Automatic driving debugging method, device and equipment, storage medium and vehicle

Abstract

The invention provides an automatic driving debugging method, device and equipment, a storage medium and a vehicle, the method is applied to the vehicle, the vehicle comprises a vehicle-mounted display screen and an automatic driving controller, and the method comprises the following steps: establishing intra-domain communication connection between the vehicle-mounted display screen and the automatic driving controller; controlling a vehicle-mounted display screen to obtain first data, wherein the first data is data generated when the automatic driving controller operates; according to the method, other hardware does not need to be connected, automatic driving debugging is carried out through the vehicle-mounted display screen of the vehicle, in the real vehicle testing process, the vehicle-mounted display screen can obtain and display the operation data of the automatic driving controller, the implementation mode is simpler and more convenient, and the implementation efficiency is improved. The condition of unstable transmission data caused by interface falling in related technologies is avoided, and the observation of testers is facilitated.

Description

Technical Field

[0001] The present disclosure relates to the field of data processing technology, and in particular to an automatic driving debugging method, device, equipment, storage medium and vehicle. Background Art

[0002] During the actual vehicle testing of the autonomous driving program, testers are often required to observe real-time data. The current way to observe real-time data is to use professional external equipment and cables to establish a connection with the autonomous driving processor through a dedicated interface on the vehicle to obtain real-time data and display it. The implementation method is relatively cumbersome and the interface connection is easy to fall off during the actual vehicle testing, and the data transmission is unstable, which in turn affects the test process. Summary of the invention

[0003] The present disclosure provides an automatic driving debugging method, device, storage medium and vehicle for an application.

[0004] According to a first aspect of the present disclosure, there is provided an autonomous driving debugging method, which is applied to a vehicle, wherein the vehicle includes an on-board display screen and an autonomous driving controller, and the method includes: establishing an intra-domain communication connection between the on-board display screen and the autonomous driving controller; controlling the on-board display screen to obtain first data, wherein the first data is data generated when the autonomous driving controller is running; and displaying the first data on the on-board display screen.

[0005] In some embodiments, one or more autonomous driving programs are running on the autonomous driving controller, and establishing an intra-domain communication connection between the vehicle display and the autonomous driving controller includes: writing the domain identifier of the vehicle display into the first list of the autonomous driving program, wherein the first list is a collection of domain identifiers authorized to access the autonomous driving program.

[0006] In some embodiments, the first data includes operating data of an autonomous driving program, and controlling the vehicle display screen to obtain the first data includes: controlling the vehicle display screen to subscribe to a first topic to obtain the first data, wherein the first topic stores the operating data of the autonomous driving program.

[0007] In some embodiments, before controlling the vehicle-mounted display screen to subscribe to the first topic, the method also includes: controlling the autonomous driving controller to receive the third data in the third topic and the second data in the second topic through shared memory, wherein the second data and the third data respectively store the operating data of different autonomous driving programs; controlling the autonomous driving controller to write the second data and the third data into the first topic.

[0008] In some embodiments, the vehicle-mounted display screen includes a first vehicle-mounted display screen and a second vehicle-mounted display screen, and the method further includes: in a first situation, in response to the second vehicle-mounted display screen requesting to subscribe to the first topic, controlling the first vehicle-mounted display screen to unsubscribe from the first topic, wherein the first situation is that the first vehicle-mounted display screen has subscribed to the first topic.

[0009] In some embodiments, the vehicle-mounted display screen includes a first vehicle-mounted display screen and a second vehicle-mounted display screen, and the method further includes: in a first situation, in response to the second vehicle-mounted display screen requesting to subscribe to the first topic, obtaining the load status of the autonomous driving controller, wherein the first situation is that the first vehicle-mounted display screen has subscribed to the first topic; if the load of the autonomous driving controller is greater than a first threshold, controlling the first vehicle-mounted display screen to cancel the subscription to the first topic.

