Vehicle data processing method and device, vehicle and storage medium

Abstract

The invention relates to a vehicle data processing method and device, a vehicle and a storage medium, and the method comprises the steps: carrying out the data collection of vehicle control operation system basic software of a vehicle-mounted intelligent driving host through a communication soft gateway, a bridging channel and a mirror image channel, and generating an analyzable file; determining a forwarding routing table according to the resolvable file; analyzing the analyzable file to generate a network message; and recharging the network message to the basic software of the vehicle control operation system based on the forwarding routing table. Through data acquisition of operation of basic software of a vehicle control operation system of the vehicle-mounted intelligent driving host, operation monitoring is realized, an analyzable file is generated, and data recharge is facilitated; and then, based on the forwarding routing table, recharging the data to the basic software of the vehicle control operation system, so that the basic software of the vehicle control operation system can be comprehensively debugged off line, and the comprehensiveness and accuracy of debugging are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle intelligent driving technology, and in particular to a vehicle data processing method, a vehicle data processing device, a vehicle and a computer-readable storage medium. Background Art

[0002] With the popularization of intelligent driving or assisted driving, the stable operation of the driving control system is the top priority to ensure driving safety. However, at present, related technologies focus more on the performance monitoring and debugging of the operating system itself, and do not pay attention to the monitoring and debugging methods of the vehicle control operating system software in the intelligent driving scenario. There is a lack of technical solutions for data collection, re-injection, and debugging of the vehicle control operating system software. Summary of the invention

[0003] One of the purposes of the present invention is to provide a vehicle data processing method to solve the problem of monitoring and data re-injection for the basic software of the vehicle control operating system in the prior art; the second purpose is to provide a vehicle data processing device; the third purpose is to provide a vehicle; and the fourth purpose is to provide a computer-readable storage medium.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] A vehicle data processing method is applied to an on-board debugging industrial computer, wherein the on-board debugging industrial computer is connected to an on-board intelligent driving host through a communication soft gateway, a bridge channel and a mirror channel, and the method comprises:

[0006] Through the communication soft gateway, the bridge channel and the mirror channel, data is collected for the vehicle control operating system basic software of the vehicle-mounted intelligent driving host to generate a parsable file;

[0007] Determining a forwarding routing table according to the resolvable file;

[0008] Parsing the parseable file to generate a network message;

[0009] Based on the forwarding routing table, the network message is fed back to the vehicle control operating system basic software.

[0010] Further, the on-board debugging industrial computer is connected to the system-on-chip of the on-board intelligent driving host through the communication soft gateway, connected to the sensor of the on-board intelligent driving host through the bridge channel, and connected to the microelectronic control unit of the on-board intelligent driving host through the mirror channel, and the vehicle control operating system basic software is deployed on the system-on-chip, the sensor and the microelectronic control unit; the step of collecting data for the vehicle control operating system basic software of the on-board intelligent driving host through the communication soft gateway, the bridge channel and the mirror channel to generate a parsable file includes:

[0011] The data of the system on chip is collected and packaged through the communication soft gateway to generate a text format file;

[0012] Collecting and packaging the data of the sensor through the bridge channel to generate a first data packet capture format file;

[0013] Collecting and packaging the data of the microelectronic control unit through the mirror channel to generate a second data packet capture format file;

[0014] The text format file, the first packet capture format file and the second packet capture format file are combined to generate the parsable file.

[0015] Further, the step of determining the forwarding routing table according to the resolvable file includes:

[0016] Read the parseable file and determine the data processing process node corresponding to the parseable file;

[0017] Based on the data processing process node, a forwarding routing table is determined.

[0018] Furthermore, the step of injecting the network message back into the vehicle control operating system basic software includes:

[0019] The network message is fed back from the data processing process node to the running node of the vehicle control operating system basic software.

[0020] Furthermore, the data processing process node includes an output processing node, and the step of injecting the network message from the data processing process node back to the running node of the vehicle control operating system basic software includes:

[0021] The network message is fed back from the output processing node to the running node of the vehicle control operating system basic software.

[0022] Furthermore, the data processing process node further includes a process processing node, and the step of injecting the network message from the data processing process node back to the running node of the vehicle control operating system basic software further includes:

[0023] The network message is sequentially fed back to the process processing node, the output processing node and the running node of the vehicle control operating system basic software.

[0024] Furthermore, the data processing process node further includes an input processing node, and the step of injecting the network message from the data processing process node back to the running node of the vehicle control operating system basic software further includes:

[0025] The network message is sequentially fed back to the input processing node, the process processing node, the output processing node and the running node of the vehicle control operating system basic software.

[0026] Furthermore, the system on chip is pre-installed with a first debugging tool. After the step of injecting the network message back to the vehicle control operating system basic software based on the forwarding routing table, the method further includes:

[0027] Sending a first debugging data grabbing command to the system on chip, wherein the system on chip is used to start the first debugging tool in response to the first debugging data grabbing command;

[0028] Receiving task scheduling monitoring data collected by the first debugging tool;

[0029] Generate a flame graph file based on the task scheduling monitoring data.

[0030] Furthermore, the microelectronic control unit is pre-installed with a second debugging tool, and the method further includes:

[0031] Sending a second debugging data capture command to the microelectronic control unit, wherein the microelectronic control unit is used to start the second debugging tool in response to the second debugging capture command;

[0032] receiving target running time data collected by the second debugging tool;

[0033] Combine the task scheduling monitoring data and the target runtime data to generate joint scheduling curve data.

