A vehicle data processing method, apparatus, vehicle, and storage medium

Abstract

This invention relates to a vehicle data processing method, apparatus, vehicle, and storage medium. The method includes collecting data from the basic software of the vehicle control operating system of an in-vehicle intelligent driving host via a communication soft gateway, bridging channel, and mirroring channel to generate a parsable file; determining a forwarding routing table based on the parsable file; parsing the parsable file to generate network packets; and feeding the network packets back to the basic software of the vehicle control operating system based on the forwarding routing table. By collecting data on the operation of the basic software of the vehicle control operating system of the in-vehicle intelligent driving host, operational monitoring is achieved, and a parsable file is generated to facilitate data backflow. Then, based on the forwarding routing table, the data is fed back to the basic software of the vehicle control operating system, thereby enabling comprehensive offline debugging of the basic software of the vehicle control operating system, improving the comprehensiveness and accuracy of debugging.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology for vehicles, specifically to a vehicle data processing method, a vehicle data processing device, a vehicle, and a computer-readable storage medium. Background Technology

[0002] With the widespread adoption of intelligent driving and assisted driving systems, the stable operation of driving control systems is paramount to ensuring driving safety. However, current technologies primarily focus on monitoring and debugging the performance of the operating system itself, neglecting methods for monitoring and debugging vehicle control operating system software in intelligent driving scenarios. There is a lack of technical solutions for data acquisition, backfeeding, and debugging of vehicle control operating system software. Summary of the Invention

[0003] One objective of this invention is to provide a vehicle data processing method to solve the problems of monitoring and data backfeeding of the basic software of the vehicle control operating system in the prior art; a second objective is to provide a vehicle data processing device; a third objective is to provide a vehicle; and a fourth objective is to provide a computer-readable storage medium.

[0004] To achieve the above objectives, 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 control computer, wherein the on-board debugging industrial control computer is connected to an on-board intelligent driving host through a communication soft gateway, a bridging channel, and a mirror channel, and the method includes:

[0006] Data is collected from the vehicle control operating system basic software of the in-vehicle intelligent driving host through the communication soft gateway, the bridging channel and the mirror channel, and a parseable file is generated.

[0007] The forwarding routing table is determined based on the resolvable file;

[0008] The parsable file is parsed to generate network packets;

[0009] Based on the forwarding routing table, the network packets are fed back to the vehicle control operating system's basic software.

[0010] Furthermore, the vehicle-mounted debugging industrial control computer is connected to the on-chip system of the vehicle-mounted intelligent driving host through the communication soft gateway, connected to the sensors of the vehicle-mounted intelligent driving host through the bridging channel, and connected to the microelectronic control unit of the vehicle-mounted intelligent driving host through the mirror channel. The basic software of the vehicle control operating system is deployed on the on-chip system, the sensors, and the microelectronic control unit. The step of collecting data from the basic software of the vehicle control operating system of the vehicle-mounted intelligent driving host through the communication soft gateway, the bridging channel, and the mirror channel to generate a parseable file includes:

[0011] The communication soft gateway collects and packages the data from the on-chip system, generating a text format file.

[0012] The data from the sensor is collected and packaged through the bridging channel to generate a first data packet capture format file;

[0013] The data from the microelectronic control unit is collected and packaged through the mirror channel to generate a second data packet capture format file;

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

[0015] Furthermore, the step of determining the forwarding routing table based on the resolvable file includes:

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

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

[0018] Furthermore, the step of feeding the network packets back to the vehicle control operating system's basic software includes:

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

[0020] Furthermore, the data processing node includes an output processing node, and the step of feeding the network packets back from the data processing node to the runtime node of the vehicle control operating system basic software includes:

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

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

[0023] The network packets are 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 node further includes an input processing node, and the step of feeding the network packets back from the data processing node to the runtime node of the vehicle control operating system basic software further includes:

[0025] The network packets are 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 on-chip system is pre-installed with a first debugging tool. After the step of feeding the network packets back to the vehicle control operating system basic software based on the forwarding routing table, the method further includes:

[0027] A first debug data capture command is sent to the system-on-chip, and the system-on-chip is used to respond to the first debug data capture command to start the first debug tool;

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

[0029] Based on the task scheduling and monitoring data, a flame graph file is generated.

