Log processing method and system of automatic driving distributed system and electronic equipment

Abstract

The embodiment of the invention provides a log processing method and system of an automatic driving distributed system and electronic equipment. The method is applied to a log server in an automatic driving distributed system, and comprises the following steps: receiving first log information which is sent by a log client in the automatic driving distributed system according to log output configuration and is obtained from an automatic driving module, the log output configuration is configured and generated by the log client according to the output configuration information of the automatic driving log sent by the log server; receiving a filtering condition for filtering the log information, and performing content filtering on the first log information according to the filtering condition to obtain second log information; and remotely sending the second log information to a remote log processing device, so that the remote log processing device processes the second log information.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of autonomous driving technology, and in particular to a log processing method, system, and electronic device for an autonomous driving distributed system. Background Art

[0002] The autonomous driving distributed system is a complex system consisting of multiple different functional modules, such as perception module, map module, planning and control module, positioning module, business module, and drive module. These modules have many sub-modules, and each module needs to output logs to help engineers locate problems.

[0003] In the distributed system of autonomous driving, the output logs are too many and too frequent, making it difficult to locate the problem. Therefore, a technical solution is urgently needed to at least partially improve such problems. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a log processing method, system and electronic device for an autonomous driving distributed system to at least partially solve the above-mentioned problems.

[0005] According to a first aspect of an embodiment of the present application, a log processing method for an autonomous driving distributed system is provided, which is applied to a log server in the autonomous driving distributed system. The method includes:

[0006] Receiving first log information obtained from the autonomous driving module and sent by a log client in the autonomous driving distributed system according to a log output configuration, wherein the log output configuration is generated by the log client according to the output configuration information of the autonomous driving log sent by the log server;

[0007] receiving a filtering condition for filtering log information, and performing content filtering on the first log information according to the filtering condition to obtain second log information;

[0008] The second log information is remotely sent to a remote log processing device, so that the remote log processing device processes the second log information.

[0009] In some optional embodiments, the output configuration information is generated by the remote log processing device based on a configuration command for instructing to configure a log output function; the log output configuration includes a network output configuration; the method also includes: forwarding the output configuration information remotely sent by the remote log processing device to the log client, so as to at least enable the log client to perform network output configuration according to the output configuration information; the receiving of the first log information obtained from the autonomous driving module and sent by the log client in the autonomous driving distributed system according to the log output configuration includes: receiving the first log information obtained from the autonomous driving module and sent by the log client after turning on the network output function of the log information according to the network output configuration.

[0010] In some optional embodiments, the output configuration information remotely sent by the remote log processing device is forwarded to the log client so that at least the log client performs network output configuration according to the output configuration information, including: receiving multiple output configuration information remotely sent by the remote log processing device, and sending corresponding output configuration information to multiple log clients respectively, so that at least some of the log clients that have received the output configuration information perform network output configuration according to the output configuration information, wherein the multiple log clients respectively obtain the first log information from multiple different autonomous driving modules.

[0011] In some optional embodiments, the filtering condition is generated by the remote log processing device based on a filtering condition command for instructing to filter logs; the receiving of the filtering condition for filtering log information includes: receiving the filtering condition for filtering log information sent by the remote log processing device.

[0012] In some optional embodiments, the filtering condition includes: a condition for filtering log information based on at least one of the source of the log information and the level of the log information; the content filtering of the first log information according to the filtering condition to obtain the second log information includes: content filtering of the first log information according to the filtering condition to obtain the second log information that satisfies the filtering condition at least one of the source of the log information and the level of the log information.

[0013] In some optional embodiments, the processing of the second log information includes: performing at least one of display processing, print output processing, and saving processing on the second log information.

[0014] In some optional embodiments, the method also includes: performing handle registration or deregistration operations on each log client connected to the log server; in response to receiving a first command remotely sent by the remote log processing device, organizing the names of each log client that has completed handle registration into a name string; and remotely sending the name string to the remote log processing device so that the remote log processing device determines, based on the name string, each autonomous driving module corresponding to each log client whose log information can be processed.

[0015] In some optional embodiments, the log output configuration also includes: at least one of a screen output configuration and a file output configuration; the screen output configuration is used to output the first log information to the screen after the screen output function is turned on, and the file output configuration is used to output the first log information to a file after the file output function is turned on.

[0016] In some optional embodiments, the log server and the log client are both located on the autonomous driving device where the autonomous driving module is located.

[0017] In some optional embodiments, the log client is encapsulated in the autonomous driving module, and the autonomous driving module sends the first log information to the log client by calling the log function calling interface of the log client.

[0018] According to a second aspect of an embodiment of the present application, a log processing device of an autonomous driving distributed system is provided, which is applied to a log server in the autonomous driving distributed system, and the device includes:

[0019] A receiving unit, configured to receive first log information obtained from an autonomous driving module and sent by a log client in the autonomous driving distributed system according to a log output configuration, wherein the log output configuration is generated by the log client according to the output configuration information of the autonomous driving log sent by the log server;

[0020] A filtering unit, configured to receive a filtering condition for filtering log information, and perform content filtering on the first log information according to the filtering condition to obtain second log information;

[0021] The remote sending unit is used to remotely send the second log information to a remote log processing device, so that the remote log processing device processes the second log information.

[0022] According to a third aspect of an embodiment of the present application, a log processing system is provided, characterized in that it includes: a remote log processing device, and a log server and a log client in an autonomous driving distributed system;

[0023] The log client is configured to generate a log output configuration according to the output configuration information of the autonomous driving log sent by the log server, and send the first log information obtained from the autonomous driving module to the log server according to the log output configuration;

[0024] The log server is used to receive the first log information sent by the log client, and receive a filtering condition for filtering the log information, perform content filtering on the first log information according to the filtering condition to obtain the second log information, and remotely send the second log information to the remote log processing device;

[0025] The remote log processing device is used to receive the second log information sent by the log server and process the second log information.

[0026] According to a fourth aspect of an embodiment of the present application, an electronic device is provided, characterized in that it includes: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; the memory is used to store a computer program; and the processor is used to execute the method described in the first aspect above by running the computer program stored in the memory.

[0027] According to a fifth aspect of an embodiment of the present application, a computer storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method described in the first aspect is implemented.

[0028] According to a sixth aspect of an embodiment of the present application, a computer program product is provided, including a computer program, wherein the computer program implements the method described in the first aspect when executed by a processor.

[0029] The log processing scheme of the autonomous driving distributed system provided by the embodiment of the present application is that the log server can receive the first log information obtained from the autonomous driving module sent by the log client in the autonomous driving distributed system according to the log output configuration, and the log output configuration is generated by the log client according to the output configuration information of the autonomous driving log sent by the log server, and then the log server can receive the filtering conditions for filtering the log information, and filter the content of the first log information according to the filtering conditions to obtain the second log information, and then remotely send the second log information to the remote log processing device, so that the remote log processing device processes the second log information. Therefore, on the one hand, the log server of the embodiment of the present application can effectively filter the first log information of the autonomous driving module according to the filtering conditions, so that the remote log processing device can obtain the second log information that meets the requirements (i.e., meets the filtering conditions), thereby avoiding the presence of too many log information irrelevant to the requirements in the second log information received by the remote log processing device, so that the user can easily process the second log information that meets the requirements through the remote log processing device, and then facilitate the problem of locating the autonomous driving module of the autonomous driving distributed system; on the other hand, since the log server in the embodiment of the present application can remotely send the second log information to the remote log processing device for processing, it can also effectively reduce the data storage pressure of the autonomous driving distributed system on the log information. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0031] Figure 1 A schematic diagram of an exemplary log processing system in an embodiment of the present application is shown.