[0034] A vehicle data processing device is applied to an on-board debugging industrial computer, wherein the on-board debugging industrial computer is connected to an on-board intelligent driving host through a communication soft gateway, a bridge channel and a mirror channel, and the device comprises:

[0035] A collection module, used to collect data from the vehicle control operating system basic software of the vehicle-mounted intelligent driving host through the communication soft gateway, the bridge channel and the mirror channel, and generate a parsable file;

[0036] A routing determination module, used to determine a forwarding routing table according to the resolvable file;

[0037] A parsing module, used for parsing the parseable file to generate a network message;

[0038] A re-injection module is used to re-inject the network message into the vehicle control operating system basic software based on the forwarding routing table.

[0039] A vehicle comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the steps of the vehicle data processing method as described above when executed by the processor.

[0040] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle data processing method described above are implemented.

[0041] Beneficial effects of the present invention:

[0042] (1) Collect data on the operation of the basic software of the vehicle control operating system of the vehicle-mounted intelligent driving host through the communication soft gateway, bridge channel and mirror channel, realize the operation monitoring of the basic software of the vehicle control operating system, and facilitate the analysis of software failures and potential risks;

[0043] (2) Generate a parsable file from the collected vehicle control operating system basic software, which can be directly parsed and forwarded later to facilitate data re-injection and improve the efficiency of re-injection;

[0044] (3) Based on the forwarding routing table, the data is fed back to the vehicle control operating system basic software, thereby realizing the data feeding back to the vehicle control operating system basic software, and performing comprehensive offline debugging on the vehicle control operating system basic software, thereby improving the comprehensiveness and accuracy of the debugging. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A flowchart of a vehicle data processing method embodiment of the present invention;

[0046] Figure 2 A schematic diagram of the hardware architecture of an on-vehicle intelligent driving host according to an embodiment of a vehicle data processing method of the present invention;

[0047] Figure 3 A flowchart of another vehicle data processing method embodiment of the present invention;

[0048] Figure 4 A schematic diagram of hardware connection relationships of another vehicle data processing method embodiment of the present invention;

[0049] Figure 5 This is a functional block diagram of an on-vehicle debugging industrial computer;

[0050] Figure 6 It is a data acquisition block diagram of the basic software of the vehicle host operating system;

[0051] Figure 7 A schematic diagram of a vehicle host operating system basic software monitoring & debugging center node framework;

[0052] Figure 8 This is a schematic diagram of data re-injection;

[0053] Fig. 9 This is a schematic diagram of the cross-chip joint debugging framework;

[0054] Fig.10 is a structural block diagram of an embodiment of a vehicle data processing device of the present invention;

[0055] Fig.11 A schematic diagram of a processor and a storage medium of a vehicle embodiment of the present invention;

[0056] Fig.12 A schematic diagram of an embodiment of a computer-readable storage medium of the present invention. DETAILED DESCRIPTION

[0057] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0058] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0059] Reference Figure 1, showing a flow chart of the steps of an embodiment of a vehicle data processing method of the present invention. The vehicle data processing method is applied to an on-board debugging industrial computer, and the on-board debugging industrial computer is connected to the on-board intelligent driving host through a communication soft gateway, a bridge channel and a mirror channel. Among them, the on-board debugging industrial computer is a special computer device installed inside the vehicle for debugging, monitoring and controlling the working status of various systems and components of the vehicle. The communication soft gateway is a software program running on the vehicle control operating system for realizing the gateway function. The bridge channel is a communication channel between the on-board debugging industrial computer and the on-board intelligent driving host connected by bridging technology. The mirror channel is a communication channel between the on-board debugging industrial computer and the on-board intelligent driving host for copying and monitoring data packets. The on-board debugging industrial computer is connected to the on-board intelligent driving host through a communication soft gateway, a bridge channel and a mirror channel. You can refer to Figure 2 The architecture of the in-vehicle intelligent driving host is mainly divided into the hardware platform (defined as the L0 layer), the intelligent driving vehicle control operating system (defined as the L1 layer, also known as the broad operating system), and the intelligent driving application software (defined as the L2 layer). The L1 layer intelligent driving vehicle control operating system software mainly includes system software (also known as the narrow operating system) and functional software, running on multiple chips, and the data involved mainly includes: (1) Input data: vehicle, sensor data, etc.; (2) Output data: data processed by the L1 layer software and output to the L2 layer software; (3) Process data: data in the running status and processing process of the L1 layer software, such as operating system status data, fault diagnosis data, cross-chip interaction data, etc. The vehicle control operating system basic software of the in-vehicle intelligent driving host is the L1 layer software.

[0060] The vehicle data processing method may specifically include the following steps:

[0061] Step 101, through the communication soft gateway, the bridge channel and the mirror channel, data is collected for the vehicle control operating system basic software of the vehicle-mounted intelligent driving host to generate a parsable file;

[0062] Through the communication soft gateway, bridge channel and mirror channel, the different contents in the basic software of the vehicle control operating system of the vehicle-mounted intelligent driving host, vehicle sensor data, basic software application data, operating system data, hardware status data, diagnostic faults, functional safety faults, logs and other information can be collected using corresponding plug-ins, packaged into a unified format, and generated into a parsable file. Parsable files are files in a format that can be recognized and parsed by network devices or computer devices. Parsable files can be in pacp (network data packet capture file format) or dat (data) format, etc.

[0063] Step 102, determining a forwarding routing table according to the resolvable file;

[0064] Based on the content in the parseable file, the corresponding forwarding routing table is determined when routing through the gateway.

[0065] Step 103, parsing the parsable file to generate a network message;

[0066] The parsable file may also be parsed to generate a network message, where the network message is a communication network message, such as an Ethernet network message.

[0067] Step 104: Based on the forwarding routing table, the network message is fed back to the vehicle control operating system basic software.

[0068] Then, based on the forwarding routing table, the network messages are fed back step by step to the basic software of the vehicle control operating system for corresponding debugging.