[0010] According to a second aspect of the present disclosure, there is provided an automatic driving debugging device, which is applied to a vehicle, wherein the vehicle includes an on-board display screen and an automatic driving controller, and the device includes: a connection unit, which is used to establish an intra-domain communication connection between the on-board display screen and the automatic driving controller; a control unit, which is used to control the on-board display screen to obtain first data, wherein the first data is data generated when the automatic driving controller is running; and a display unit, which is used to display the first data on the on-board display screen.

[0011] According to a third aspect of the present disclosure, there is provided an electronic device, comprising: at least one processor; and

[0012] A memory communicatively connected to at least one processor; wherein the memory stores instructions executable by at least one processor, and the instructions are executed by at least one processor to enable the at least one processor to execute the method described in the embodiments of the first and second aspects of the present disclosure.

[0013] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the method described in the embodiment of the first aspect of the present disclosure.

[0014] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the method described in the embodiment of the first aspect of the present disclosure is implemented.

[0015] According to the sixth aspect of the present disclosure, a vehicle is provided, comprising an on-board display screen, an automatic driving controller and a communication line, wherein the on-board display screen is connected to the automatic driving controller via the communication line, and the vehicle is configured to execute the method described in the embodiment of the first aspect of the present disclosure.

[0016] An embodiment of the present disclosure provides an automatic driving debugging method, which is applied to a vehicle, wherein the vehicle includes an on-board display screen and an automatic driving controller, and the method includes: establishing an intra-domain communication connection between the on-board display screen and the automatic driving controller; controlling the on-board display screen to obtain first data, wherein the first data is data generated when the automatic driving controller is running; and displaying the first data on the on-board display screen. The method of the present disclosure does not require access to other hardware, and uses the on-board display screen of the vehicle to perform automatic driving debugging. During actual vehicle testing, the on-board display screen can obtain and display the operating data of the automatic driving controller, and the implementation method is simpler, avoiding the unstable transmission data caused by interface detachment in related technologies, and facilitating observation by test personnel.

[0017] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0019] Figure 1 A flowchart of an automatic driving debugging method provided by an embodiment of the present disclosure;

[0020] Figure 2 A flowchart of an automatic driving debugging method provided by an embodiment of the present disclosure;

[0021] Figure 3 A schematic diagram of an automatic driving debugging method provided by an embodiment of the present disclosure;

[0022] Figure 4 A schematic diagram of an automatic driving debugging method provided by an embodiment of the present disclosure;

[0023] Figure 5 This is a rendering of an automatic driving debugging method provided by an embodiment of the present disclosure;

[0024] Figure 6 A schematic diagram of the structure of an automatic driving debugging device provided in an embodiment of the present disclosure;

[0025] Figure 7 A schematic block diagram of an exemplary electronic device provided for an embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0027] In the process of real-vehicle testing of autonomous driving programs, testers are often required to observe real-time data. The current way to observe real-time data is to use professional external equipment and cables to establish a connection with the FSD chip (Full self-driving) through a dedicated interface on the vehicle, and then obtain real-time data and display it to the tester. However, during the actual vehicle testing process, road conditions vary. When the road conditions are poor, it is inevitable that the vehicle will be bumpy. The interface connection will fall off, the interface will become loose, and the transmission data will be unstable, which will affect the testing process. How to allow testers to observe stable data during the actual vehicle testing process has become an urgent problem to be solved.

[0028] To this end, the present invention proposes an automatic driving debugging method, which uses the vehicle's own on-board display screen to perform automatic driving debugging without connecting to other hardware, so that the processing chip of the on-board display screen and the FSD chip establish a communication connection using the vehicle's own communication line. The processing chip of the on-board display screen requests the FSD chip to send real-time data, and displays the real-time data sent by the FSD chip on the on-board display screen. The implementation method is simpler, avoids the unstable transmission data caused by interface detachment in related technologies, and is convenient for inspection personnel to observe.

[0029] The following describes in detail an automatic driving debugging method, device, storage medium and vehicle proposed in the present disclosure with reference to the accompanying drawings.