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

[0031] A second debug data capture command is sent to the microelectronic control unit, and the microelectronic control unit is used to respond to the second debug capture command to start the second debug tool;

[0032] Receive the target runtime data collected by the second debugging tool;

[0033] By combining the task scheduling monitoring data and the target runtime data, joint scheduling curve data is generated.

[0034] A vehicle data processing device is applied to an on-board debugging industrial control computer, wherein the on-board debugging industrial control computer is connected to an on-board intelligent driving host via a communication soft gateway, a bridging channel, and a mirror channel. The device includes:

[0035] The data acquisition module is used to acquire data from the vehicle control operating system basic software of the in-vehicle intelligent driving host through the communication soft gateway, the bridging channel and the mirror channel, and generate a parseable file.

[0036] The routing determination module is used to determine a forwarding routing table based on the resolvable file;

[0037] The parsing module is used to parse the parsable file and generate network packets;

[0038] The feedback module is used to feed back the network packets to the vehicle control operating system basic software based on the forwarding routing table.

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

[0040] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the vehicle data processing method described above.

[0041] The beneficial effects of this invention are:

[0042] (1) Data collection is performed on the operation of the vehicle control operating system basic software of the vehicle intelligent driving host through communication soft gateway, bridging channel and mirror channel to realize operation monitoring of the vehicle control operating system basic software, which facilitates the analysis of software faults and potential risks.

[0043] (2) Generate parsable files from the collected vehicle control operating system basic software, which can be directly parsed and forwarded in the future, facilitating data backfeeding and improving the efficiency of backfeeding.

[0044] (3) Based on the forwarding routing table, the data is fed back to the basic software of the vehicle control operating system, thereby realizing the data feedback of the basic software of the vehicle control operating system. Comprehensive offline debugging of the basic software of the vehicle control operating system can be carried out, improving the comprehensiveness and accuracy of the debugging. Attached Figure Description

[0045] Figure 1 This is a flowchart illustrating the steps of an embodiment of the vehicle data processing method of the present invention;

[0046] Figure 2 This is a schematic diagram of the hardware architecture of an in-vehicle intelligent driving host according to an embodiment of the vehicle data processing method of the present invention.

[0047] Figure 3 This is a flowchart illustrating the steps of another embodiment of the vehicle data processing method of the present invention;

[0048] Figure 4 This is a schematic diagram of the hardware connection relationship of another embodiment of the vehicle data processing method of the present invention;

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

[0050] Figure 6 A data acquisition block diagram of a vehicle-mounted host operating system's basic software.

[0051] Figure 7 A schematic diagram of a monitoring and debugging center node framework for the basic software of an in-vehicle host operating system.

[0052] Figure 8 This is a schematic diagram of data backfeeding;

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

[0054] Figure 10 This is a structural block diagram of an embodiment of a vehicle data processing device according to the present invention;

[0055] Figure 11 This is a schematic diagram of a processor and storage medium according to a vehicle embodiment of the present invention;

[0056] Figure 12 This is a schematic diagram of an embodiment of a computer-readable storage medium according to the present invention. Detailed Implementation

[0057] The embodiments of the present invention will be described below 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 content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed 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 and 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 representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0059] Reference Figure 1This diagram illustrates a flowchart of an embodiment of a vehicle data processing method according to the present invention. The vehicle data processing method is applied to an onboard debugging industrial control computer, which is connected to an onboard intelligent driving host via a communication soft gateway, a bridging channel, and a mirror channel. The onboard debugging industrial control computer is a dedicated computer device installed inside the vehicle for debugging, monitoring, and controlling the operating status of various vehicle systems and components. The communication soft gateway is a software program running on the vehicle control operating system to implement gateway functions. The bridging channel is a communication channel connecting the onboard debugging industrial control computer and the onboard intelligent driving host via bridging technology. The mirror channel is a communication channel between the onboard debugging industrial control computer and the onboard intelligent driving host for data packet copying and monitoring. The onboard debugging industrial control computer is connected to the onboard intelligent driving host via the communication soft gateway, bridging channel, and mirror channel. See also... Figure 2 The architecture of the in-vehicle intelligent driving host is mainly divided into a hardware platform (defined as L0 layer), an intelligent driving vehicle control operating system (defined as L1 layer, also known as a generalized operating system), and intelligent driving application software (defined as L2 layer). The L1 layer intelligent driving vehicle control operating system software mainly includes system software (also known as a narrowly defined operating system) and functional software, which run on multiple chips. The data involved mainly includes: (1) input data: vehicle and sensor data, etc.; (2) output data: data processed by the L1 layer software and output to the L2 layer software; (3) process data: data on the running status and processing of the L1 layer software, such as operating system status data, fault diagnosis data, cross-chip interaction data, etc. The basic software of the vehicle control operating system 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: Data is collected from the vehicle control operating system basic software of the in-vehicle intelligent driving host through the communication soft gateway, the bridging channel and the mirror channel to generate a parseable file;