[0069] The embodiment of the present invention collects data for the vehicle control operating system basic software of the vehicle-mounted intelligent driving host through a communication soft gateway, a bridge channel and a mirror channel to generate a parseable file; determines a forwarding routing table based on the parseable file; parses the parseable file to generate a network message; based on the forwarding routing table, the network message is fed back to the vehicle control operating system basic software; through the communication soft gateway, the bridge channel and the mirror channel, data is collected for the operation of the vehicle control operating system basic software of the vehicle-mounted intelligent driving host, and the operation monitoring of the vehicle control operating system basic software is realized, which is convenient for analyzing software faults and potential risks; by generating a parseable file from the collected vehicle control operating system basic software, it can be directly parsed and forwarded later, which is convenient for data re-injection and improves the efficiency of re-injection; based on the forwarding routing table, the data is fed back to the vehicle control operating system basic software, thereby realizing data re-injection of the vehicle control operating system basic software, and comprehensive offline debugging of the vehicle control operating system basic software can be performed to improve the comprehensiveness and accuracy of debugging.

[0070] Reference Figure 3 , showing a flow chart of steps of another embodiment of a vehicle data processing method of the present invention. The vehicle data processing method is applied to an on-board debugging industrial computer, and the on-board debugging industrial computer is connected to the on-board intelligent driving host through a communication soft gateway, a bridge channel and a mirror channel. Specifically, the on-board debugging industrial computer is connected to the system-on-chip of the on-board intelligent driving host through the communication soft gateway, connected to the sensor of the on-board intelligent driving host through the bridge channel, and connected to the microelectronic control unit of the on-board intelligent driving host through the mirror channel, and the basic software of the vehicle control operating system is deployed on the system-on-chip, the sensor and the microelectronic control unit.

[0071] You can refer to Figure 4The in-vehicle intelligent driving host is mainly composed of SOC (System on Chip) chips and MCU (Microcontroller Unit) chips, which carry the intelligent driving software and communicate through an Ethernet switch. (1) The SOC will bridge the network port connected to the Ethernet switch and the network port connected to the vehicle-mounted monitoring industrial computer, so that the vehicle-mounted monitoring industrial computer can directly collect the data interacting between the SOC and the Ethernet switch. (2) The Ethernet switch will connect the interface of the MCU and mirror it to connect the vehicle-mounted monitoring industrial computer, so that the monitoring industrial computer can directly collect the data interacting between the MCU and the Ethernet switch. (3) The in-vehicle intelligent driving host interacts with the in-vehicle cockpit host through the Ethernet switch, and the in-vehicle cockpit host can transmit data to the cloud through MQTT (Message Queuing TelemetryTransport).

[0072] For the functions of the vehicle-mounted debugging industrial computer, please refer to Figure 5 (1) Monitoring function: Hardware status monitoring can display hardware information such as power supply, temperature, communication status, and downlink connection status. System status monitoring can display system status information such as multi-core CPU (Central Processing Unit) utilization curve, memory consumption curve, interrupt list and delay, disk usage statistics, process information, thread information, etc. Platform status monitoring can display platform information such as power mode, networking status, software version information, time synchronization status, operation mode, and business DID (Direct Inward Dialing) configuration. Fault information monitoring can display information such as faults obtained by the diagnostic system, faults obtained by functional safety, and faults generated by the application itself. Data recording and re-injection function can display input data such as sensor raw data and vehicle data, process data of interactions between APPs during the processing of the basic software platform, processed output data, etc., and record the data into files in dat and pcap formats for re-injection during offline software debugging. (2) Debugging functions mainly include APP (application) DEBUG (vulnerability) debugging, special debugging such as checking memory leaks and high CPU usage, system scheduling task scheduling and monitoring debugging, and cross-SOC and MCU multi-chip function debugging.

[0073] The vehicle data processing method may specifically include the following steps:

[0074] Step 301, through the communication soft gateway, the bridge channel and the mirror channel, data is collected for the vehicle control operating system basic software of the vehicle-mounted intelligent driving host to generate a parsable file;

[0075] Through the communication soft gateway, bridge channel and mirror channel, different contents in the basic software of the vehicle control operating system of the vehicle-mounted intelligent driving host can be collected through the data collection input plug-in, and then packaged into a parsable file in pacp or dat format through the framework.

[0076] Furthermore, data can be collected for the vehicle control operating system basic software of the on-board intelligent driving host through the communication soft gateway, the bridge channel and the mirror channel, and the step of generating a parseable file includes: collecting and packaging the data of the system on chip through the communication soft gateway to generate a text format file; collecting and packaging the data of the sensor through the bridge channel to generate a first data packet capture format file; collecting and packaging the data of the microelectronic control unit through the mirror channel to generate a second data packet capture format file; combining the text format file, the first data packet capture format file and the second data packet capture format file to generate the parseable file.

[0077] The data of the system on chip can be collected and packaged through a communication soft gateway to generate a text format file; the text format file can be a DAT format file. The data of the sensor is collected and packaged through a bridge channel to generate a first data packet capture format file. The first data packet capture format file is a data packet capture format file generated by collecting and packaging the data of the sensor, and the first data packet capture format file can be a pcap file. Correspondingly, the data of the microelectronic control unit is collected and packaged through a mirror channel to generate a second data packet capture format file; the second data packet capture format file is a data packet capture format file generated by collecting and packaging the data of the microelectronic control unit, and the second data packet capture format file can be a pcap file. Finally, the text format file, the first data packet capture format file and the second data packet capture format file are combined as a parsable file.

