change value and the posture change value all meet the preset conditions, before caching the sensor data, it also includes: acquiring position acquisition data; matching the position acquisition data and the position data to obtain a position matching result; if the position matching result is a match, judging the yaw angle change value and the posture change value; if the position matching result is a mismatch, clearing the sensor data and exiting the data upload control.

[0094] Among them, speed data can be the real-time speed information of the vehicle, including the magnitude and direction of the speed, which is usually provided by the vehicle's speed sensor or GPS system. Position data can be the geographic coordinate position of the vehicle, such as longitude and latitude, which can be obtained through a GPS system or other positioning technology. Inertial measurement unit data (IMU data) can be data about the vehicle's motion state provided by an inertial measurement unit, including acceleration and angular velocity, which reflect the dynamic changes of the vehicle in space. The position acquisition data can be a geographic range or area pre-set in the cloud, which is used to calibrate the parameters that the vehicle should operate in a specific area. The position matching result can be the result obtained by matching the position data collected by the vehicle in real time with the calibration range preset in the cloud. If the vehicle position is within the preset range, the matching result is "matched"; if the vehicle position exceeds the preset range, the matching result is "unmatched".

[0095] Specifically, when the system performance coefficient, yaw angle change value, and posture change value all meet the preset conditions and before preparing to cache the sensor data, the vehicle's real-time location collection data will be obtained first, and compared with the calibration range preset in the cloud to determine the position matching result. If the location data matches the preset range, it means that the vehicle is in the specified area, and the yaw angle and posture change values ​​will continue to be evaluated; if it does not match, that is, the vehicle position exceeds the preset range, the collected sensor data will be cleared and the data upload process will be terminated to ensure that only the data of the vehicle in the specified area is processed and uploaded. This mechanism helps to improve the pertinence and efficiency of data processing while protecting the security and compliance of data.

[0096] As an example, if the system performance coefficient, the yaw angle change value and the posture change value all meet the preset conditions, the sensor data is cached, including: obtaining a preset yaw angle threshold and a preset translation posture threshold; obtaining a posture offset value based on the posture change value and the system performance coefficient; obtaining a yaw angle offset value based on the yaw angle change value and the system performance coefficient; if the posture offset value is greater than the preset translation posture threshold, or the yaw angle offset value is greater than the preset yaw angle threshold, the sensor data is cached to the memory.

[0097] Among them, the preset yaw angle threshold can be a preset angle value, which is used to determine whether the yaw angle change is large enough to require action or recording. When the calculated yaw angle change value exceeds this threshold, it indicates that the vehicle direction has changed significantly. The preset translation posture threshold can be a preset distance value, which is used to determine whether the translation change of the vehicle position is large enough to require action or recording. When the calculated posture change value exceeds this threshold, it indicates that the vehicle position has shifted significantly. The posture offset value can be a value calculated based on the posture change value and the system performance coefficient, reflecting the impact of the actual position change of the vehicle on the system performance. It is a weighted value that takes into account the size of the posture change and the current performance status of the system. The yaw angle offset value can be a value calculated based on the yaw angle change value and the system performance coefficient, reflecting the impact of the vehicle direction change on the system performance. It is also a weighted value that takes into account the size of the yaw angle change and the current performance status of the system. The specific posture offset value and yaw angle offset value calculation formula can be:

[0098] ΔT i =T last -1 ÷k i ×T i

[0099] ΔT i (ΔR i , Δt i )

[0100] Δyaw i =(ΔR i *).yaw÷k i

[0101] Where, ΔT i is the pose offset value at time i, T last is the last position, T i This is the posture this time, Δyaw i is the yaw angle offset value at time i, ΔR i It represents the change of the rotation matrix, Δt i Indicates a time interval.

[0102] Specifically, the preset yaw angle threshold and translation pose threshold are first determined. These are the benchmark values ​​for evaluating changes in the vehicle's direction and position. Then the pose offset value and yaw angle offset value are calculated. These two values ​​are based on the pose change value, yaw angle change value and system performance coefficient, respectively, reflecting the impact of the vehicle's actual position and direction changes on the system performance. If the pose offset value exceeds the preset translation pose threshold, or the yaw angle offset value exceeds the preset yaw angle threshold, indicating that the vehicle's position or direction has changed significantly, the system will cache these sensor data in memory for further processing and analysis to ensure that only important changes are recorded. This process helps to optimize data storage and improve the efficiency of responding to dynamic changes in the vehicle.