[0030] A vehicle proposed in the present disclosure includes an on-board display screen, an automatic driving controller and a communication line.

[0031] In some embodiments, the vehicle includes one or more vehicle-mounted display screens, which may include an entertainment screen, a central control screen, etc. in the vehicle.

[0032] In some embodiments, each in-vehicle display screen in the vehicle has its own independent processing chip, such as a Qualcomm 8155 chip, and each in-vehicle display screen has its own independent processing system on its processing chip, such as an Android system.

[0033] In some embodiments, the autonomous driving controller may be a FSD chip, and one or more autonomous driving programs may be running on the autonomous driving controller.

[0034] In some embodiments, the communication line is a line inside the vehicle used for communication between various devices in the vehicle, such as a CAN (Controller Area Network) bus.

[0035] In some embodiments, the vehicle-mounted display screen and the autonomous driving controller can establish a communication connection through the vehicle's communication lines.

[0036] Figure 1 A flowchart of an automatic driving debugging method provided in an embodiment of the present disclosure is provided, and the method can be applied to the above-mentioned vehicle.

[0037] like Figure 1 As shown, the method comprises steps 101-103:

[0038] Step 101, establish an intra-domain communication connection between the vehicle display screen and the automatic driving controller.

[0039] In some embodiments of the present disclosure, the controller of the vehicle display screen is such as a processing chip of the vehicle display screen, and the autonomous driving controller is such as an FSD chip.

[0040] In some embodiments, intra-domain communication may refer to in-vehicle LAN communication, and in the embodiments of the present disclosure, it specifically refers to communication between the controller of the vehicle-mounted display screen and the autonomous driving controller through the vehicle's own communication lines.

[0041] Step 102, controlling the vehicle-mounted display screen to obtain first data, where the first data is data generated when the automatic driving controller is running.

[0042] In some embodiments, one or more autonomous driving programs are running on the autonomous driving controller, and the first data includes data generated when one or more autonomous driving programs are running.

[0043] For example, a first autonomous driving program and a second autonomous driving program are running on the autonomous driving controller, and the controller of the vehicle display screen can obtain data generated when the first autonomous driving program is running and / or data generated when the second autonomous driving program is running through intra-domain communication.

[0044] In some embodiments, if the data types are divided, the first data may include DDS data, video point cloud data, and other data.

[0045] In some embodiments, the controller of the vehicle display screen can obtain DDS data on the autonomous driving controller by subscribing to a topic, where Topic is a message middleware.

[0046] In some embodiments, the controller of the vehicle display screen can obtain data such as video point cloud from the ZeroMQ server port by connecting to the ZeroMQ server port on the autonomous driving controller.

[0047] In some embodiments, considering the subject of the data, the first data includes data of one or more subjects, for example, the first data may include vehicle startup information, or the first data may include vehicle startup information, road condition information, etc.

[0048] In some embodiments, the method also includes: controlling the vehicle display screen to send a request message to the autonomous driving program, the request message being used to request the autonomous driving program to send the first data.

[0049] For example, a first autonomous driving program is running on the autonomous driving controller, and the controller of the vehicle-mounted display screen sends a request message to the first autonomous driving program, where the request message is used to request the first autonomous driving program to send first data, where the first data includes data generated when the first autonomous driving program is running, such as the first autonomous driving program is used for environmental perception and positioning, and the first data may be one or more environmental information during vehicle driving.

[0050] In some embodiments, the method further includes: controlling the vehicle display screen to send a subscription request to obtain the first data.

[0051] In some embodiments, the subscription request is used to subscribe to a Topic. For example, the controller of the vehicle display subscribes to a first Topic to obtain first data, the autonomous driving controller sends the first data to the first Topic, and the controller of the vehicle display obtains the first data sent by the autonomous driving controller from the first Topic.