[0078] For example, see Figure 6, the SOC side collects the operating system information, hardware status, application status, diagnostic faults, functional safety faults, etc. that need to be monitored through the monitoring & debugging center node, packages them into a unified format, and transmits them to the visual monitoring & debugging software through the communication soft gateway. Among them, the process data and output data generated by each APP are saved as files in the format of "output / process data xx_year%_month%_day%_hour%_minute%_second%.dat" for offline re-injection. (2) The sensor information is directly transmitted to the visual monitoring & debugging software through the bridge channel. (3) The monitoring information on the MCU side is directly transmitted to the visual monitoring & debugging software through the mirror channel. The sensor data and vehicle data collected in (2) and (3) are saved as files in the format of "sensorxx_year%_month%_day%_hour%_minute%_second%.pcap" for offline re-injection. Among them, the monitoring information collected on the vehicle cockpit host is a subset of the monitoring information collected on the vehicle debugging industrial computer. Visual monitoring & debugging software sends monitoring configurations through the communication channel, and the monitoring & debugging center node selects the modules that need to be monitored. The framework of the monitoring & debugging center node of the vehicle host operating system basic software can be referred to Figure 7, mainly composed of four parts: Input plug-in, the central node is designed in the form of plug-in, and data is accessed through the input plug-in. For example, through the input plug-in _SHM, data can be accessed through shared memory; using the input plug-in _TCP, data can be accessed through TCP communication; using the input plug-in _CPU, the system interface can be directly called to obtain CPU information; using the input plug-in _DTC, the fault DTC issued by the diagnostic module can be directly subscribed. The input plug-in supports dynamic configuration and supports expansion according to standard templates. For the debugging commands issued by the visual monitoring & debugging software, they can be input by the TCP module, processed, and then output to the corresponding debugging tool, and the corresponding debugging tool is operated to perform debugging actions. Configuration file, the configuration file can be statically configured during initialization, or dynamically modified by the visual monitoring & debugging software, mainly including the input plug-in list and output plug-in configuration. The output plug-in is followed by the input plug-in to indicate the routing relationship from input to output. Framework (framework) general processing part: responsible for implementing plug-in data routing, unified format packaging and other general processing functions. Configuration parsing, command interaction: responsible for implementing command line interaction and parsing configuration files. Plugin management: unified management of registration, operation, exit, etc. Operation mode: responsible for the implementation and switching of operation modes, including debugging mode, periodic mode, and real-time mode. Output plug-in, the central node outputs externally, and is designed in the form of plug-ins. For example, output plug-in_DB can output formatted data to the database DB; output plug-in_TCP and output plug-in_DDS can output formatted data to the visualization software on the vehicle cockpit host and the vehicle monitoring and debugging industrial computer; output plug-in_FILE can output formatted data to a file for storage. Each output plug-in can be statically or dynamically configured according to the configuration file, and can be expanded according to the standard template form defined by the framework. Vehicle sensor data, basic software application data, operating system data, hardware status data, diagnostic faults, functional safety faults, logs and other information are collected through the CPU, MEM, TCP, SHM, UXSOCK, DTC and other input plug-ins of the monitoring & debugging central node, and are uniformly packaged into pacp or dat format data files by the framework. Through the communication gateway, it is sent to the vehicle monitoring industrial computer or the vehicle cockpit host by the form of TCP, DDS and other output plug-ins, and displayed, stored and played back by the monitoring & debugging visualization software. The monitoring & debugging center node is designed with input plug-ins such as CPU, MEM, TCP, SHM, and output plug-ins such as TCP, DDS, and FILE. One type of data is collected through an input plug-in, and one or several output plug-ins are defined through the configuration file. The data is output by one or several communications to transmit data outside the board, or by saving data to the board.

[0079] Step 302, determining a forwarding routing table according to the resolvable file;

[0080] A forwarding routing table may be determined based on the data type in the parseable file.

[0081] Specifically, the step of determining the forwarding routing table according to the resolvable file includes: reading the resolvable file to determine the data processing process node corresponding to the resolvable file; and determining the forwarding routing table based on the data processing process node.

[0082] First, the parseable file can be read to determine the data processing process node corresponding to the data contained in the parseable file. The data processing process node is the business processing flow stage at which the data is generated, such as the node in the data input stage, the node in the data calculation stage, and the node in the data output stage. According to the data processing process node, the target location to be routed is determined, and the forwarding routing table is determined.

[0083] Step 303, parsing the parsable file to generate a network message;

[0084] Parse and convert the parsable files into network messages according to the corresponding communication network communication requirements. For example, parse the collected and saved "sensor xx_year%_month%_day%_hour%_minute%_second%.pcap" and "output / process data xx_year%_month%_day%_hour%_minute%_second%.dat" parsed files into Ethernet messages.

[0085] Step 304: Based on the forwarding routing table, the network message is fed back to the vehicle control operating system basic software;

[0086] Through the routing configuration table in the communication soft gateway, the routing table is configured with the topic and the corresponding forwarding path of "topic: certain data -> certain APP". According to the forwarding path, it is sent to the internal APP of the L1 layer operating system software, allowing the APP to run and process the data again to debug whether the APP operation meets the design expectations, so as to realize the re-injection and achieve the purpose of offline comprehensive debugging of the L1 layer software.

[0087] In an optional embodiment of the present invention, the step of injecting the network message back to the vehicle control operating system basic software includes: injecting the network message back from the data processing process node to the running node of the vehicle control operating system basic software.

[0088] According to different data processing process nodes, the network message can be fed back from the data processing process node until it is fed back to the running node of the basic software of the vehicle control operating system, thereby achieving the purpose of comprehensive debugging.

[0089] Specifically, the data processing process node includes an output processing node, and the step of injecting the network message from the data processing process node back to the running node of the vehicle control operating system basic software includes: injecting the network message from the output processing node back to the running node of the vehicle control operating system basic software.