[0103] This embodiment first checks whether the CPU occupancy rate, hard disk space occupancy rate and interface occupancy rate are all lower than their respective preset thresholds to ensure that there are sufficient resources to process the data. If these conditions are met, a system performance coefficient will be calculated based on these occupancy rates and their respective preset weight coefficients, which comprehensively reflects the performance status of the current system. Next, it is evaluated whether the yaw angle change value and the posture change value also meet the preset conditions, which ensure that the relevant sensor data will only be considered important when the direction and position of the vehicle change significantly. When the performance coefficient and the change values ​​of the yaw angle and posture meet the preset conditions, the sensor data are cached for subsequent analysis and processing. This embodiment can intelligently identify when there are sufficient resources and when important environmental changes are captured through this method of comprehensively evaluating system performance and vehicle dynamic changes, so as to cache sensor data only under these conditions. Such a strategy not only optimizes the use of resources and reduces unnecessary data processing, but also ensures that data that is critical to autonomous driving can be captured and stored at critical points, improving the efficiency of data processing and the responsiveness of smart cars to environmental changes.

[0104] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the vehicle environment data uploading method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0105] This application also provides a vehicle environment data uploading device, please refer to Figure 3 , the vehicle environment data uploading device comprises:

[0106] An acquisition module 10 is used to acquire sensor data and environmental change flags;

[0107] An obtaining module 20 is used to obtain a yaw angle change value and a posture change value according to sensor data when the number of change frames of the environment change flag reaches a preset frame number threshold;

[0108] A cache module 30, configured to cache the sensor data when the system performance, the yaw angle change value, and the posture change value all meet preset conditions;

[0109] The uploading module 40 is used to upload the sensor data when the sensor data reaches a preset data threshold.

[0110] The vehicle environment data upload device provided by the present application adopts the vehicle environment data upload method in the above embodiment, which can solve the technical problem of reducing data transmission and storage pressure. Compared with the prior art, the beneficial effects of the vehicle environment data upload device provided by the present application are the same as the beneficial effects of the vehicle environment data upload method provided by the above embodiment, and the other technical features in the vehicle environment data upload device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0111] The present application provides a vehicle environment data uploading device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle environment data uploading method in the above-mentioned embodiment one.

[0112] Reference below Figure 4 , which shows a schematic diagram of the structure of a vehicle environment data upload device suitable for implementing the embodiment of the present application. The vehicle environment data upload device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The vehicle environment data uploading device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0113] like Figure 4As shown, the vehicle environment data upload device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the vehicle environment data upload device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle environment data upload device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle environment data upload device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or provided instead.

[0114] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0115] The vehicle environment data upload device provided by the present application adopts the vehicle environment data upload method in the above embodiment, which can solve the technical problem of reducing data transmission and storage pressure. Compared with the prior art, the beneficial effects of the vehicle environment data upload device provided by the present application are the same as the beneficial effects of the vehicle environment data upload method provided by the above embodiment, and the other technical features in the vehicle environment data upload device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0116] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0117] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0118] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle environment data uploading method in the above-mentioned embodiment.

[0119] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0120] The computer-readable storage medium may be included in the vehicle environment data uploading device; or may exist independently without being assembled into the vehicle environment data uploading device.

[0121] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the vehicle environment data uploading device, the vehicle environment data uploading device: obtains sensor data and environment change flags; when the number of change frames of the environment change flag reaches a preset frame number threshold, obtains a yaw angle change value and a posture change value according to the sensor data; when the system performance, the yaw angle change value and the posture change value all meet preset conditions, caches the sensor data; when the sensor data reaches a preset data threshold, uploads the sensor data.

[0122] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0123] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0124] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0125] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned vehicle environment data uploading method, and can solve the technical problem of reducing data transmission and storage pressure. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the vehicle environment data uploading method provided by the above-mentioned embodiment, and will not be repeated here.

[0126] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned vehicle environment data uploading method when executed by a processor.

[0127] The computer program product provided by this application can solve the technical problem of reducing data transmission and storage pressure. Compared with the prior art, the beneficial effects of the computer program product provided by this application are the same as the beneficial effects of the vehicle environment data uploading method provided by the above embodiment, which will not be repeated here.