[0032] Figure 2 A flowchart showing the steps of an exemplary log processing method for an autonomous driving distributed system in an embodiment of the present application is shown.

[0033] Figure 3 A schematic diagram of the interaction process between an exemplary remote log processing device, a log server, and a log client in an embodiment of the present application is shown.

[0034] Figure 4 A structural block diagram of a log processing device of an exemplary autonomous driving distributed system in an embodiment of the present application is shown.

[0035] Figure 5A structural block diagram of an exemplary electronic device in an embodiment of the present application is shown.

[0036] Description of reference numerals:

[0037] 100. Log processing system; 101. Remote log processing device; 102. Log server; 103. Log client; 400. Log processing device; 402. Receiving unit; 404. Filtering unit; 406. Remote sending unit; 500. Electronic device; 502. Processor; 504. Communication interface; 506. Memory; 508. Communication bus; 510. Computer program. DETAILED DESCRIPTION

[0038] In order to make those skilled in the art better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field should belong to the scope of protection of the embodiments of the present application. It should be understood that the various steps recorded in the method implementation mode of the present disclosure can be performed in different orders and / or performed in parallel. In addition, the method implementation mode may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0039] The term "including" and its variations used in this article are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in the embodiments of the present application are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units. It should be noted that the modifications of "one" and "multiple" mentioned in the embodiments of the present application are illustrative and not restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0040] The specific implementation of the embodiment of the present application is further explained below in conjunction with the accompanying drawings of the embodiment of the present application.

[0041] To facilitate the description of the log processing method of the autonomous driving distributed system in the embodiment of the present application, firstly Figure 1 The log processing system 100 in the embodiment of the present application is described. Figure 1A schematic diagram of an exemplary log processing system in an embodiment of the present application is shown. Figure 1 As shown, the log processing system 100 in the embodiment of the present application may include: a remote log processing device 101, and a log server 102 and a log client 103 in an autonomous driving distributed system; the log client 103 is used to generate a log output configuration according to the output configuration information of the autonomous driving log sent by the log server 102, and send the first log information obtained from the autonomous driving module to the log server 102 according to the log output configuration; the log server 102 is used to receive the first log information sent by the log client 103, and receive the filtering conditions for filtering the log information, perform content filtering on the first log information according to the filtering conditions to obtain the second log information, and remotely send the second log information to the remote log processing device 101; the remote log processing device 101 is used to receive the second log information remotely sent by the log server 102, and process the second log information.

[0042] Based on this, on the one hand, the log server 102 in the embodiment of the present application can effectively filter the first log information of the autonomous driving module according to the filtering conditions, so that the remote log processing device 101 can obtain the second log information that meets the requirements (i.e., meets the filtering conditions), thereby avoiding the existence of too much log information irrelevant to the requirements in the second log information received by the remote log processing device 101, so that the user can easily process the second log information that meets the requirements through the remote log processing device 101, thereby facilitating the location of the problem of the autonomous driving module of the autonomous driving distributed system; on the other hand, since the log server 102 in the embodiment of the present application can remotely send the second log information to the remote log processing device 101 for processing, it can also effectively reduce the data storage pressure of the autonomous driving distributed system on the log information.

[0043] In the embodiment of the present application, the autonomous driving distributed system is an autonomous driving system using a distributed system architecture, which is built on an autonomous driving device and implemented based on the software and hardware of the autonomous driving device. It should be understood that the autonomous driving device may refer to a driving device with an autonomous driving function, which may be a fully autonomous driving device or a semi-autonomous driving device that includes both a manual driving mode and an autonomous driving mode. Optionally, the autonomous driving equipment in the embodiments of the present application may be a vehicle with an autonomous driving function (including vehicles with passenger functions (such as cars, buses, large buses, minibuses, etc.), vehicles with cargo functions (such as ordinary trucks, vans, trailers, closed trucks, tank trucks, flatbed trucks, container trucks, dump trucks, trucks with special structures), special vehicles (such as logistics distribution vehicles, automatic guided transport vehicles AGV, patrol cars, cranes, cranes, excavators, bulldozers, forklifts, rollers, loaders, off-road engineering vehicles, armored engineering vehicles, sewage treatment vehicles, sanitation vehicles, vacuum trucks, floor washing vehicles, sprinkler trucks, sweeping robots, food delivery robots, shopping guide robots, lawn mowers, golf carts, etc.), vehicles with entertainment functions (such as entertainment vehicles, amusement park autonomous driving devices, balance cars, etc.), rescue vehicles (such as fire trucks, ambulances, power repair vehicles, engineering rescue vehicles, etc.)) and robots (such as sweeping robots, food delivery robots, etc.), etc.

[0044] The autonomous driving module may be the various software algorithm modules of the autonomous driving device to realize the autonomous driving function. For example, it may include but is not limited to the perception module, map module, planning control module, positioning module, business module and driving module, etc. Among them, the perception module can be used for the environmental perception function of autonomous driving; the map module can be used for the map navigation function of autonomous driving; the planning control module can be used for the path planning and autonomous driving equipment control function of autonomous driving; the business module can be used for the business function of autonomous driving (for example, obtaining the required services from the cloud server, sending business data to the cloud server, etc.); the driving module can be used for the program driving function of the software and / or hardware of autonomous driving. It should be understood that the above-mentioned various autonomous driving modules are generally common technical means in the field of autonomous driving, so they will not be elaborated too much here, and can be understood by referring to the relevant technology, but as long as they are software algorithm modules used for autonomous driving functions, they can be regarded as part of the autonomous driving module.

[0045] In the embodiment of the present application, the remote log processing device 101 can be any electronic device. For example, including but not limited to mobile devices, tablet computers, laptop computers, desktop computers, game consoles, media players, vehicle systems and / or any other suitable types of electronic devices. The obtained log information can be processed by the remote log processing device 101. Optionally, the user can input commands to the remote log processing device 101 to enable the remote log processing device 101 to implement functions including but not limited to log processing and data interaction with the log server 102.

[0046] In an embodiment of the present application, the log server 102 may be located on the autonomous driving device as a part of the autonomous driving device. The log server 102 serves as the center of log management in the autonomous driving distributed system. In some optional embodiments, the log server 102 may also be located outside the autonomous driving device. The log server 102 may be implemented as any form of hardware, or may be implemented as any form of software, which is not particularly limited in the embodiment of the present application. The log server 102 is remotely connected to the remote log processing device 101. The log server 102 may be remotely connected to the remote log processing device 101 in any manner, for example, including but not limited to Web connection, WIFI connection, Bluetooth connection, cellular network connection, and the like.

[0047] In an embodiment of the present application, the log client 103 is located on the autonomous driving device as a part of the autonomous driving device. The log server 102 can be implemented as any form of hardware, or can also be implemented as any form of software, which is not particularly limited in the embodiment of the present application. In an embodiment of the present application, the log client 103 can obtain the log information (i.e., the first log information) of the autonomous driving module. The log client 103 determines the data flow direction of the first log information input by the autonomous driving module based on the output configuration information sent by the log server 102. In some embodiments, the log client 103 may obtain the first log information of multiple autonomous driving modules. In other embodiments, multiple log clients 103 may respectively obtain the first log information of multiple autonomous driving modules, and multiple log clients 103 correspond to multiple autonomous driving modules one by one.

[0048] In some optional embodiments, the log client 103 is encapsulated in the autonomous driving module, and the autonomous driving module can send the first log information to the log client 103 by calling the log function call interface (API) of the log client 103. Based on this, the technical solution of the embodiment of the present application can more conveniently enable the log client 103 to obtain the first log information from the autonomous driving module. Optionally, for the case where multiple log clients 103 correspond to multiple autonomous driving modules one by one, multiple log clients 103 can be encapsulated in multiple autonomous driving modules one by one, and multiple autonomous driving modules can call the log function call interface (API) of the corresponding log client 103 to send the first log information to the log client 103.