[0052] In some embodiments, the subscription request is used to subscribe to data in the server. For example, the controller of the vehicle display is connected to the ZeroMQ server port of the FSD chip, and the processing system of the vehicle display subscribes to the first data from the ZeroMQ server. The ZeroMQ server pushes the first data generated by the FSD chip to the processing system of the vehicle display.

[0053] Step 103: display the first data on the vehicle-mounted display screen.

[0054] In some embodiments, there is an independent processing system on the controller of the vehicle display screen.

[0055] In some embodiments, the processing system of the vehicle display screen filters and sorts the acquired first data to prepare user interface UI data that can be sent to the display screen for display.

[0056] Furthermore, in some embodiments, the processing system of the vehicle-mounted display screen is an Android system, and the native layer of the processing system receives data from the FSD chip, filters and organizes the received data, and prepares UI data that can be sent to the display screen for display. The Java layer of the processing system obtains the UI data of the native layer through the main loop, and controls the display screen for display.

[0057] In summary, an embodiment of the present disclosure proposes an automatic driving debugging method, which is applied to a vehicle, wherein the vehicle includes an on-board display screen and an automatic driving controller, and the method includes: establishing an intra-domain communication connection between the on-board display screen and the automatic driving controller; controlling the on-board display screen to obtain first data, wherein the first data is data generated when the automatic driving controller is running; and displaying the first data on the on-board display screen. The method of the present disclosure does not require access to other hardware, and uses the on-board display screen of the vehicle to perform automatic driving debugging, wherein the on-board display screen and the automatic driving controller are connected through the vehicle's own communication line. During the actual vehicle testing process, the on-board display screen can obtain and display the operating data of the automatic driving controller, and the implementation method is simpler, avoiding the unstable transmission data caused by the interface falling off in the related technology, and facilitating observation by testers.

[0058] Figure 2 A flowchart of an automatic driving debugging method provided in an embodiment of the present disclosure is provided. Figure 1 Further disclosure of the corresponding embodiment, such as Figure 2 As shown, the method includes steps 201-204.

[0059] It should be noted that step 201 in the embodiment of the present disclosure is to Figure 1 The step 101 in the embodiment shown is a further disclosure. The steps 202 and 203 in the embodiment of the present disclosure are Figure 1 Further disclosure of step 102 in the illustrated embodiment.

[0060] Step 201, write the domain identifier of the vehicle display screen into the first list of the autonomous driving program.

[0061] Among them, the first list is a collection of domain identifiers authorized to access the autonomous driving program, which runs on the autonomous driving controller.

[0062] In some embodiments, the autonomous driving controller is a FSD chip.

[0063] In some embodiments, the developer mode is activated in the cloud of the vehicle, and the developer options of the ordinary package are turned on to become a development version package. The development version package is a development package of the FSD chip for developers. In the development version package, the domain identifier (Domain ID) of the vehicle display is written into the first list of the autonomous driving program.

[0064] In some embodiments, the autonomous driving program may be one or more. Based on the autonomous driving programs that need to be tested and the data content that needs to be observed, the domain identifier of the vehicle display screen is written into a first list of one or more autonomous driving programs, so that the controller of the vehicle display screen establishes an intra-domain communication connection with the one or more autonomous driving programs.

[0065] In some embodiments, after the controller of the vehicle display screen establishes an intra-domain communication connection with the autonomous driving program, data can be transmitted between the controller of the vehicle display screen and the autonomous driving program through DDS (Date-Distribution Service) and / or PB (Protobuf) protocol interface and / or CAN protocol.

[0066] Step 202: Control the vehicle-mounted display screen to subscribe to the first topic to obtain first data.

[0067] Among them, the first topic stores the operating data of the autonomous driving program.

[0068] In some embodiments, the first data is data generated during the operation of an autonomous driving controller. One or more autonomous driving programs are running on the autonomous driving controller, and the first data includes the operating data of the autonomous driving program on the autonomous driving controller.

[0069] In some embodiments, the subject refers to a Topic, which is a message middleware, and each Topic stores data of the same type of subject.