[0062] The communication software gateway, bridging channel, and mirroring channel can be used to collect different content from the vehicle control operating system's basic software of the in-vehicle intelligent driving host. This includes vehicle sensor data, basic software application data, operating system data, hardware status data, diagnostic faults, functional safety faults, logs, and other information. Appropriate plugins are used to collect this data, package it into a unified format, and generate a parsable file. The parsable file is a format that can be recognized and parsed by network or computer devices. The parsable file can be in PCP (Packet Packet Capture File Format) or DAT (Data) format, etc.

[0063] Step 102: Determine the forwarding routing table based on the resolvable file;

[0064] Based on the content of the parsable file, determine the corresponding forwarding routing table when routing through the gateway.

[0065] Step 103: Parse the parsable file to generate network packets;

[0066] It can also parse parsable files to generate network packets, which are communication network packets, such as Ethernet network packets.

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

[0068] Then, based on the forwarding routing table, the network packets are fed back to the vehicle control operating system's basic software level by level for corresponding debugging.

[0069] This invention, through a communication soft gateway, bridging channel, and mirror channel, collects data from the basic software of the vehicle control operating system of the in-vehicle intelligent driving host, generating a parsable file; determines a forwarding routing table based on the parsable file; parses the parsable file to generate network packets; and, based on the forwarding routing table, feeds the network packets back to the basic software of the vehicle control operating system. By collecting data on the operation of the basic software of the in-vehicle intelligent driving host through the communication soft gateway, bridging channel, and mirror channel, the invention achieves operational monitoring of the basic software, facilitating the analysis of software faults and potential risks. By generating a parsable file from the collected basic software data, subsequent parsing and forwarding can be directly performed, facilitating data backfeeding and improving backfeeding efficiency. Based on the forwarding routing table, data is fed back to the basic software of the vehicle control operating system, thereby enabling data backfeeding of the basic software of the vehicle control operating system. This allows for comprehensive offline debugging of the basic software of the vehicle control operating system, improving the comprehensiveness and accuracy of debugging.

[0070] Reference Figure 3 This diagram illustrates a flowchart of another embodiment of the vehicle data processing method of the present invention. The vehicle data processing method is applied to an on-board debugging industrial control computer, which is connected to an on-board intelligent driving host via a communication soft gateway, a bridging channel, and a mirror channel. Specifically, the on-board debugging industrial control computer is connected to the system-on-a-chip (SoC) of the on-board intelligent driving host via the communication soft gateway, connected to the sensors of the on-board intelligent driving host via the bridging channel, and connected to the microelectronic control unit of the on-board intelligent driving host via the mirror channel. The basic software of the vehicle control operating system is deployed on the SoC, the sensors, and the microelectronic control unit.

[0071] You can refer to Figure 4The vehicle-mounted intelligent driving host mainly consists of a SOC (System on Chip) chip and an MCU (Microcontroller Unit) chip, which carries the intelligent driving software and communicates through an Ethernet switch. (1) The SOC bridges the network port connected to the Ethernet switch and the network port connected to the vehicle monitoring industrial control computer so that the vehicle monitoring industrial control computer can directly collect the data exchanged between the SOC and the Ethernet switch. (2) The Ethernet switch mirrors the interface connected to the MCU and connects it to the vehicle monitoring industrial control computer so that the monitoring industrial control computer can directly collect the data exchanged between the MCU and the Ethernet switch. (3) The vehicle-mounted intelligent driving host interacts with the vehicle cockpit host through the Ethernet switch. The vehicle cockpit host can transmit data to the cloud through MQTT (Message Queuing Telemetry Transport).