[0090] The output processing node represents that the data is in the output processing stage. Therefore, when the data is already in the current stage, the purpose of comprehensive debugging can be achieved by simply injecting the network message from the output processing node back to the running node of the basic software of the vehicle control operating system.

[0091] Specifically, the data processing process node also includes a process processing node, and the step of injecting the network message from the data processing process node back to the running node of the vehicle control operating system basic software also includes: injecting the network message back to the process processing node, the output processing node and the running node of the vehicle control operating system basic software in sequence.

[0092] The process processing node represents the stage where the data is in data calculation, and output processing is required in the next stage. The network message can be fed back to the process processing node, the output processing node and the running node of the basic software of the vehicle control operating system in sequence, so as to achieve the purpose of comprehensive debugging.

[0093] Specifically, the data processing process node also includes an input processing node, and the step of injecting the network message from the data processing process node back to the running node of the vehicle control operating system basic software also includes: injecting the network message back to the input processing node, the process processing node, the output processing node and the running node of the vehicle control operating system basic software in sequence.

[0094] The input processing node represents that the data is in the data input stage, and data calculation and output processing are required later. The network message can be fed back to the input processing node, process processing node, output processing node and the running node of the basic software of the vehicle control operating system in sequence, so as to achieve the purpose of comprehensive debugging.

[0095] For example, for data injection, you can refer to Figure 8, the "sensor xx_year%_month%_day%_hour%_minute%_second%.pcap" and "output / process data xx_year%_month%_day%_hour%_minute%_second%.dat" collected and saved in the monitoring function are parsed into Ethernet messages through the parsing module, and then fed back to the communication soft gateway in the vehicle-mounted intelligent driving host through the re-injection module, and a re-injection data forwarding routing table is generated at the same time. The communication soft gateway feeds the external Ethernet message data back to each APP of the operating system basic software through the shared memory according to the path of the routing table. The data processing process in the basic software is: input processing (APP1)->process processing (APP2)->output processing (APP3), and three re-injection forms are defined:

[0096] (1) Level 3 re-injection: After parsing the original sensor data and vehicle data in the pcap file, it is routed to APP1 through the routing table, such as "topic1: sensor 1 data->APP1", and the entire software processing process of APP1->APP2->APP3->intelligent driving business software is debugged.

[0097] (2) Secondary re-injection: After parsing the process data in the dat file, it is routed to APP2 through the routing table, such as "topic3: process data->APP2", and the software processing process of APP2->APP3->intelligent driving business software is debugged.

[0098] (3) First-level feedback: After parsing the output data in the dat file, it is routed to APP3 through the routing table, such as "topic4: output data->APP3", and the software processing process of APP3->intelligent driving business software is debugged.

[0099] Step 305, sending a first debugging data capture command to the system on chip, and the system on chip is used to start the first debugging tool in response to the first debugging data capture command;

[0100] In addition, when the vehicle is manufactured, a debugging tool is pre-installed on the on-board intelligent driving host. The debugging tool is set to the disabled state by default. When the vehicle control operating system fails and the problem needs to be located or special debugging is required, the corresponding debugging tool is turned on for processing.

[0101] The system on chip is pre-installed with a first debugging tool, which is a debugging tool pre-installed on the system on chip.

[0102] A first debugging data capture command may be sent to the system on chip, that is, a command corresponding to the first debugging tool enabled by the first debugging data capture command. After receiving the first debugging data capture command, the system on chip starts the first debugging tool in response to the first debugging data capture command, and the first debugging tool captures various data for debugging after data re-injection. Among them, the data may include task scheduling monitoring data, and the task scheduling monitoring data records the situation of task scheduling.

[0103] Step 306, receiving the task scheduling monitoring data collected by the first debugging tool;

[0104] The task scheduling monitoring data collected by the first debugging tool may be received.

[0105] Step 307, generating a flame graph file according to the task scheduling monitoring data;

[0106] Then, based on tools such as perf and trace, the task scheduling monitoring data is summarized to generate a visual flame graph file so that relevant personnel can clearly understand the debugging situation.

[0107] Step 308, sending a second debugging data capture command to the microelectronic control unit, and the microelectronic control unit is used to start the second debugging tool in response to the second debugging capture command;

[0108] Correspondingly, a second debugging tool is preinstalled on the microelectronic control unit. The second debugging tool is a debugging tool preinstalled on the microelectronic control unit.

[0109] A second debugging data capture command may be sent to the microelectronic control unit, that is, a command corresponding to the second debugging data capture command to enable the second debugging tool. After receiving the second debugging data capture command, the microelectronic control unit starts the second debugging tool in response to the second debugging data capture command, and the second debugging tool captures various data for debugging after data re-injection, which may include target running time data of various tasks. The target running time data is the running time of detecting a certain task.

[0110] Step 309, receiving the target running time data collected by the second debugging tool;

[0111] The target running time data collected by the second debugging tool is received for aggregation.

[0112] Step 310: Combine the task scheduling monitoring data and the target runtime data to generate joint scheduling curve data.

[0113] For each task, the task scheduling monitoring data and target runtime data of the corresponding task are combined to generate joint scheduling curve data for multiple tasks during the debugging process.

[0114] For example, see Fig. 9 For projects such as APP debugging, special debugging, scheduling debugging, and joint debugging, configure the command set, select the corresponding debugging mode, send the command set to the SOC and MCU respectively through Ethernet, open the default preset debugging tools on the SOC and MCU, and debug the specified application through the GDB tool. Through the preset perf and trace tools, you can capture data to generate flame graphs, and visualize the operation of tools such as valgrind to analyze memory problems. By controlling tools such as strace, collect the scheduling status of multi-core operating system scheduling tasks on the SOC side, collect the task running time through the tools on the MCU, generate a joint scheduling curve on the monitoring industrial computer, and dynamically jointly debug the cross-chip functions of SOC and MCU.