[0070] For example, the autonomous driving program publishes the vehicle startup information generated by its operation on the first Topic, and the controller of the vehicle display subscribes to the first Topic. Whenever the autonomous driving program publishes the vehicle startup information, the controller of the vehicle display can obtain the vehicle startup information in real time from the first Topic.

[0071] In some embodiments, when controlling the vehicle-mounted display screen to subscribe to multiple Topics at the same time, before controlling the vehicle-mounted display screen to subscribe to the first Topic, the method also includes: controlling the autonomous driving controller to receive third data in a third Topic and second data in a second Topic through shared memory, wherein the second data and the third data respectively store the operating data of different autonomous driving programs; controlling the autonomous driving controller to write the second data and the third data into the first Topic.

[0072] In some embodiments, according to different network communication types, Topics include DDS Topic, PB Topic, CanTopic and other types, and the types of the third Topic and the second Topic may be the same or different.

[0073] In one embodiment, Figure 3 and Figure 4 As shown, a single node is run on the FSD chip, and the FSD chip is controlled to receive multiple upstream Topics through shared memory. The multiple Topics respectively store the running data of different autonomous driving programs. The data in the multiple Topics are written into an overall Topic and sent out through an overall Topic. The control of the on-board display only needs to receive the Topic once. In addition, in scenarios where the network communication types of multiple Topics are different, data jamming problems caused by different types of network communications can be avoided.

[0074] In some embodiments, the vehicle-mounted display screen includes a first vehicle-mounted display screen and a second vehicle-mounted display screen, and the method further includes: in a first situation, in response to the second vehicle-mounted display screen requesting to subscribe to the first Topic, controlling the first vehicle-mounted display screen to unsubscribe from the first Topic, wherein the first situation is that the first vehicle-mounted display screen has subscribed to the first Topic.

[0075] In one embodiment, the first Topic stores vehicle startup information, and the first vehicle display screen and the second vehicle display screen monitor the first Topic simultaneously. The first vehicle display screen has subscribed to the first Topic. When the autonomous driving program publishes the vehicle startup information, the first vehicle display screen can obtain the vehicle startup information in the Topic and display the vehicle startup information. At this time, if the second vehicle display screen requests to subscribe to the first Topic, it will send a notification requesting to subscribe to the first Topic. In response to receiving the notification, the first vehicle display screen is controlled to unsubscribe from the first Topic, and the first vehicle display screen is turned off to display the vehicle startup information.

[0076] It should be noted that if multiple in-vehicle display screens subscribe to the same Topic, the load on the FSD chip will increase. At this time, the above method can be used to ensure that the later display screen that subscribes to the Topic can replace the previous display screen that subscribes to the same Topic. In this way, when multiple in-vehicle display screens are displaying, different messages can be displayed without affecting the performance of FSD.

[0077] In some embodiments, the vehicle-mounted display screen includes a first vehicle-mounted display screen and a second vehicle-mounted display screen, and the method further includes: in a first situation, in response to the second vehicle-mounted display screen requesting to subscribe to the first topic, obtaining the load status of the autonomous driving controller, wherein the first situation is that the first vehicle-mounted display screen has subscribed to the first topic; if the load of the autonomous driving controller is greater than a first threshold, controlling the first vehicle-mounted display screen to cancel the subscription to the first topic.

[0078] In some embodiments, the autonomous driving controller includes an FSD chip, and the FSD chip utilization rate can reflect the load condition of the FSD chip.

[0079] Furthermore, in some embodiments, the first vehicle display screen establishes a connection with the FSD chip, obtains and displays the operating data of the FSD chip by subscribing to the first Topic, and obtains the utilization rate of the FSD chip before the second vehicle display screen requests to establish a connection with the FSD chip. If the utilization rate of the FSD chip exceeds a preset threshold such as 80%, it is considered that the utilization rate of the FSD chip is too high. When the second vehicle display screen requests to establish a connection with the FSD chip, the first vehicle display screen cancels the subscription to the first Topic and turns off the display.