[0072] For information on the functions of the vehicle-mounted debugging industrial control computer, please refer to... Figure 5 (1) Monitoring functions: Hardware status monitoring can display hardware information such as power supply, temperature, communication status, and offline 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, and thread information. Platform status monitoring can display platform information such as power mode, network status, software version information, time synchronization status, running mode, and service 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 backfilling functions can display input data such as sensor raw data and vehicle data, process data of interaction between various APPs during the basic software platform processing, and output data after processing, and record the data into dat and pcap format files for backfilling during offline software debugging. (2) Debugging functions mainly include DEBUG debugging of APP (application), special debugging to check for memory leaks, high CPU usage, etc., system scheduling task orchestration and monitoring debugging, cross-SOC and MCU multi-chip function debugging, etc.

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

[0074] Step 301: Data is collected from the vehicle control operating system basic software of the in-vehicle intelligent driving host through the communication soft gateway, the bridging channel and the mirror channel to generate a parseable file;

[0075] The system can collect data from different parts of the vehicle control operating system's basic software of the in-vehicle intelligent driving host through communication soft gateways, bridging channels, and mirror channels. The data is then uniformly packaged into parsable files in pacp or dat format by the framework.

[0076] Furthermore, the step of collecting data from the vehicle control operating system basic software of the in-vehicle intelligent driving host through the communication soft gateway, the bridging channel, and the mirror channel to generate a parsable file includes: collecting and packaging the data of the on-chip system through the communication soft gateway to generate a text format file; collecting and packaging the data of the sensors through the bridging 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; and combining the text format file, the first data packet capture format file, and the second data packet capture format file to generate the parsable file.

[0077] Data from the on-chip system can be acquired and packaged via a communication soft gateway to generate a text file; the text file can be a DAT file. Sensor data can then be acquired and packaged via a bridging channel to generate a first data packet capture format file. This first data packet capture format file is a pcap file generated from the acquired and packaged sensor data. Correspondingly, data from the microelectronic control unit can be acquired and packaged via a mirror channel to generate a second data packet capture format file; this second data packet capture format file is also a pcap file. Finally, the text file, the first data packet capture format file, and the second data packet capture format file are combined to form a parsable file.

[0078] For example, you can refer to Figure 6The 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 visualization 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 easy offline backfilling. (2) Sensor information is directly transmitted to the visualization monitoring & debugging software through the bridging channel. (3) Monitoring information on the MCU side is directly transmitted to the visualization 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 "sensor xx_year%_month%_day%_hour%_minute%_second%.pcap" for easy offline backfilling. Among them, the monitoring information collected on the vehicle cockpit host is a subset of the monitoring information collected on the vehicle debugging industrial control computer. The visual monitoring and debugging software distributes monitoring configurations via a communication channel, and the monitoring and debugging center node selects the modules that need to be monitored. The framework for the vehicle-mounted host operating system's basic software monitoring and debugging center node can be referenced from [reference needed]. Figure 7The system mainly consists of four parts: input plugins, where the central node is designed as a plugin to access data. For example, the input plugin _SHM can access data via shared memory; the input plugin _TCP can access data via TCP communication; the input plugin _CPU can directly call the system interface to obtain CPU information; and the input plugin _DTC can directly subscribe to fault DTCs issued by the diagnostic module. Input plugins support dynamic configuration and can be extended according to standard templates. For debugging commands issued by the visualization monitoring & debugging software, the TCP module can input them, process them, and then output them to the corresponding debugging tools to perform debugging actions. Configuration files can be statically configured during initialization or dynamically modified by the visualization monitoring & debugging software. These files mainly include a list of input plugins, output plugin configurations, and output plugins followed by input plugins, indicating the routing relationship from input to output. The Framework general processing part is responsible for implementing general processing functions such as plugin data routing and unified format packaging. Configuration parsing and command interaction are responsible for implementing command-line interaction and parsing configuration files. Plugin management is responsible for unified management of registration, running, and exiting. Operating Modes: Responsible for implementing and switching operating modes, including debug mode, periodic mode, and real-time mode. Output Plugins: The central node outputs data externally using a plugin design. For example, output plugin _DB outputs formatted data to the database DB; output plugins _TCP and _DDS output formatted data to the visualization software on the vehicle cockpit host and the vehicle monitoring and debugging industrial control computer; output plugin _FILE outputs formatted data to a file for saving. Each output plugin can be statically or dynamically configured according to configuration files and can be extended according to the standard templates 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 input plugins such as CPU, MEM, TCP, SHM, UXSOCK, and DTC on the monitoring & debugging central node. This data is then uniformly packaged into PCP or DAT format data files via the framework and sent to the vehicle monitoring industrial control computer or vehicle cockpit host via the communication gateway using output plugins such as TCP and DDS. The monitoring & debugging visualization software then displays, stores, and replays the data. The monitoring and debugging center node is designed with input plugins such as CPU, MEM, TCP, and SHM, and output plugins such as TCP, DDS, and FILE. It collects one type of data through one input plugin and defines one or more output plugins through configuration files, corresponding to one or more communication methods to transmit data outside the board or save data to the board, so as to output data.