[0049] In some optional implementations, the Google glog component can be used as the basis of the log function of the log client 103, and the log function call interface (API) of the log client 103 can be implemented using the log function call interface API of the Google glog component. In addition, optionally, the log client 103 and the log server 102 can use websocket technology to implement remote log output and realize overall log network output.

[0050] It should be understood that the first log information and the second log information may include one or more log information.

[0051] It can also be known from the above content that in some optional embodiments of the embodiments of the present application, the log server 102 and the log client 103 are both located on the autonomous driving device where the autonomous driving module is located. Therefore, the technical solution in the embodiments of the present application can better process the filtered second log information of the autonomous driving device using the distributed system architecture, thereby facilitating the location of the problem of its autonomous driving module, and the log server 102 of the autonomous driving device can remotely send the second log information to the remote log processing device for processing, effectively reducing the data storage pressure of the autonomous driving device using the distributed system architecture on the log information.

[0052] Based on the above-mentioned log processing system 100, the log processing method of the autonomous driving distributed system in the embodiment of the present application is described. In addition, it should be understood that other contents of the log processing system 100 will be described in conjunction with the embodiments below, and will not be repeated here.

[0053] According to a first aspect of an embodiment of the present application, a log processing method for an autonomous driving distributed system is provided. Figure 2The following is a flowchart showing an exemplary log processing method in an embodiment of the present application. The log processing method is applied to the log server 102 in the above-mentioned autonomous driving distributed system. It should be noted that the part of the first aspect of the present application related to the above-mentioned log processing system 100 can also be understood in conjunction with the above-mentioned content of the log processing system 100.

[0054] Reference Figure 2 As shown, the log processing method includes steps S202, S204 and S206, specifically:

[0055] S202: Receive first log information obtained from the autonomous driving module and sent by a log client in the autonomous driving distributed system according to the log output configuration.

[0056] The log output configuration is generated by the log client 103 according to the output configuration information of the autonomous driving log sent by the log server 102. The output configuration information of the autonomous driving log can be obtained by the log server 102 in any manner, or can also be generated by the log server 102 in any manner, which is not specifically limited in the embodiments of the present application.

[0057] The first log information is the log information obtained by the log client 103 from the autonomous driving module. As described above in relation to the log processing system 100, the log client 103 can be encapsulated in the autonomous driving module, and the autonomous driving module can send the first log information to the log client 103 by calling the log function call interface (API) of the log client 103. Multiple log clients 103 can correspond one-to-one to multiple autonomous driving modules. Multiple log clients 103 are respectively encapsulated in multiple autonomous driving modules one-to-one, and multiple autonomous driving modules respectively call the log function call interface (API) of the corresponding log client 103 to send the first log information to the log client 103.

[0058] The specific implementation of step S202 is not limited in the embodiments of the present application. For example, in some optional embodiments, the output configuration information can be generated for the remote log processing device 101 based on the configuration command for instructing the configuration of the log output function; the log output configuration includes the network output configuration; in some optional embodiments, the log processing method also includes: forwarding the output configuration information remotely sent by the remote log processing device 101 to the log client 103, so as to at least enable the log client 103 to perform the network output configuration according to the output configuration information; step S202 specifically includes: receiving the first log information obtained from the autonomous driving module and sent by the log client 103 after the network output function of the log information is turned on according to the network output configuration.

[0059] Based on this, through such an optional implementation, on the one hand, in the embodiment of the present application, by generating output configuration information on the remote log processing device 101, the remote log processing device 101 can effectively regulate the log output function of the log client 103, which is convenient for the output management of the log information; on the other hand, it can ensure that the log server 102 can obtain the first log information obtained by the log client 103 that has enabled the network output function of the log information, so as to facilitate subsequent filtering to obtain the second log information and send it remotely to the remote log processing device 101 for processing.

[0060] In the embodiment of the present application, the network output configuration is used to send the first log information to the log server after the network output function of the log client 103 is turned on. The network output function may refer to a function of outputting log information remotely through the network. In the embodiment of the present application, only after the network output function is turned on, the log client 103 can send the first log information to the log server 102, so that the log server 102 can meet the condition of remote output of the log. Optionally, the log client 103 in the embodiment of the present application closes the log output function by default, i.e., the network remote output log information cannot be output. Therefore, in the embodiment of the present application, the output configuration information can be sent to the log client 103, so that the log client 103 can turn on the network output function of the log information according to the network output configuration, so that the log client 103 can output the log information remotely through the network, and send the first log information to the log server 102, so that the log server 102 can filter and obtain the second log information later and send it to the remote log processing device 101.

[0061] In some optional embodiments, the "forwarding the output configuration information remotely sent by the remote log processing device 101 to the log client 103, so as to at least enable the log client 103 to perform network output configuration according to the output configuration information" includes: receiving multiple output configuration information remotely sent by the remote log processing device 101, and sending corresponding output configuration information to multiple log clients 103 respectively, so as to enable at least some of the log clients 103 that have received the output configuration information to perform network output configuration according to the output configuration information, wherein the multiple log clients 103 respectively obtain the first log information from multiple different autonomous driving modules.

[0062] Based on this, through such an optional implementation, on the one hand, in the embodiment of the present application, by generating multiple output configuration information in the remote log processing device 101, the remote log processing device 101 can effectively regulate the log output function of multiple log clients 103, which is convenient for the output management of log information of multiple autonomous driving modules obtained by multiple log clients 103; on the other hand, it can ensure that the log server 102 can obtain the first log information obtained by multiple log clients 103 that have enabled the network output function of the log information, so as to facilitate subsequent filtering to obtain the second log information and send it remotely to the remote log processing device 101 for processing.

[0063] In some optional implementations, in addition to the network output configuration, the log output configuration also includes: at least one of a screen output configuration and a file output configuration; the screen output configuration is used to output the first log information to the screen after the screen output function is turned on, and the file output configuration is used to output the first log information to a file after the file output function is turned on.

[0064] In other words, the log output function of the log client 103 in the embodiment of the present application, in addition to the network output function, may also include at least one of a screen output function and a file output function. Among them, the screen output function may refer to a function of outputting log information through the screen, and the file output function may refer to a function of outputting log information into a file.

[0065] Based on this, in the embodiment of the present application, through at least one of the screen output configuration and the file output configuration, the log information output mode of the log client 103 is more diverse, which can better meet the log output requirements.

[0066] In the following, in combination with some examples, the remote log processing device 101 generates output configuration information, the log client 103 generates log output configuration according to the output configuration information, and other contents in the embodiment of the present application are further explained to facilitate understanding of the contents of each optional implementation method in the above text.

[0067] Optionally, a command line tool may be provided on the remote log processing device 101, and the user may start configuring the log output function by inputting a configuration command for configuring the log output function of one or more log clients 103 in the command line tool of the remote log processing device 101. The remote log processing device 101 generates corresponding output configuration information according to the configuration of the log output function by the user.

[0068] For example, in some embodiments, the configuration command for configuring the log output function of one or more log clients 103 in the remote log processing device 101 may include: a first configuration command for configuring the log output function of the selected log client 103, and a global configuration command for configuring the log output function of all log clients 103.