[0080] In other embodiments, the first vehicle display screen establishes a connection with the FSD chip, obtains and displays the operating data of the FSD chip by subscribing to the first Topic, and before the second vehicle display screen requests to establish a connection with the FSD chip, remotely logs in to the FSD chip system through the SSH (Secure Shell) protocol, and executes commands on the FSD chip system to obtain the load status of the FSD chip. Specifically, the load of the FSD chip can be obtained once every 1 second within 5 seconds, and the average value of the FSD chip load five times is calculated. If the average value exceeds a preset threshold, it is considered that the FSD chip load is too high. When the second vehicle display screen requests to establish a connection with the FSD chip, the first vehicle display screen cancels the subscription to the first Topic and turns off the display.

[0081] Step 203: display the first data on the vehicle-mounted display screen.

[0082] In some embodiments, there is an independent processing system on the controller of the vehicle display screen.

[0083] In some embodiments, the processing system of the vehicle display screen filters and sorts the acquired first data to prepare user interface UI data that can be sent to the display screen for display.

[0084] Furthermore, in some embodiments, the processing system of the vehicle-mounted display screen is an Android system, and the native layer of the processing system receives data from the FSD chip, filters and organizes the received data, and prepares UI data that can be sent to the display screen for display. The Java layer of the processing system obtains the UI data of the native layer through the main loop, and controls the display screen for display.

[0085] In one implementation, Figure 5 As shown, Figure 5 In the center is the in-vehicle entertainment screen in the vehicle. The method disclosed in this disclosure is used to debug the autonomous driving program on the FSD chip. In the actual vehicle test, the in-vehicle entertainment screen can obtain real-time data of the autonomous driving program test by subscribing or sending a request, and display it on the screen, such as Figure 5 The in-car entertainment screen shown displays the vehicle's trajectory information and basic road condition information during the actual vehicle test.

[0086] In summary, an embodiment of the present disclosure proposes an automatic driving debugging method, which is applied to a vehicle, wherein the vehicle includes an on-board display screen and an automatic driving controller, and the method includes: writing the domain identifier of the on-board display screen into the first list of the automatic driving program, wherein the first list is a collection of domain identifiers authorized to access the automatic driving program; controlling the on-board display screen to subscribe to the first topic to obtain the first data, wherein the first topic stores the running data of the automatic driving program; displaying the first data on the on-board display screen. The method of the present disclosure uses the on-board display screen of the vehicle for automatic driving debugging without connecting to other hardware, so that the processing chip of the on-board display screen and the FSD chip establish a communication connection using the vehicle's own communication line, and the processing chip of the on-board display screen requests the FSD chip to send real-time data, and displays the real-time data sent by the FSD chip on the on-board display screen. The implementation method is simpler, avoiding the unstable transmission data caused by interface detachment in the related technology, and facilitating observation by detection personnel.

[0087] Corresponding to the above-mentioned automatic driving debugging method, the present disclosure proposes an automatic driving debugging device, which is applied to a vehicle, and the vehicle includes an on-board display screen and an automatic driving controller. Figure 6 Schematic diagram of the structure of an automatic driving debugging device 600 provided in an embodiment of the present disclosure. Figure 6 As shown, the device includes: a connection unit 610, used to establish an intra-domain communication connection between the vehicle-mounted display screen and the automatic driving controller; a control unit 620, used to control the vehicle-mounted display screen to obtain first data, the first data being data generated when the automatic driving controller is running; and a display unit 630, used to display the first data on the vehicle-mounted display screen.

[0088] In some embodiments, one or more autonomous driving programs are running on the autonomous driving controller, and the connection unit 610 is specifically used to write the domain identifier of the vehicle display screen into the first list of the autonomous driving program, wherein the first list is a collection of domain identifiers authorized to access the autonomous driving program.