[0079] Step 302: Determine the forwarding routing table based on the resolvable file;

[0080] The forwarding routing table can be determined based on the data type in the parsable file.

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

[0082] First, the readable and parsable file is read to determine the data processing nodes corresponding to the data contained within it. These data processing nodes represent the stage in the business process flow where the data was generated. Examples include nodes in the data input stage, data calculation stage, and data output stage. Based on these data processing nodes, the target location to which the data needs to be routed is determined, and a forwarding routing table is established.

[0083] Step 303: Parse the parsable file to generate network packets;

[0084] The resolvable files are parsed and converted into network packets according to the communication requirements of the corresponding communication network. For example, the resolvable files "sensor xx_year%_month%_day%_hour%_minute%_second%.pcap" and "output / process data xx_year%_month%_day%_hour%_minute%_second%.dat" are parsed and converted into Ethernet packets.

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

[0086] The routing configuration table in the communication software gateway contains a topic and a corresponding forwarding path of "topic: data -> app". Based on this forwarding path, the data is sent to the app inside the L1 layer operating system software. The app then runs and processes the data again to debug whether the app's operation meets the design expectations. This achieves backfeeding and realizes the purpose of offline comprehensive debugging of the L1 layer software.

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

[0088] Network packets can be fed back from different data processing nodes until they are fed back to the running node of the vehicle control operating system's basic software, thereby achieving the purpose of comprehensive debugging.

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

[0090] The output processing node indicates 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 simply by feeding the network packets back from the output processing node to the running node of the vehicle control operating system's basic software.

[0091] Specifically, the data processing process node further includes a process processing node, and the step of feeding the network packets back from the data processing process node to the running node of the vehicle control operating system basic software further includes: feeding the network packets 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 data is in data processing. The next stage requires output processing. Network packets can be sequentially fed back to the process processing node, the output processing node, and the running node of the vehicle control operating system basic software, thereby achieving the purpose of comprehensive debugging.

[0093] Specifically, the data processing process node further includes an input processing node, and the step of feeding the network packets back from the data processing process node to the running node of the vehicle control operating system basic software further includes: feeding the network packets 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] Input processing nodes represent the data input stage, which requires subsequent data processing and output processing. Network packets can be sequentially fed back to input processing nodes, process processing nodes, output processing nodes, and the runtime nodes of the vehicle control operating system's basic software, thereby achieving the purpose of comprehensive debugging.

[0095] For example, regarding data backfeeding, you can refer to... Figure 8The monitoring module parses the collected and saved files, "sensor xx_year%_month%_day%_hour%_minute%_second%.pcap" and "output / process data xx_year%_month%_day%_hour%_minute%_second%.dat", into Ethernet packets. These packets are then fed back into the communication soft gateway in the vehicle's intelligent driving host via the feedback module. Simultaneously, a feedback data forwarding routing table is generated. The communication soft gateway then feeds back the external Ethernet packet data through shared memory, following the routing table paths, to the various applications (APPs) within the operating system's basic software. The data processing in the basic software follows the sequence: input processing (APP1) -> process processing (APP2) -> output processing (APP3), defining three feedback methods:

[0096] (1) Three-level backfilling: after parsing the original sensor data and vehicle data in the pcap file, the data is routed through the routing table, such as: "topic1: sensor1 data -> APP1" to APP1, and the entire software processing process of APP1 -> APP2 -> APP3 -> intelligent driving business software is debugged.