[0115] The embodiments of the present invention bring many conveniences by monitoring the stable operation of the basic software of the vehicle-mounted intelligent driving host operating system and simulating and debugging. It is of great significance to realize comprehensive offline debugging of each module processing link inside the vehicle control operating system. Starting from the overall basic software layer of the operating system, it is of great significance to debug the overall function across chips and develop reliable and efficient software.

[0116] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0117] Reference Fig.10 , shows a structural block diagram of an embodiment of a vehicle data processing device of the present invention, the vehicle data processing device is applied to an on-board debugging industrial computer, the on-board debugging industrial computer is connected to the on-board intelligent driving host through a communication soft gateway, a bridge channel and a mirror channel, and the vehicle data processing device may specifically include the following modules:

[0118] The acquisition module 1001 is used to collect data from the vehicle control operating system basic software of the vehicle-mounted intelligent driving host through the communication soft gateway, the bridge channel and the mirror channel to generate a parsable file;

[0119] A routing determination module 1002, configured to determine a forwarding routing table according to the resolvable file;

[0120] The parsing module 1003 is used to parse the parseable file to generate a network message;

[0121] The re-injection module 1004 is used to re-inject the network message into the vehicle control operating system basic software based on the forwarding routing table.

[0122] In an optional embodiment of the present invention, the on-board debugging industrial computer is connected to the on-chip system of the on-board intelligent driving host through the communication soft gateway, connected to the sensor of the on-board intelligent driving host through the bridge channel, and connected to the microelectronic control unit of the on-board intelligent driving host through the mirror channel. The basic software of the vehicle control operating system is deployed on the on-chip system, the sensor and the microelectronic control unit; the acquisition module 1001 includes:

[0123] A first acquisition submodule is used to collect and package the data of the system on chip through the communication soft gateway to generate a text format file;

[0124] A second acquisition submodule, used for acquiring and packaging the data of the sensor through the bridge channel to generate a first data packet capture format file;

[0125] A third acquisition submodule, used for acquiring and packaging the data of the microelectronic control unit through the mirror channel to generate a second data packet capture format file;

[0126] A combining submodule is used to combine the text format file, the first data packet capture format file and the second data packet capture format file to generate the parsable file.

[0127] In an optional embodiment of the present invention, the routing determination module 1002 includes:

[0128] A reading submodule, used for reading the parseable file and determining a data processing process node corresponding to the parseable file;

[0129] The route determination submodule is used to determine a forwarding route table based on the data processing process node.

[0130] In an optional embodiment of the present invention, the recharging module 1004 includes:

[0131] The re-injection submodule is used to re-inject the network message from the data processing process node to the running node of the vehicle control operating system basic software.

[0132] In an optional embodiment of the present invention, the data processing process node includes an output processing node, and the recharging submodule includes:

[0133] The first re-injection unit is used to re-inject the network message from the output processing node to the running node of the vehicle control operating system basic software.

[0134] In an optional embodiment of the present invention, the data processing process node further includes a process processing node, and the recharging submodule further includes:

[0135] The second re-injection unit is used to sequentially re-inject the network message to the process processing node, the output processing node and the running node of the vehicle control operating system basic software.

[0136] In an optional embodiment of the present invention, the data processing process node further includes an input processing node, and the recharging submodule further includes:

[0137] The third re-injection unit is used to sequentially re-inject the network message to the input processing node, the process processing node, the output processing node and the running node of the vehicle control operating system basic software.

[0138] In an optional embodiment of the present invention, the system on chip is pre-installed with a first debugging tool, and the device further includes:

[0139] A first command sending module, configured to send a first debugging data grabbing command to the system on chip, wherein the system on chip is configured to start the first debugging tool in response to the first debugging data grabbing command;

[0140] A first receiving module, used to receive the task scheduling monitoring data collected by the first debugging tool;

[0141] The first visualization module is used to generate a flame graph file according to the task scheduling monitoring data.

[0142] In an optional embodiment of the present invention, the microelectronic control unit is pre-installed with a second debugging tool, and the device further includes:

[0143] A second command sending module, used for sending a second debugging data grabbing command to the microelectronic control unit, and the microelectronic control unit is used for starting the second debugging tool in response to the second debugging grabbing command;

[0144] A second receiving module, used to receive the target running time data collected by the second debugging tool;

[0145] The second visualization module is used to generate joint scheduling curve data by combining the task scheduling monitoring data and the target running time data.

[0146] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0147] Reference Fig.11 , an embodiment of the present invention further provides a vehicle, comprising:

[0148] A processor 1101 and a storage medium 1102, wherein the storage medium 1102 stores a computer program executable by the processor 1101, and when the vehicle is running, the processor 1101 executes the computer program to perform the vehicle data processing method as described in any one of the embodiments of the present invention.

[0149] The vehicle data processing method is applied to an on-board debugging industrial computer, wherein the on-board debugging industrial computer is connected to an on-board intelligent driving host through a communication soft gateway, a bridge channel and a mirror channel, and the method comprises:

[0150] Through the communication soft gateway, the bridge channel and the mirror channel, data is collected for the vehicle control operating system basic software of the vehicle-mounted intelligent driving host to generate a parsable file;

[0151] Determining a forwarding routing table according to the resolvable file;

[0152] Parsing the parseable file to generate a network message;

[0153] Based on the forwarding routing table, the network message is fed back to the vehicle control operating system basic software.