[0089] In some embodiments, the first data includes operating data of the autonomous driving program, and the control unit 620 is specifically used to: control the vehicle-mounted display screen to subscribe to the first topic to obtain the first data, wherein the operating data of the autonomous driving program is stored in the first topic.

[0090] In some embodiments, before controlling the on-board display screen to subscribe to the first topic, the control unit 620 is also used to: control the autonomous driving controller to receive the third data in the third topic and the second data in the second topic through shared memory, wherein the second data and the third data respectively store the operating data of different autonomous driving programs; control the autonomous driving controller to write the second data and the third data into the first topic.

[0091] In some embodiments, the vehicle-mounted display screen includes a first vehicle-mounted display screen and a second vehicle-mounted display screen, and the control unit 620 is also used to: in a first situation, in response to the second vehicle-mounted display screen requesting to subscribe to the first topic, control the first vehicle-mounted display screen to unsubscribe from the first topic, wherein the first situation is that the first vehicle-mounted display screen has subscribed to the first topic.

[0092] In some embodiments, the vehicle-mounted display screen includes a first vehicle-mounted display screen and a second vehicle-mounted display screen, and the control unit 620 is also used to: in a first situation, in response to the second vehicle-mounted display screen requesting to subscribe to the first topic, obtain the load status of the autonomous driving controller, wherein the first situation is that the first vehicle-mounted display screen has subscribed to the first topic; if the load of the autonomous driving controller is greater than a first threshold, control the first vehicle-mounted display screen to cancel the subscription to the first topic.

[0093] In summary, according to the embodiments of the present disclosure, the device uses the vehicle's own on-board display screen to perform automatic driving debugging through a connection unit, an acquisition unit and a display unit, without the need to connect to other hardware. The on-board display screen is connected to the automatic driving controller through the vehicle's own communication line. During the actual vehicle test, the on-board display screen can obtain and display the operating data of the automatic driving controller. The implementation method is simpler, and the unstable transmission data caused by interface detachment in related technologies is avoided, and it is convenient for testers to observe.

[0094] It should be noted that since the device embodiment of the present disclosure corresponds to the above-mentioned method embodiment, the above-mentioned explanation of the method embodiment is also applicable to the device of the present embodiment, and the principle is the same. For details not disclosed in the device embodiment, reference can be made to the above-mentioned method embodiment, and they will not be repeated in this disclosure.

[0095] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0096] Figure 7 A schematic block diagram of an example electronic device that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0097] like Figure 7 As shown, the device 700 includes a computing unit 701, which can perform various appropriate actions and processes according to a computer program stored in a ROM (Read-Only Memory) 702 or a computer program loaded from a storage unit 708 to a RAM (Random Access Memory) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An I / O (Input / Output) interface 705 is also connected to the bus 704.

[0098] A number of components in the device 700 are connected to the I / O interface 705, including: an input unit 706, such as a keyboard, a mouse, etc.; an output unit 707, such as various types of displays, speakers, etc.; a storage unit 708, such as a disk, an optical disk, etc.; and a communication unit 709, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0099] The computing unit 701 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a CPU (Central Processing Unit), a GPU (Graphic Processing Units), various dedicated AI (Artificial Intelligence) computing chips, various computing units running machine learning model algorithms, a DSP (Digital Signal Processor), and any appropriate processor, controller, microcontroller, etc. The computing unit 701 performs the various methods and processes described above, such as the autonomous driving debugging method. For example, in some embodiments, the autonomous driving debugging method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 708. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 700 via the ROM 702 and / or the communication unit 709. When the computer program is loaded into the RAM 703 and executed by the computing unit 701, one or more steps of the method described above may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured to execute the aforementioned communication method in any other appropriate manner (eg, by means of firmware).