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

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

[0099] Step 305: Send a first debug data capture command to the system on-chip, and the system on-chip is used to respond to the first debug data capture command to start the first debug tool;

[0100] In addition, during vehicle production, debugging tools are pre-installed on the in-vehicle intelligent driving host. The debugging tools are set to be off by default. When the vehicle control operating system malfunctions and needs to locate the problem or perform special debugging, the corresponding debugging tools are activated for processing.

[0101] The system-on-chip (SoC) has a pre-installed first debugging tool. This first debugging tool is the pre-installed debugging tool on the SoC.

[0102] A first debug data capture command can be sent to the on-chip system, which is the command to activate the first debug tool. Upon receiving the first debug data capture command, the on-chip system activates the first debug tool, which then captures various data collected during debugging after data re-feedback. This data may include task scheduling monitoring data, which records the task scheduling status.

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

[0104] It can receive task scheduling and monitoring data collected by the first debugging tool.

[0105] Step 307: Generate a flame graph file based on the task scheduling and monitoring data;

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

[0107] Step 308: Send a second debug data capture command to the microelectronic control unit, and the microelectronic control unit is used to respond to the second debug capture command to start the second debug tool;

[0108] Accordingly, a second debugging tool is pre-installed on the microelectronic control unit. This second debugging tool is the pre-installed debugging tool on the microelectronic control unit.

[0109] A second debug data capture command can be sent to the microelectronic control unit (MCU), which is the command to activate the second debug tool. Upon receiving the second debug data capture command, the MCU activates the second debug tool, which captures various data collected during debugging after data refeedback. This data may include the target runtime data for each task. The target runtime data refers to the runtime of a specific task being monitored.

[0110] Step 309: Receive the target runtime data collected by the second debugging tool;

[0111] Receive target runtime data collected by the second debugging tool 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, you can refer to Figure 9 For projects such as APP debugging, special debugging, scheduling debugging, and joint debugging, configure the command set, select the corresponding debugging mode, and send the command set to the SOC and MCU via Ethernet respectively. Open the default pre-built debugging tools on the SOC and MCU. You can use the GDB tool to debug the specified application, and use the pre-built perf and trace tools to capture data and generate flame graphs. You can use tools such as valgrind to analyze memory problems, and use tools such as strace to collect the scheduling status of multi-core operating system tasks on the SOC side. Use the tools on the MCU to collect the task runtime, generate joint scheduling curves on the monitoring industrial control computer, and dynamically jointly debug the cross-chip functions of the SOC and MCU.

[0115] This invention provides numerous conveniences through simulation and debugging of the stable operation of the basic software of the vehicle-mounted intelligent driving host operating system. It enables comprehensive offline debugging of various modules within the vehicle control operating system, which is of great significance. Furthermore, it facilitates the development of reliable and efficient software by starting from the overall basic software layer of the operating system and performing cross-chip functional debugging.

[0116] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0117] Reference Figure 10 The diagram illustrates a structural block diagram of an embodiment of a vehicle data processing device according to the present invention. The vehicle data processing device is applied to an on-board debugging industrial control computer, which is connected to an on-board intelligent driving host via a communication soft gateway, a bridging channel, and a mirror channel. Specifically, the vehicle data processing device may include the following modules:

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

[0119] The routing determination module 1002 is used to determine a forwarding routing table based on the resolvable file;

[0120] Parsing module 1003 is used to parse the parsable file and generate network packets;

[0121] The feedback module 1004 is used to feed back the network packets to the vehicle control operating system basic software based on the forwarding routing table.