[0154] Further, the on-board debugging industrial computer is connected to the system-on-chip of the on-board intelligent driving host through the communication soft gateway, connected to the sensor of the on-board intelligent driving host through the bridge channel, and connected to the microelectronic control unit of the on-board intelligent driving host through the mirror channel, and the vehicle control operating system basic software is deployed on the system-on-chip, the sensor and the microelectronic control unit; the step of collecting data for the vehicle control operating system basic software of the on-board intelligent driving host through the communication soft gateway, the bridge channel and the mirror channel to generate a parsable file includes:

[0155] The data of the system on chip is collected and packaged through the communication soft gateway to generate a text format file;

[0156] Collecting and packaging the data of the sensor through the bridge channel to generate a first data packet capture format file;

[0157] Collecting and packaging the data of the microelectronic control unit through the mirror channel to generate a second data packet capture format file;

[0158] The text format file, the first packet capture format file and the second packet capture format file are combined to generate the parsable file.

[0159] Further, the step of determining the forwarding routing table according to the resolvable file includes:

[0160] Read the parsable file and determine the data processing process node corresponding to the parsable file;

[0161] Based on the data processing process node, a forwarding routing table is determined.

[0162] Furthermore, the step of injecting the network message back into the vehicle control operating system basic software includes:

[0163] The network message is fed back from the data processing process node to the running node of the vehicle control operating system basic software.

[0164] Furthermore, the data processing process node includes an output processing node, and the step of injecting the network message from the data processing process node back to the running node of the vehicle control operating system basic software includes:

[0165] The network message is fed back from the output processing node to the running node of the vehicle control operating system basic software.

[0166] Furthermore, the data processing process node further includes a process processing node, and the step of injecting the network message from the data processing process node back to the running node of the vehicle control operating system basic software further includes:

[0167] The network message is sequentially fed back to the process processing node, the output processing node and the running node of the vehicle control operating system basic software.

[0168] Furthermore, the data processing process node further includes an input processing node, and the step of injecting the network message from the data processing process node back to the running node of the vehicle control operating system basic software further includes:

[0169] The network message is sequentially fed back to the input processing node, the process processing node, the output processing node and the running node of the vehicle control operating system basic software.

[0170] Furthermore, the system on chip is pre-installed with a first debugging tool. After the step of injecting the network message back to the vehicle control operating system basic software based on the forwarding routing table, the method further includes:

[0171] Sending a first debugging data grabbing command to the system on chip, wherein the system on chip is used to start the first debugging tool in response to the first debugging data grabbing command;

[0172] Receiving task scheduling monitoring data collected by the first debugging tool;

[0173] Generate a flame graph file based on the task scheduling monitoring data.

[0174] Furthermore, the microelectronic control unit is pre-installed with a second debugging tool, and the method further includes:

[0175] Sending a second debugging data capture command to the microelectronic control unit, wherein the microelectronic control unit is used to start the second debugging tool in response to the second debugging capture command;

[0176] receiving target running time data collected by the second debugging tool;

[0177] Combine the task scheduling monitoring data and the target runtime data to generate joint scheduling curve data.

[0178] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the processor.

[0179] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0180] Reference Fig.12The embodiment of the present invention further provides a computer-readable storage medium 1201, on which a computer program is stored. When the computer program is executed by a processor, the vehicle data processing method as described in any one of the embodiments of the present invention is executed.

[0181] The vehicle data processing method is applied to an on-board debugging industrial computer, wherein the on-board debugging industrial computer is connected to an on-board intelligent driving host through a communication soft gateway, a bridge channel and a mirror channel, and the method comprises:

[0182] Through the communication soft gateway, the bridge channel and the mirror channel, data is collected for the vehicle control operating system basic software of the vehicle-mounted intelligent driving host to generate a parsable file;

[0183] Determining a forwarding routing table according to the resolvable file;

[0184] Parsing the parseable file to generate a network message;

[0185] Based on the forwarding routing table, the network message is fed back to the vehicle control operating system basic software.

[0186] Further, the on-board debugging industrial computer is connected to the system-on-chip of the on-board intelligent driving host through the communication soft gateway, connected to the sensor of the on-board intelligent driving host through the bridge channel, and connected to the microelectronic control unit of the on-board intelligent driving host through the mirror channel, and the vehicle control operating system basic software is deployed on the system-on-chip, the sensor and the microelectronic control unit; the step of collecting data for the vehicle control operating system basic software of the on-board intelligent driving host through the communication soft gateway, the bridge channel and the mirror channel to generate a parsable file includes:

[0187] The data of the system on chip is collected and packaged through the communication soft gateway to generate a text format file;

[0188] Collecting and packaging the data of the sensor through the bridge channel to generate a first data packet capture format file;

[0189] Collecting and packaging the data of the microelectronic control unit through the mirror channel to generate a second data packet capture format file;

[0190] The text format file, the first packet capture format file and the second packet capture format file are combined to generate the parsable file.

[0191] Further, the step of determining the forwarding routing table according to the resolvable file includes:

[0192] Read the parseable file and determine the data processing process node corresponding to the parseable file;

[0193] Based on the data processing process node, a forwarding routing table is determined.

[0194] Furthermore, the step of injecting the network message back into the vehicle control operating system basic software includes:

[0195] The network message is fed back from the data processing process node to the running node of the vehicle control operating system basic software.

[0196] Furthermore, the data processing process node includes an output processing node, and the step of injecting the network message from the data processing process node back to the running node of the vehicle control operating system basic software includes:

[0197] The network message is fed back from the output processing node to the running node of the vehicle control operating system basic software.

[0198] Furthermore, the data processing process node further includes a process processing node, and the step of injecting the network message from the data processing process node back to the running node of the vehicle control operating system basic software further includes:

[0199] The network message is sequentially fed back to the process processing node, the output processing node and the running node of the vehicle control operating system basic software.