[0100] Various embodiments of the systems and techniques described above herein may be implemented in digital electronic circuit systems, integrated circuit systems, FPGAs (Field Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), ASSPs (Application Specific Standard Products), SOCs (System On Chips), CPLDs (Complex Programmable Logic Devices), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor that may be a dedicated or general-purpose programmable processor that may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0101] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0102] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include electrical connections based on one or more lines, portable computer disks, hard disks, RAM, ROM, EPROM (Electrically Programmable Read-Only-Memory) or flash memory, optical fiber, CD-ROM (Compact Disc Read-Only Memory), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0103] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0104] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: LAN (Local Area Network), WAN (Wide Area Network), the Internet, and blockchain networks.

[0105] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services ("Virtual Private Server", or "VPS" for short). The server may also be a server of a distributed system, or a server combined with a blockchain.

[0106] It should be noted that artificial intelligence is a discipline that studies how computers can simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), and includes both hardware-level and software-level technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, and big data processing; artificial intelligence software technologies mainly include computer vision technology, speech recognition technology, natural language processing technology, as well as machine learning / deep learning, big data processing technology, knowledge graph technology, and other major directions.

[0107] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0108] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. An automatic driving debugging method, characterized in that: The method is applied to a vehicle, the vehicle comprising an on-board display screen and an automatic driving controller, and the method comprises: Establishing an intra-domain communication connection between the vehicle-mounted display screen and the automatic driving controller; Controlling the vehicle-mounted display screen to obtain first data, where the first data is data generated when the automatic driving controller is running; The first data is displayed on the vehicle-mounted display screen.

2. The method according to claim 1, characterized in that The autonomous driving controller runs one or more autonomous driving programs, and establishing an intra-domain communication connection between the vehicle-mounted display screen and the autonomous driving controller includes: The domain identifier of the vehicle display screen is written into a first list of the autonomous driving program, wherein the first list is a collection of domain identifiers authorized to access the autonomous driving program.

3. The method according to claim 2, characterized in that The first data includes running data of the automatic driving program, and the controlling the vehicle-mounted display screen to obtain the first data includes: Control the vehicle-mounted display screen to subscribe to a first topic to obtain the first data, wherein the first topic stores the operating data of the automatic driving program.

4. The method according to claim 3, characterized in that: Before controlling the vehicle-mounted display screen to subscribe to the first topic, the method further includes: Controlling the automatic driving controller to receive the third data in the third topic and the second data in the second topic in a shared memory manner, wherein the second data and the third data respectively store operation data of different automatic driving programs; Control the autopilot controller to write the second data and the third data into the first topic.

5. The method according to any one of claims 3 or 4, characterized in that: The vehicle-mounted display screen includes a first vehicle-mounted display screen and a second vehicle-mounted display screen, and the method further includes: In a first situation, in response to the second vehicle display screen requesting to subscribe to the first topic, the first vehicle display screen is controlled to unsubscribe from the first topic, wherein the first situation is that the first vehicle display screen has subscribed to the first topic.

6. The method according to any one of claims 3 or 4, characterized in that: The vehicle-mounted display screen includes a first vehicle-mounted display screen and a second vehicle-mounted display screen, and the method further includes: In a first scenario, in response to the second vehicle display screen requesting to subscribe to the first topic, obtaining a load status of the automatic driving controller, wherein the first scenario is that the first vehicle display screen has subscribed to the first topic; If the load of the automatic driving controller is greater than a first threshold, the first vehicle display screen is controlled to unsubscribe from the first topic.

7. An automatic driving debugging device, characterized in that: The device is applied to a vehicle, the vehicle includes an on-board display screen and an automatic driving controller, and the device includes: A connection unit, used to establish an intra-domain communication connection between the vehicle-mounted display screen and the automatic driving controller; a control unit, configured to control the vehicle-mounted display screen to obtain first data, where the first data is data generated when the automatic driving controller is running; and A display unit is used to display the first data on the vehicle-mounted display screen.

8. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-6.

10. A vehicle, characterized in that: Including on-board display screen, automatic driving controller and communication lines, among which, The vehicle-mounted display screen is connected to the automatic driving controller via the communication line; The vehicle is configured to perform the method according to any one of claims 1-6.

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