[0069] Optionally, an example first configuration command can be embodied in the following form: avos_log set. By entering the "avos_log set" command in the command line tool of the remote log processing device 101, the log output function of any log client 103 that can be configured by the remote log processing device 101 can be configured. For example, the remote log processing device 101 can configure the log output function of the log client 103_A and the log client 103_B, wherein the log client 103_A can obtain the first log information of the autonomous driving module A, and the log client 103_B can obtain the first log information of the autonomous driving module B. If only the log client 103_A is configured in this example, the "avos_log set" command can be entered in the command line tool, and the log output function of the log client 103_A can be selected to be configured, and at least one of the network output function, screen output function and file output function of the log client 103_A can be configured.

[0070] For example, in an optional implementation, the log output function of the log client 103_A can be configured to be turned off. Specifically, the "log_null" command can be continued to be input in the command line tool of the remote log processing device 101 (of course, this is an optional command form), so that the corresponding output configuration information is generated and then sent remotely to the log server 102. The log server 102 can send the output configuration information to the log client 103_A accordingly, and the log client 103_A performs its own log output configuration according to the output configuration information, so that the log client 103_A turns off the log output function, and the log client 103_A will not be able to output log information through the network, screen, or file output functions.

[0071] For another example, in another optional implementation, the network output function of the log client 103_A can be configured to be turned on. Specifically, the "log_rfile" command can be continuously input in the command line tool of the remote log processing device 101 (of course, this is an optional command form), so that the corresponding output configuration information is generated and then sent remotely to the log server 102. The log server 102 can send the output configuration information to the log client 103_A accordingly, and the log client 103_A performs its own log output configuration according to the output configuration information, so that the log client 103_A turns on the network output function, and the log client 103_A can output log information through the network; it can be understood that if the screen and file output functions are not turned on before, the log client 103_A will not be able to output log information through the screen and file output functions; the configuration of the screen output function and the file output function can be understood by referring to the example of the network output function, and the "log_screen" command and the "log_file" command can be input respectively (of course, these are all optional command forms), which will not be repeated here.

[0072] For another example, in another optional implementation, the network output function and the screen output function of the log client 103_A can be configured to be turned on. Specifically, the command "log_rfile, log_screen" can be continuously input in the command line tool of the remote log processing device 101 (of course, this is an optional command form), so that the corresponding output configuration information is generated and then sent remotely to the log server 102. The log server 102 can send the output configuration information to the log client 103_A accordingly, and the log client 103_A performs its own log output configuration according to the output configuration information, so that the log client 103_A turns on the network output function and the screen output function, and the log client 103_A can The log information is output through the network and the screen; it can be understood that if the file output function has not been enabled before, the log client 103_A will not be able to output the log information through the file output function; for both the screen output function and the file output function, the network output function and the file output function, the configuration of the network, screen, and file output functions can refer to the example of the network output function for understanding, and the "log_screen, log_file" command, the "log_rfile, log_file" command, and the "log_rfile, log_screen, log_file" command can be entered respectively (of course, these are all optional command forms), which will not be repeated here.

[0073] In addition, if both the log client 103_A and the log client 103_B need to be configured in this example, the "avos_log set" command can be input in the command line tool, and the log output function of the log client 103_A can be configured, and at least one of the network output function, screen output function and file output function of the log client 103_A can be configured; then the log output function of the log client 103_B can be configured, and at least one of the network output function, screen output function and file output function of the log client 103_A can be configured. In this way, the remote log processing device 101 can obtain two output configuration information, which correspond to the log client 103_A and the log client 103_B respectively, and the two output configuration information can be distributed to the log client 103_A and the log client 103_B correspondingly through the log server 102, and then the log client 103_A and the log client 103_B can perform log output configuration based on the obtained output configuration information. For the generation of these two output configuration information, it can be understood by referring to the content about the log client 103_A in the previous paragraphs, and no further description is given.

[0074] Optionally, an example global configuration command can be embodied in the following form: avos_log globalset. By entering the "avos_log globalset" command in the command line tool of the remote log processing device 101, the log output functions of all log clients 103 that can be configured by the remote log processing device 101 can be configured. For example, the remote log processing device 101 can configure the log output functions of the log client 103_A and the log client 103_B, wherein the log client 103_A can obtain the first log information of the autonomous driving module A, and the log client 103_B can obtain the first log information of the autonomous driving module B. Then, the "avos_log globalset" command can be entered in the command line tool, and the log output functions of the log client 103_A and the log client 103_B can be uniformly configured globally, and at least one of the network output function, the screen output function, and the file output function can be configured.

[0075] For example, in an optional implementation, the log output function of all log clients 103 can be configured to be turned off. Specifically, the "log_null" command can be continued to be input in the command line tool of the remote log processing device 101 (of course, this is an optional command form), so that corresponding multiple output configuration information is generated and then sent remotely to the log server 102. The log server 102 can send the multiple output configuration information to the log client 103_A and the log client 103_B respectively. The log client 103_A and the log client 103_B perform global log output configuration according to the output configuration information, so that the log client 103_A and the log client 103_B both turn off the log output function, and the log client 103_A and the log client 103_B will not be able to output log information through the network, screen, or file output functions.

[0076] For example, in another optional implementation, the network output function of all log clients 103 can be configured to be turned on. Specifically, the "log_rfile" command can be continuously input in the command line tool of the remote log processing device 101 (of course, this is an optional command form), so that corresponding multiple output configuration information is generated and then sent remotely to the log server 102. The log server 102 can send the multiple output configuration information to the log client 103_A and the log client 103_B accordingly. The log client 103_A and the log client 103_B perform global log output configuration according to the output configuration information, so that the log client 103_A and the log client 103_B enable the network output function, and the log client 103_A and the log client 103_B can output log information through the network; the configuration of the screen output function and the file output function can be understood by referring to the example of this network output function, and the "log_screen" command and the "log_file" command can be input respectively (of course, these are all optional command forms), which will not be repeated here.

[0077] In another optional implementation, the network output function and screen output function of all log clients 103 can be configured to be turned on. Specifically, the command "log_rfile, log_screen" can be continuously input in the command line tool of the remote log processing device 101 (of course, this is an optional command form), so that corresponding multiple output configuration information is generated and then sent to the log server 102 remotely. The log server 102 can send the multiple output configuration information to the log client 103_A and the log client 103_B accordingly. The log client 103_A and the log client 103_B perform their own log output configuration according to the output configuration information, so that the log client 103_A and the log client 103_B can be configured to output their own logs according to the output configuration information. The client 103_B turns on the network output function and the screen output function, and the log client 103_A and the log client 103_B can output log information through the network and the screen; for both the screen output function and the file output function, the network output function and the file output function, the configuration of the network, screen, and file output functions can be understood by referring to the example of the network output function, and the "log_screen,log_file" command, the "log_rfile,log_file" command, and the "log_rfile,log_screen,log_file" command can be entered respectively (of course, these are all optional command forms), which will not be repeated here.

[0078] It should be understood that the exemplary descriptions in the above paragraphs are only for ease of understanding and are not intended to be any limitations on the embodiments of the present application.

[0079] It has been introduced above that the log output function of multiple log clients 103 can be configured through the remote log processing device 101. The log processing method performed by the log server 102 is described below in combination with other functions of the remote log processing device 101 in the embodiment of the present application.

[0080] For example, in some optional embodiments, the log processing method in the embodiment of the present application further includes steps TS1, TS2 and TS3, specifically:

[0081] TS1: Perform handle registration or deregistration operations on each log client 103 connected to the log server 102.

[0082] One or more log clients 103 among the log clients 103 connected to the log server 102 can be registered with a handle as needed, and the information of the log client 103 that has completed the handle registration is saved to the log server 102. The remote log processing device 101 can then configure the log output function of the log client 103 that has completed the handle registration, and can process the log information of the autonomous driving module corresponding to the log client 103.