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

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

[0124] The second acquisition submodule is used to acquire and package the data from the sensor through the bridging channel to generate a first data packet capture format file;

[0125] The third acquisition submodule is used to acquire and package the data of the microelectronic control unit through the mirror channel to generate a second data packet capture format file;

[0126] The combined 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 route determination module 1002 includes:

[0128] The reading submodule is used to read the parsable file and determine the data processing node corresponding to the parsable file;

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

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

[0131] The feedback submodule is used to feed back the network packets from the data processing 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 feedback submodule includes:

[0133] The first feedback unit is used to feed back the network packets 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 feedback submodule further includes:

[0135] The second feedback unit is used to feed back the network packets sequentially 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 node further includes an input processing node, and the feedback submodule further includes:

[0137] The third feedback unit is used to feed back the network packets sequentially 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 on-chip system is pre-configured with a first debugging tool, and the device further includes:

[0139] The first command sending module is used to send a first debug data capture command to the system on chip, and the system on chip is used to respond to the first debug data capture command to start the first debug tool;

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

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

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

[0143] The second command sending module is used to send a second debugging data capture command to the microelectronic control unit, and the microelectronic control unit is used to respond to the second debugging capture command to start the second debugging tool;

[0144] The second receiving module is used to receive the target runtime data collected by the second debugging tool;

[0145] The second visualization module is used to combine the task scheduling monitoring data and the target runtime data to generate joint scheduling curve data.

[0146] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0147] Reference Figure 11 This invention also provides a vehicle, comprising:

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

[0149] The vehicle data processing method is applied to an on-board debugging industrial control computer, which is connected to the on-board intelligent driving host via a communication soft gateway, a bridging channel, and a mirror channel. The method includes:

[0150] Data is collected from the vehicle control operating system basic software of the in-vehicle intelligent driving host through the communication soft gateway, the bridging channel and the mirror channel, and a parseable file is generated.

[0151] The forwarding routing table is determined based on the resolvable file;

[0152] The parsable file is parsed to generate network packets;

[0153] Based on the forwarding routing table, the network packets are fed back to the vehicle control operating system's basic software.

[0154] Furthermore, the vehicle-mounted debugging industrial control computer is connected to the on-chip system of the vehicle-mounted intelligent driving host through the communication soft gateway, connected to the sensors of the vehicle-mounted intelligent driving host through the bridging channel, and connected to the microelectronic control unit of the vehicle-mounted intelligent driving host through the mirror channel. The basic software of the vehicle control operating system is deployed on the on-chip system, the sensors, and the microelectronic control unit. The step of collecting data from the basic software of the vehicle control operating system of the vehicle-mounted intelligent driving host through the communication soft gateway, the bridging channel, and the mirror channel to generate a parseable file includes:

[0155] The communication soft gateway collects and packages the data from the on-chip system, generating a text format file.

[0156] The data from the sensor is collected and packaged through the bridging channel to generate a first data packet capture format file;

[0157] The data from the microelectronic control unit is collected and packaged through the mirror channel to generate a second data packet capture format file;

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

[0159] Furthermore, the step of determining the forwarding routing table based on the resolvable file includes:

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

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

[0162] Furthermore, the step of feeding the network packets back to the vehicle control operating system's basic software includes:

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

[0164] Furthermore, the data processing node includes an output processing node, and the step of feeding the network packets back from the data processing node to the runtime node of the vehicle control operating system basic software includes:

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

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

[0167] The network packets are 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 node further includes an input processing node, and the step of feeding the network packets back from the data processing node to the runtime node of the vehicle control operating system basic software further includes:

[0169] The network packets are 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 on-chip system is pre-installed with a first debugging tool. After the step of feeding the network packets back to the vehicle control operating system basic software based on the forwarding routing table, the method further includes:

[0171] A first debug data capture command is sent to the system-on-chip, and the system-on-chip is used to respond to the first debug data capture command to start the first debug tool;

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

[0173] Based on the task scheduling and monitoring data, a flame graph file is generated.

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

[0175] A second debug data capture command is sent to the microelectronic control unit, and the microelectronic control unit is used to respond to the second debug capture command to start the second debug tool;

[0176] Receive the target runtime data collected by the second debugging tool;

[0177] By combining the task scheduling monitoring data and the target runtime data, joint scheduling curve data is generated.

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

[0179] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

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

[0181] The vehicle data processing method is applied to an on-board debugging industrial control computer, which is connected to the on-board intelligent driving host via a communication soft gateway, a bridging channel, and a mirror channel. The method includes:

[0182] Data is collected from the vehicle control operating system basic software of the in-vehicle intelligent driving host through the communication soft gateway, the bridging channel and the mirror channel, and a parseable file is generated.