[0200] Furthermore, the data processing process node further includes an input processing node, and the step of injecting the network message from the data processing process node back to the running node of the vehicle control operating system basic software further includes:

[0201] The network message is sequentially fed back to the input processing node, the process processing node, the output processing node and the running node of the vehicle control operating system basic software.

[0202] Furthermore, the system on chip is pre-installed with a first debugging tool. After the step of injecting the network message back to the vehicle control operating system basic software based on the forwarding routing table, the method further includes:

[0203] Sending a first debugging data grabbing command to the system on chip, wherein the system on chip is used to start the first debugging tool in response to the first debugging data grabbing command;

[0204] Receiving task scheduling monitoring data collected by the first debugging tool;

[0205] Generate a flame graph file based on the task scheduling monitoring data.

[0206] Furthermore, the microelectronic control unit is pre-installed with a second debugging tool, and the method further includes:

[0207] Sending a second debugging data capture command to the microelectronic control unit, wherein the microelectronic control unit is used to start the second debugging tool in response to the second debugging capture command;

[0208] receiving target running time data collected by the second debugging tool;

[0209] The task scheduling monitoring data and the target runtime data are combined to generate a joint scheduling curve number.

[0210] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0211] It will be appreciated by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0212] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0213] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0214] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0215] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A vehicle data processing method, characterized in that: Applied to an on-board debugging industrial computer, the on-board debugging industrial computer is connected to an on-board intelligent driving host through a communication soft gateway, a bridge channel and a mirror channel, and the method includes: Through the communication soft gateway, the bridge channel and the mirror channel, data is collected for the vehicle control operating system basic software of the vehicle-mounted intelligent driving host to generate a parsable file; Determining a forwarding routing table according to the resolvable file; Parsing the parseable file to generate a network message; Based on the forwarding routing table, the network message is fed back to the vehicle control operating system basic software.

2. The method according to claim 1, characterized in that The on-board debugging industrial computer is connected to the system-on-chip of the on-board intelligent driving host through the communication soft gateway, connected to the sensor of the on-board intelligent driving host through the bridge channel, and connected to the microelectronic control unit of the on-board intelligent driving host through the mirror channel. The vehicle control operating system basic software is deployed on the system-on-chip, the sensor and the microelectronic control unit; the step of collecting data for the vehicle control operating system basic software of the on-board intelligent driving host through the communication soft gateway, the bridge channel and the mirror channel to generate a parsable file includes: The data of the system on chip is collected and packaged through the communication soft gateway to generate a text format file; Collecting and packaging the data of the sensor through the bridge channel to generate a first data packet capture format file; Collecting and packaging the data of the microelectronic control unit through the mirror channel to generate a second data packet capture format file; The text format file, the first packet capture format file and the second packet capture format file are combined to generate the parsable file.

3. The method according to claim 1, characterized in that The step of determining the forwarding routing table according to the resolvable file comprises: Read the parseable file and determine the data processing process node corresponding to the parseable file; Based on the data processing process node, a forwarding routing table is determined.

4. The method according to claim 3, characterized in that The step of injecting the network message back into the vehicle control operating system basic software includes: The network message is fed back from the data processing process node to the running node of the vehicle control operating system basic software.

5. The method according to claim 4, characterized in that The data processing process node includes an output processing node, and the step of injecting the network message from the data processing process node back to the running node of the vehicle control operating system basic software includes: The network message is fed back from the output processing node to the running node of the vehicle control operating system basic software.

6. The method according to claim 5, characterized in that The data processing process node also includes a process processing node, and the step of injecting the network message from the data processing process node back to the running node of the vehicle control operating system basic software also includes: The network message is sequentially fed back to the process processing node, the output processing node and the running node of the vehicle control operating system basic software.

7. The method according to claim 6, characterized in that The data processing process node also includes an input processing node, and the step of injecting the network message from the data processing process node back to the running node of the vehicle control operating system basic software also includes: The network message is sequentially fed back to the input processing node, the process processing node, the output processing node and the running node of the vehicle control operating system basic software.

8. The method according to claim 2, characterized in that: The system on chip is pre-installed with a first debugging tool. After the step of injecting the network message back to the vehicle control operating system basic software based on the forwarding routing table, the method further includes: Sending a first debugging data grabbing command to the system on chip, wherein the system on chip is used to start the first debugging tool in response to the first debugging data grabbing command; Receiving task scheduling monitoring data collected by the first debugging tool; Generate a flame graph file based on the task scheduling monitoring data.

9. The method according to claim 8, characterized in that The microelectronic control unit is pre-installed with a second debugging tool, and the method further includes: Sending a second debugging data capture command to the microelectronic control unit, wherein the microelectronic control unit is used to start the second debugging tool in response to the second debugging capture command; receiving target running time data collected by the second debugging tool; Combine the task scheduling monitoring data and the target runtime data to generate joint scheduling curve data.

10. A vehicle data processing device, characterized in that: Applied to the vehicle-mounted debugging industrial computer, the vehicle-mounted debugging industrial computer is connected to the vehicle-mounted intelligent driving host through a communication soft gateway, a bridge channel and a mirror channel. The device includes: A collection module, used to collect data from the vehicle control operating system basic software of the vehicle-mounted intelligent driving host through the communication soft gateway, the bridge channel and the mirror channel, and generate a parsable file; A routing determination module, used to determine a forwarding routing table according to the resolvable file; A parsing module, used for parsing the parseable file to generate a network message; A re-injection module is used to re-inject the network message into the vehicle control operating system basic software based on the forwarding routing table.

11. A vehicle, characterized in that: The vehicle data processing method comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the steps of the vehicle data processing method according to any one of claims 1 to 9 when executed by the processor.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle data processing method according to any one of claims 1 to 9 are implemented.

Images