[0083] For example, after all handles are registered, the names of the log clients 103 may be stored in a log client set set in the log server 102. The log client set may be a database to facilitate access to the log client names.

[0084] The deregistration operation may be to deregister the log client 103 after the handle is registered, and change it to a state where the handle is not registered. After the deregistration operation, the remote log processing device 101 may be unable to configure the log output function of the log client 103 after the deregistration operation, and may be unable to process the log information of the autonomous driving module corresponding to the log client 103.

[0085] TS2: In response to receiving the first command remotely sent by the remote log processing device 101, the names of the log clients 103 that have completed the handle registration are organized into a name character string.

[0086] For example, after receiving the first command sent remotely by the remote log processing device 101, the log server 102 can obtain the names of the log clients 103 whose handles have been registered from the log client set, and organize them into name strings containing the names of these log clients according to required rules.

[0087] Optionally, the first command may be a command for listing the log clients 103 that can view and process log information. For example, the first command may be inputted by the remote log processing device 101 and then remotely forwarded to the log server 102 by the remote log processing device 101 .

[0088] TS3: The name string is remotely sent to the remote log processing device 101, so that the remote log processing device 101 determines, based on the name string, each autonomous driving module corresponding to each log client 103 whose log information can be processed.

[0089] After the log server 102 obtains the name string, it can send the name string to the remote log processing device 101. Since the log client 103 corresponds to the autonomous driving module, the remote log processing device 101 can determine the name of each log client 103 by parsing or verifying the name string, and then determine the autonomous driving module whose log information can be processed by the name of the log client 103.

[0090] The above steps TS1 to TS3 are further understood in conjunction with the following examples. For example, the first command of an example can be embodied in the following form: avos_log list. By entering the "avos_log list" command in the command line tool of the remote log processing device 101, the remote log processing device 101 can list the list of log clients 103 that can view and process log information. Then, the remote log processing device 101 can forward the first command to the log server 102, and the log server 102 can obtain the names of each log client 103 whose handles have been registered from the log client set according to the first command, and organize them into a name string containing the names of these log clients in sequence. The remote log processing device 101 parses or verifies the name string to obtain the name of each log client 103, and then determines the autonomous driving module in which the log information can be processed by the name of the log client 103. At the same time, the required list can be generated according to the name of each log client 103, and the list can be displayed for easy viewing, and the list can be updated and stored. Optionally, the first command may be sent periodically by the remote log processing device 101 to the log server 102, so as to timely update the list stored in the remote log processing device 101. It should be understood that such examples are only used to facilitate understanding of the technical solution and are not intended to limit any embodiment of the present application.

[0091] Based on this, in the embodiment of the present application, by including the optional implementation of the above-mentioned steps TS1 to TS3, it is possible to determine through the remote log processing device 101 each autonomous driving module corresponding to each log client 103 whose log information can be processed, so that the remote log processing device 101 can reasonably process and manage the log information of the autonomous driving module through the log server 102 and the log client 103.

[0092] S204: receiving a filtering condition for filtering log information, and performing content filtering on the first log information according to the filtering condition to obtain second log information.

[0093] The log server 102 may filter the first log information by content according to the filtering condition to obtain the second log information that meets the requirement, so as to send the second log information to the remote log processing device 101 for processing later.

[0094] It should be understood that the log server 102 may receive the filtering condition before or after step S202 is executed, and the step numbers here do not represent a certain order.

[0095] The filtering condition can be obtained from any source and is not limited here. For example, in some optional embodiments, the filtering condition is generated by the remote log processing device based on a filtering condition command for instructing to filter the log; then the "receiving the filtering condition for filtering the log information" in step S204 includes: receiving the filtering condition for filtering the log information sent by the remote log processing device 101.

[0096] Based on this, in the embodiment of the present application, the remote log processing device 101 can be used to set and generate filtering conditions, so that the log information of the log server 102 can be effectively filtered through the remote log processing device 101 for remote control, which is convenient for monitoring the status of the autonomous driving distributed system and realizing the management of log information, which is conducive to enabling the remote log processing device 101 to obtain the second log information that meets the requirements (i.e., meets the filtering conditions), thereby avoiding the existence of too much log information that is irrelevant to the requirements in the second log information received by the remote log processing device 101, so that the user can easily process the second log information that meets the requirements through the remote log processing device 101, and then facilitate the location of the problem of the autonomous driving module of the autonomous driving distributed system.

[0097] The filtering condition can be set according to any appropriate rule and is not limited here. For example, in some optional embodiments, the filtering condition includes: a condition for filtering the log information based on at least one of the log information source and the log information level; step S204 includes: content filtering the first log information according to the filtering condition to obtain the second log information that satisfies at least one of the log information source and the log information level.

[0098] Optionally, the source of the log information may include the log client 103 or the autonomous driving module from which the log information comes. Since the log client 103 corresponds to the autonomous driving module, if it is necessary to filter the information of certain autonomous driving modules for the remote log processing device 101 to process or locate the problem, the filtering conditions can be set as needed through the log client 103 or through the autonomous driving module as the source of the log information, and sent remotely to the log server 102, so that the log server 102 performs content filtering on the received first log information to obtain the second log content.

[0099] Optionally, the log information level can indicate the urgency of the impact of the log information on the autonomous driving distributed system. For example, in one embodiment, the log information level can be an attribute of the log information itself. Optionally, the log information level can be set in the form of characters, for example, in the form of a combination of English and / or Arabic numerals. In some examples, the log information level can be set to: warning, error, info, which can respectively represent the warning, error, and normal log information levels. For example, in other examples, the log information level can be set to: level1, level2, level3, etc., which can also represent different levels respectively. It can also be reasonably set to other forms as needed, which is not specifically limited here. For the convenience of the following description, the log information level can be set to: warning, error, info as an example. The log information level can be automatically configured when the log information is generated by the autonomous driving module; or, the remote log processing device 101 can also configure each log information in the first log information obtained by the log server 102. For example, the log information level of each log information in the first log information can be defaulted to info, and then part of the configuration can be modified to warning and error as needed. It should be understood that these are merely some optional examples and are not intended to limit the embodiments of the present application.

[0100] Based on this, in the embodiment of the present application, the filtering conditions can be set according to the source of the log information and the level of the log information, so as to more reasonably filter the first log information obtained by the log server 102 to obtain the second log information, so as to more reasonably and effectively filter the log information of the log server 102 through the remote log processing device 101 for remote control, which is convenient for monitoring the status of the autonomous driving distributed system and realizing the management of the log information, which is conducive to enabling the remote log processing device 101 to obtain the second log information that meets the demand (i.e., meets the filtering conditions), thereby avoiding the existence of too much log information that is irrelevant to the demand in the second log information received by the remote log processing device 101, so that the user can easily process the second log information that meets the demand through the remote log processing device 101, and then facilitate the location of the problem of the autonomous driving module of the autonomous driving distributed system.

[0101] The following further describes the contents of log information filtering in the embodiments of the present application in combination with some examples, so as to facilitate understanding of the contents of the various optional implementation methods in the above text. Optionally, an example filtering condition command can be embodied in the following form: "avos_log show". By entering the "avos_log show" command in the command line tool of the remote log processing device 101, the first log information obtained by one or several log clients 103 that can be viewed can be viewed. The log information level of these first log information can be defaulted to the info level, and some of the log information can be configured as warning and error levels. For example, the remote log processing device 101 can view the log information sent by the log client 103_A and the log client 103_B to the log server 102. In one example, the info level of the log information of the log client 103_A can be configured as the error or warning level in the command line tool, and the info level of the log information of the log client 103_B is not further configured. After that, the log information of the error or warning level can be filtered from the first log information as the command of the second log information, thereby generating the corresponding filtering condition, and the remote log processing device 101 can send the filtering condition to the log server 102, and the log server 102 can filter the first log information according to the filtering condition, thereby obtaining the second log information that meets the filtering condition, that is, the log information sent by the log client 103_A to the log server 102 and the log information level is the error or warning level. It should be understood that this is only an exemplary description of the embodiments of the present application, and does not serve as any limitation to the embodiments of the present application.