[0128] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for uploading vehicle environment data, characterized in that: The method comprises: Get sensor data and environmental change flags; When the number of frames of change of the environment change flag reaches a preset frame number threshold, obtaining a yaw angle change value and a posture change value according to the sensor data; When the system performance, the yaw angle change value and the posture change value all meet preset conditions, caching the sensor data; When the sensor data reaches a preset data threshold, the sensor data is uploaded.

2. The method according to claim 1, characterized in that The system performance includes a central processing unit occupancy rate, a hard disk space occupancy rate, and an interface occupancy rate. When the system performance, the yaw angle change value, and the posture change value all meet preset conditions, caching the sensor data includes: When the CPU occupancy rate, the hard disk space occupancy rate and the interface occupancy rate are all less than a preset occupancy rate threshold, a system performance coefficient is obtained according to the CPU occupancy rate, the hard disk space occupancy rate and the interface occupancy rate and a preset weight coefficient; If the system performance coefficient, the yaw angle change value and the posture change value all meet preset conditions, the sensor data is cached.

3. The method according to claim 2, characterized in that The sensor data includes speed data, position data and inertial measurement unit data. If the system performance coefficient, the yaw angle change value and the posture change value all meet the preset conditions, before caching the sensor data, it also includes: Get location collection data; Matching the location acquisition data with the location data to obtain a location matching result; If the position matching result is a match, then the yaw angle change value and the posture change value are judged; If the position matching result is a mismatch, the sensor data is cleared and the data upload control is exited.

4. The method according to claim 1, characterized in that When the number of frames of change of the environment change flag reaches a preset frame number threshold, obtaining a yaw angle change value and a posture change value according to the sensor data includes: When the number of frames of change of the environment change flag reaches a preset frame number threshold, obtaining a historical upload record; If there is historical posture data in the historical upload record, obtaining a yaw angle change value and a posture change value based on the historical posture data and the sensor data; If the historical posture data does not exist in the historical upload record, the historical posture data is assigned a value according to the sensor data, and then the yaw angle change value and the posture change value are obtained according to the historical posture data and the sensor data.

5. The method according to claim 2, characterized in that If the system performance coefficient, the yaw angle change value, and the posture change value all meet preset conditions, caching the sensor data includes: Obtain a preset yaw angle threshold and a preset translation attitude threshold; Based on the posture change value and the system performance coefficient, a posture offset value is obtained; Obtaining a yaw angle offset value based on the yaw angle change value and the system performance coefficient; If the posture offset value is greater than the preset translation posture threshold, or the yaw angle offset value is greater than the preset yaw angle threshold, the sensor data is cached in the memory.

6. The method according to claim 1, characterized in that When the sensor data reaches a preset data threshold, after uploading the sensor data, the method further includes: Get the target folder; Monitoring the writing status of the sensor data into the target folder; If there is no abnormality in the writing state, clearing the cached sensor data after writing is completed; If the write state is abnormal, a repeated write operation is performed. When the repeated write operation reaches a preset write threshold, an alarm signal is issued and the data upload control is exited.

7. The method according to claim 6, characterized in that After monitoring the writing status of the sensor data into the target folder, the method further includes: Get vehicle status and upload task status; If the vehicle state is in an idle state and the upload task state is in an unfinished task, the target folder is uploaded after the unfinished task is executed, and the upload status of the target folder is recorded, and the upload status is saved to the upload task; If the vehicle state is in an idle state and the upload task state is in a state where there is no unfinished task, the target folder is uploaded, the upload state of the target folder is recorded, and the upload state is saved to the upload task.

8. A vehicle environment data uploading device, characterized in that: The device comprises: Acquisition module, used to obtain sensor data and environmental change flags; An obtaining module is used to obtain a yaw angle change value and a posture change value according to sensor data when the number of change frames of the environment change flag reaches a preset frame number threshold; A cache module, used for caching the sensor data when the system performance, the yaw angle change value and the posture change value all meet preset conditions; The uploading module is used to upload the sensor data when the sensor data reaches a preset data threshold.

9. A vehicle environment data uploading device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle environment data uploading method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle environment data uploading method according to any one of claims 1 to 7 are implemented.

Images