[0102] S206: Remotely send the second log information to a remote log processing device, so that the remote log processing device processes the second log information.

[0103] After the log server 102 obtains the second log information, the second log information can be remotely sent to the remote log processing device so that the remote log processing device 101 processes the second log information and realizes the log processing task of the autonomous driving distributed system.

[0104] Based on this, in the embodiment of the present application, through the optional implementation of the above steps S202 to S206, on the one hand, the log server 102 in the embodiment of the present application can effectively filter the first log information of the autonomous driving module according to the filtering conditions, so that the remote log processing device 101 can obtain the second log information that meets the requirements (i.e., meets the filtering conditions), thereby avoiding the existence of too much log information irrelevant to the requirements in the second log information received by the remote log processing device 101, so that the user can easily process the second log information that meets the requirements through the remote log processing device 101, thereby facilitating the location of the problem of the autonomous driving module of the autonomous driving distributed system; on the other hand, since the log server 102 in the embodiment of the present application can remotely send the second log information to the remote log processing device 101 for processing, it can also effectively reduce the data storage pressure of the autonomous driving distributed system on the log information.

[0105] In the embodiment of the present application, the remote log processing device 101 can take any appropriate processing means for the second log information as needed, and is not limited here. For example, in some optional embodiments, the remote log processing device 101 processes the second log information, including: displaying the second log information, printing out the second log information, and saving the second log information.

[0106] Optionally, displaying the second log information may refer to the remote log processing device 101 outputting at least part of the second log information to the screen for display to facilitate viewing; printing and outputting the second log information may refer to the remote log processing device 101 printing at least part of the second log information as a file output; saving the second log information may refer to the remote log processing device 101 saving at least part of the second log information to a storage space. It should be understood that the storage space is not a part of the autonomous driving device, and the storage space includes but is not limited to at least one of a memory, a database, etc.

[0107] Based on this, on the one hand, in the embodiment of the present application, by being able to perform at least one of display processing, print output processing, and storage processing on the second log information, the remote log processing device 101 can process the second log information in a more flexible and diverse manner, thereby meeting the diverse log processing requirements of the autonomous driving distributed system; on the other hand, since the remote log processing device 101 can save the second log information, the log information output by the autonomous driving module does not need to be stored entirely in the local autonomous driving device, thereby preventing the local disk from being full, thereby effectively solving the storage resource problem of the embedded hardware devices of the autonomous driving distributed system and effectively reducing the data storage pressure of the autonomous driving distributed system on the log information.

[0108] Based on the above optional embodiments of the embodiments of the present application, users (for example, including but not limited to developers) can view and process the log information of the autonomous driving module in the autonomous driving distributed system remotely through the log server 102 and the log client 103 through the remote log processing device 101, including the log information of the autonomous driving module that is automatically started when the autonomous driving device is turned on and the log information of the autonomous driving module that is running, and meet and support the filtering of log information content at the module and log level, which can achieve the effect of facilitating remote debugging and real-time monitoring of the system status of the autonomous driving distributed system.

[0109] Next, combine Figure 3 The log processing scheme of the autonomous driving distributed system in the embodiment of the present application is described as a whole. Figure 3 , which shows an exemplary schematic diagram of the interaction process between the remote log processing device 101, the log server 102, and the log client 103. Figure 3As shown, in the autonomous driving distributed system, the autonomous driving module corresponds to the log client 103 one by one, and the log client 103 is encapsulated in the autonomous driving module. The autonomous driving module has a log writing function, and the autonomous driving module uses the log writing module to call the log function calling interface API of the log client 103 to send the first log information to the log client 103. The first command (referred to as log list) can be input through the command line tool of the remote log processing device 101, and the remote log processing device 101 sends the forwarding command to the log server 102 remotely according to the terminal input. The log server 102 obtains the name of each log client from the log client set storing the name of each log client 103 with the handle registration completed, organizes it into a name string, and remotely sends it to the remote log processing device 101. The remote log processing device 101 can parse or verify the name string, store the log client log list, and print the log client log list; the log server 102 can periodically send the name string to achieve update. The filtering condition command (log show for short) can be input through the command line tool of the remote log processing device 101. This command can be used to view the log information sent by one or several log clients as needed, and the log information level of the first log information can be configured as needed (for example, the default info level, and the configurable warning and error levels). The remote log processing device 101 can obtain the filtering condition through terminal input analysis, and remotely send the filtering condition to the log server 102. The filtering condition setting module of the log server 102 sets the filtering condition according to the filtering condition, and the subsequent content filtering of the first log information is performed according to the set filtering condition (the filtering condition includes a condition for filtering the log information based on at least one of the log information source and the log information level).A first configuration command (log set for short) can be input through the command line tool of the remote log processing device 101, and the log output function of certain selected log clients 103 can be set according to the terminal input, and corresponding output configuration information can be generated; a global configuration command (log globalset for short) can be input through the command line tool of the remote log processing device 101, and the log output function of all log clients 103 can be set according to the terminal input, and corresponding output configuration information can be generated; the remote log processing device 101 sends the generated output configuration information to the corresponding log client 103, and the client receiving setting module of the log client 103 receives the output configuration information, configures and generates the log output configuration according to the output configuration information, that is, turns on or off the screen output function, the file output function, and the network output function of the log information, and uses the log output function to output the first log information obtained from the automatic driving module according to the log output configuration; after the network output function of the log information of the log client 103 is configured to be turned on, the client log sending module of the log client 103 sends the first log information to the log server 102, and the log server 102 receives the first log information. A log information, and content filtering the first log information according to the filtering condition to obtain the second log information; the log sending module of the log server 102 can remotely send the second log information to the remote log processing device 101, so that the remote log processing device 101 can process the second log information, for example, the remote log processing device 101 can display the second log information (that is, at least part of the second log information is output to the screen for display, which is convenient for viewing), the print log output module of the remote log processing device 101 can print and output the second log information (that is, print at least part of the second log information into a file output), and the log information saving module of the remote log processing device 101 can save the second log information (save at least part of the second log information into a storage space). It should be understood that the above combination. Figure 3 The description of the interaction process is merely an exemplary description for ease of understanding and is not intended to limit any embodiment of the present application.

[0110] In summary, in the log processing scheme of the autonomous driving distributed system in the embodiment of the present application, the log server can receive the first log information obtained from the autonomous driving module sent by the log client in the autonomous driving distributed system according to the log output configuration, and the log output configuration is generated by the log client according to the output configuration information of the autonomous driving log sent by the log server, and then the log server can receive the filtering conditions for filtering the log information, and filter the content of the first log information according to the filtering conditions to obtain the second log information, and then send the second log information remotely to the remote log processing device, so that the remote log processing device processes the second log information. Therefore, on the one hand, the log server of the embodiment of the present application can effectively filter the first log information of the autonomous driving module according to the filtering conditions, so that the remote log processing device can obtain the second log information that meets the requirements (i.e., meets the filtering conditions), thereby avoiding the existence of too many log information that is not related to the requirements in the second log information received by the remote log processing device, so that the user can easily process the second log information that meets the requirements through the remote log processing device, and then facilitate the problem of locating the autonomous driving module of the autonomous driving distributed system; on the other hand, since the log server in the embodiment of the present application can remotely send the second log information to the remote log processing device for processing, it can also effectively reduce the data storage pressure of the autonomous driving distributed system on the log information.

[0111] It can be understood that the above description of the log processing scheme of the autonomous driving distributed system of the embodiment of the present application is only an exemplary description of some embodiments of the present application, and does not constitute any limitation on the embodiments of the present application.

[0112] According to a second aspect of an embodiment of the present application, a log processing device for an autonomous driving distributed system is provided. Figure 4 The structure block diagram of an exemplary log processing device 400 of an autonomous driving distributed system according to an embodiment of the present application is shown. The log processing device 400 is applied to a log server in the autonomous driving distributed system. The log processing device 400 of the autonomous driving distributed system includes:

[0113] A receiving unit 402 is used to receive first log information obtained from an autonomous driving module and sent by a log client in the autonomous driving distributed system according to a log output configuration, wherein the log output configuration is generated by the log client according to the output configuration information of the autonomous driving log sent by the log server;

[0114] A filtering unit 404, configured to receive a filtering condition for filtering log information, and perform content filtering on the first log information according to the filtering condition to obtain second log information;

[0115] The remote sending unit 406 is used to remotely send the second log information to a remote log processing device, so that the remote log processing device processes the second log information.

[0116] The log processing solution for the autonomous driving distributed system provided in the embodiment of the present application, on the one hand, the log server in the embodiment of the present application can effectively filter the first log information of the autonomous driving module according to the filtering conditions, so that the remote log processing device can obtain the second log information that meets the requirements (i.e., meets the filtering conditions), thereby avoiding the existence of too much log information irrelevant to the requirements in the second log information received by the remote log processing device, so that the user can easily process the second log information that meets the requirements through the remote log processing device, thereby facilitating the location of the problem of the autonomous driving module of the autonomous driving distributed system; on the other hand, since the log server in the embodiment of the present application can remotely send the second log information to the remote log processing device for processing, it can also effectively reduce the data storage pressure of the autonomous driving distributed system on the log information.

[0117] In some optional embodiments, the output configuration information is generated by the remote log processing device based on a configuration command for instructing to configure a log output function; the log output configuration includes a network output configuration; the log processing device 400 also includes a sending unit, and the sending unit is used to: forward the output configuration information remotely sent by the remote log processing device to the log client, so as to at least enable the log client to perform network output configuration according to the output configuration information; the receiving unit 402 is specifically used to: receive the first log information obtained from the automatic driving module and sent by the log client after turning on the network output function of the log information according to the network output configuration.

[0118] In some optional embodiments, the sending unit is specifically used to: receive multiple output configuration information remotely sent by the remote log processing device, and send corresponding output configuration information to multiple log clients respectively, so as to enable at least some of the log clients that have received the output configuration information to perform network output configuration according to the output configuration information, wherein the multiple log clients respectively obtain the first log information from multiple different autonomous driving modules.

[0119] In some optional embodiments, the filtering condition is generated by the remote log processing device based on a filtering condition command for instructing to filter logs; the filtering unit 404 is specifically used to: receive the filtering condition for filtering log information sent by the remote log processing device.

[0120] In some optional embodiments, the filtering condition includes: a condition for filtering log information based on at least one of the log information source and the log information level; the filtering unit 404 is specifically used to: perform content filtering on the first log information according to the filtering condition to obtain the second log information that satisfies at least one of the log information source and the log information level.

[0121] In some optional embodiments, the processing of the second log information includes: performing at least one of display processing, print output processing, and saving processing on the second log information.

[0122] In some optional embodiments, the log processing device 400 is also used to: perform handle registration or deregistration operations on each log client connected to the log server; in response to receiving a first command remotely sent by the remote log processing device, organize the names of each log client that has completed handle registration into a name string; and remotely send the name string to the remote log processing device, so that the remote log processing device determines, based on the name string, each autonomous driving module corresponding to each log client whose log information can be processed.

[0123] In some optional embodiments, the log output configuration also includes: at least one of a screen output configuration and a file output configuration; the screen output configuration is used to output the first log information to the screen after the screen output function is turned on, and the file output configuration is used to output the first log information to a file after the file output function is turned on.

[0124] In some optional embodiments, the log server and the log client are both located on the autonomous driving device where the autonomous driving module is located.

[0125] In some optional embodiments, the log client is encapsulated in the autonomous driving module, and the autonomous driving module sends the first log information to the log client by calling the log function calling interface of the log client.

[0126] The log processing device 400 of the autonomous driving distributed system of the embodiment of the present application and the log processing method of the autonomous driving distributed system provided in the first aspect are based on the same inventive concept, and are used to implement the log processing method of the autonomous driving distributed system corresponding to the aforementioned multiple method embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be described in detail here. In addition, the functional implementation of each module in the log processing device 400 of the autonomous driving distributed system of this embodiment can refer to the description of the corresponding parts in the aforementioned method embodiments, which will not be described in detail here.

[0127] According to a third aspect of the embodiments of the present application, a log processing system is provided. Figure 1 As shown, the log processing system 100 includes: a remote log processing device 101, and a log server 102 and a log client 103 in an autonomous driving distributed system; the log client 103 is used to generate a log output configuration according to the output configuration information of the autonomous driving log sent by the log server 102, and send the first log information obtained from the autonomous driving module to the log server 102 according to the log output configuration; the log server 102 is used to receive the first log information sent by the log client 103, and receive the filtering conditions for filtering the log information, perform content filtering on the first log information according to the filtering conditions to obtain the second log information, and remotely send the second log information to the remote log processing device 101; the remote log processing device 101 is used to receive the second log information remotely sent by the log server 102, and process the second log information.

[0128] In some optional embodiments, in the log processing system 100, the remote log processing device is specifically used to: generate the output configuration information based on the configuration command for instructing the configuration of the log output function, and send it to the log server 102; the log output configuration includes the network output configuration; the log server 102 is also used to: forward the output configuration information remotely sent by the remote log processing device to the log client, so as to at least enable the log client to perform network output configuration according to the output configuration information; the log server 102 is specifically used to: receive the first log information obtained from the automatic driving module, which is sent by the log client 103 after the network output function of the log information is turned on according to the network output configuration.

[0129] In some optional embodiments, in the log processing system 100, the log server 102 is specifically used to: receive multiple output configuration information remotely sent by the remote log processing device, and send corresponding output configuration information to multiple log clients respectively, so as to enable at least some of the log clients that have received the output configuration information to perform network output configuration according to the output configuration information, wherein the multiple log clients respectively obtain the first log information from multiple different autonomous driving modules.

[0130] In some optional embodiments, in the log processing system 100, the remote log processing device is specifically used to: generate the filtering condition based on a filtering condition command for instructing to filter the log; the log server 102 is specifically used to: receive the filtering condition for filtering the log information sent by the remote log processing device.

[0131] In some optional embodiments, in the log processing system 100, the filtering condition includes: a condition for filtering log information based on at least one of the log information source and the log information level; the log server 102 is specifically used to: perform content filtering on the first log information according to the filtering condition to obtain the second log information that satisfies at least one of the log information source and the log information level.

[0132] In some optional embodiments, in the log processing system 100, the remote log processing device 101 is specifically used to: perform at least one of display processing, print output processing, and storage processing on the second log information.

[0133] In some optional embodiments, in the log processing system 100, the log server 102 is also used to: perform handle registration or deregistration operations on each log client connected to the log server; in response to receiving a first command remotely sent by the remote log processing device, organize the names of each log client that has completed handle registration into a name string; and remotely send the name string to the remote log processing device; the remote log processing device 101 is also used to: determine, based on the name string, each autonomous driving module corresponding to each log client whose log information can be processed.

[0134] In some optional embodiments, in the log processing system 100, the log output configuration also includes: at least one of a screen output configuration and a file output configuration; the screen output configuration is used to output the first log information to the screen after the screen output function is turned on, and the file output configuration is used to output the first log information to a file after the file output function is turned on.

[0135] In some optional embodiments, in the log processing system 100, the log server and the log client are both located on the autonomous driving device where the autonomous driving module is located.

[0136] In some optional embodiments, in the log processing system 100, the log client is encapsulated in the autonomous driving module, and the autonomous driving module sends the first log information to the log client by calling the log function calling interface of the log client.

[0137] Before the introduction of the first aspect, the log processing system 100 has been described, and the log processing system provided in the third aspect of the embodiment of the present application and the log processing method provided in the first aspect of the foregoing text are based on the same inventive concept, correspond to the corresponding log processing methods in the aforementioned multiple method embodiments, and have the beneficial effects of the corresponding log processing method embodiments, so they will not be repeated here.

[0138] According to a fourth aspect of an embodiment of the present application, there is provided an electronic device, comprising: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; the memory is used to store a computer program; and the processor is used to execute the log processing method of the autonomous driving distributed system described in the first aspect above by running the computer program stored in the memory.

[0139] Figure 5 1 shows a block diagram of an optional electronic device in an embodiment of the present application. The present application embodiment does not limit the specific implementation of the electronic device 500. As an example, refer to Figure 5 The electronic device 500 provided in the embodiment of the present application includes: a processor 502, a communication interface 504, a memory 506, and a communication bus 508. Among them:

[0140] The processor 502 , the communication interface 504 , and the memory 506 communicate with each other via a communication bus 508 .

[0141] The communication interface 504 is used to communicate with other electronic devices or servers.

[0142] Processor 502 is used to execute computer program 510, and specifically can execute relevant steps in any of the aforementioned log processing method embodiments of the autonomous driving distributed system.

[0143] Specifically, the computer program 510 may include program codes including computer operation instructions.

[0144] The processor 502 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0145] The memory 506 is used to store the computer program 510. The memory 506 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0146] The computer program 510 can specifically be used to enable the processor 502 to execute the log processing method of the autonomous driving distributed system in any of the aforementioned embodiments.

[0147] The specific implementation of each step in the computer program 510 can refer to the corresponding description of the corresponding steps and units in any of the aforementioned log processing method embodiments of the autonomous driving distributed system, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described devices and modules can refer to the corresponding process description in the aforementioned method embodiment, which will not be repeated here.

[0148] The electronic device 500 in the embodiment of the present application has been described in detail in the log processing method embodiment of the autonomous driving distributed system of the first aspect mentioned above. Therefore, its related content and beneficial effects can be understood with reference to the above-mentioned method embodiment and will not be repeated here.

[0149] According to a fifth aspect of an embodiment of the present application, a computer storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the log processing method of the autonomous driving distributed system as described in the first aspect is implemented.

[0150] According to a sixth aspect of an embodiment of the present application, a computer program product is provided, including a computer program, which, when executed by a processor, implements the log processing method of the autonomous driving distributed system as described in the first aspect.

[0151] The electronic device 500 / computer storage medium / computer program product embodiment in the embodiment of the present application has been described in detail in the aforementioned log processing method embodiment of the autonomous driving distributed system. Therefore, its related content and beneficial effects can be understood with reference to the above-mentioned method embodiment and will not be repeated here.

[0152] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0153] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or implemented as a computer code originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a special-purpose processor or programmable or special-purpose hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the method shown here.

[0154] Those of ordinary skill in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present application.

[0155] The above implementation methods are only used to illustrate the embodiments of the present application, and are not limitations on the embodiments of the present application. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application. Therefore, all equivalent technical solutions also belong to the scope of the embodiments of the present application. The scope of patent protection of the embodiments of the present application should be limited by the claims.

Claims

1. A log processing method for an autonomous driving distributed system, characterized in that: Applied to the log server in the autonomous driving distributed system, the method comprises: Receiving first log information obtained from the autonomous driving module and sent by a log client in the autonomous driving distributed system according to a log output configuration, wherein the log output configuration is generated by the log client according to the output configuration information of the autonomous driving log sent by the log server; receiving a filtering condition for filtering log information, and performing content filtering on the first log information according to the filtering condition to obtain second log information; The second log information is remotely sent to a remote log processing device, so that the remote log processing device processes the second log information.

2. The method according to claim 1, characterized in that The output configuration information is generated by the remote log processing device based on a configuration command for instructing to configure a log output function; the log output configuration includes a network output configuration; The method further includes: forwarding the output configuration information remotely sent by the remote log processing device to the log client, so as to at least enable the log client to perform network output configuration according to the output configuration information; The receiving first log information obtained from the autonomous driving module and sent by the log client in the autonomous driving distributed system according to the log output configuration includes: Receive the first log information obtained from the automatic driving module and sent by the log client after the network output function of the log information is enabled according to the network output configuration.

3. The method according to claim 2, characterized in that The step of forwarding the output configuration information remotely sent by the remote log processing device to the log client, so as to at least enable the log client to perform network output configuration according to the output configuration information, includes: Receive multiple output configuration information remotely sent by the remote log processing device, and send corresponding output configuration information to multiple log clients respectively, so that at least some of the log clients that have received the output configuration information perform network output configuration according to the output configuration information, wherein the multiple log clients respectively obtain the first log information from multiple different autonomous driving modules.

4. The method according to any one of claims 1 to 3, characterized in that The filtering condition is generated by the remote log processing device based on a filtering condition command for instructing to filter logs; The receiving of filtering conditions for filtering log information includes: The filtering condition for filtering log information sent by the remote log processing device is received.

5. The method according to claim 4, characterized in that The filtering condition includes: a condition for filtering the log information based on at least one of the log information source and the log information level; The filtering the first log information according to the filtering condition to obtain the second log information includes: Content filtering is performed on the first log information according to the filtering condition to obtain second log information of which at least one of a log information source and a log information level satisfies the filtering condition.

6. The method according to any one of claims 1 to 3, characterized in that The processing of the second log information includes: The second log information is subjected to at least one of display processing, print output processing, and storage processing.

7. The method according to claim 3, characterized in that The method further comprises: Performing handle registration or deregistration operations on each log client connected to the log server; In response to receiving a first command remotely sent by the remote log processing device, organizing the names of the log clients that have completed handle registration into a name character string; The name string is remotely sent to the remote log processing device, so that the remote log processing device determines, based on the name string, each autonomous driving module corresponding to each log client whose log information can be processed.

8. The method according to any one of claims 2 to 3, characterized in that: The log output configuration also includes: at least one of a screen output configuration and a file output configuration; the screen output configuration is used to output the first log information on the screen after the screen output function is turned on, and the file output configuration is used to output the first log information into a file after the file output function is turned on.

9. A log processing system, characterized in that: Including: remote log processing equipment, and log servers and log clients in autonomous driving distributed systems; The log client is configured to generate a log output configuration according to the output configuration information of the autonomous driving log sent by the log server, and send the first log information obtained from the autonomous driving module to the log server according to the log output configuration; The log server is used to receive the first log information sent by the log client, and receive a filtering condition for filtering the log information, perform content filtering on the first log information according to the filtering condition to obtain the second log information, and remotely send the second log information to the remote log processing device; The remote log processing device is used to receive the second log information remotely sent by the log server and process the second log information.

10. An electronic device, characterized in that: include: A processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; The memory is used to store computer programs; The processor is configured to execute the method according to any one of claims 1 to 8 by running the computer program stored in the memory.

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