[0183] The forwarding routing table is determined based on the resolvable file;

[0184] The parsable file is parsed to generate network packets;

[0185] Based on the forwarding routing table, the network packets are fed back to the vehicle control operating system's basic software.

[0186] Furthermore, the vehicle-mounted debugging industrial control computer is connected to the on-chip system of the vehicle-mounted intelligent driving host through the communication soft gateway, connected to the sensors of the vehicle-mounted intelligent driving host through the bridging channel, and connected to the microelectronic control unit of the vehicle-mounted intelligent driving host through the mirror channel. The basic software of the vehicle control operating system is deployed on the on-chip system, the sensors, and the microelectronic control unit. The step of collecting data from the basic software of the vehicle control operating system of the vehicle-mounted intelligent driving host through the communication soft gateway, the bridging channel, and the mirror channel to generate a parseable file includes:

[0187] The communication soft gateway collects and packages the data from the on-chip system, generating a text format file.

[0188] The data from the sensor is collected and packaged through the bridging channel to generate a first data packet capture format file;

[0189] The data from the microelectronic control unit is collected and packaged through the mirror channel to generate a second data packet capture format file;

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

[0191] Furthermore, the step of determining the forwarding routing table based on the resolvable file includes:

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

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

[0194] Furthermore, the step of feeding the network packets back to the vehicle control operating system's basic software includes:

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

[0196] Furthermore, the data processing node includes an output processing node, and the step of feeding the network packets back from the data processing node to the runtime node of the vehicle control operating system basic software includes:

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

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

[0199] The network packets are 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 node further includes an input processing node, and the step of feeding the network packets back from the data processing node to the runtime node of the vehicle control operating system basic software further includes:

[0201] The network packets are 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 on-chip system is pre-installed with a first debugging tool. After the step of feeding the network packets back to the vehicle control operating system basic software based on the forwarding routing table, the method further includes:

[0203] A first debug data capture command is sent to the system-on-chip, and the system-on-chip is used to respond to the first debug data capture command to start the first debug tool;

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

[0205] Based on the task scheduling and monitoring data, a flame graph file is generated.

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

[0207] A second debug data capture command is sent to the microelectronic control unit, and the microelectronic control unit is used to respond to the second debug capture command to start the second debug tool;

[0208] Receive the target runtime data collected by the second debugging tool;

[0209] By combining the task scheduling monitoring data and the target runtime data, a joint scheduling curve number is generated.

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

[0211] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products 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 code.

[0212] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0213] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The 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 equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0215] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

Claims

1. A vehicle data processing method, characterized in that, This is applied to an in-vehicle debugging industrial control computer. The in-vehicle debugging industrial control computer is connected to the in-vehicle intelligent driving host through a communication soft gateway, a bridging channel, and a mirror channel. The in-vehicle debugging industrial control computer is connected to the on-chip system of the in-vehicle intelligent driving host through the communication soft gateway, connected to the sensors of the in-vehicle intelligent driving host through the bridging channel, and connected to the microelectronic control unit of the in-vehicle intelligent driving host through the mirror channel. The basic software of the vehicle control operating system is deployed on the on-chip system, the sensors, and the microelectronic control unit. The on-chip system is pre-installed with a first debugging tool, and the method includes: Data is collected from the vehicle control operating system basic software of the in-vehicle intelligent driving host through the communication soft gateway, the bridging channel and the mirror channel, and a parseable file is generated. The forwarding routing table is determined based on the resolvable file; The parsable file is parsed to generate network packets; Based on the forwarding routing table, the network packets are fed back to the vehicle control operating system basic software; A first debug data capture command is sent to the system-on-chip, and the system-on-chip is used to respond to the first debug data capture command to start the first debug tool; Receive task scheduling and monitoring data collected by the first debugging tool; Based on the task scheduling and monitoring data, a flame graph file is generated; The step of collecting data from the vehicle control operating system's basic software of the in-vehicle intelligent driving host through the communication soft gateway, the bridging channel, and the mirror channel to generate a parsable file includes: collecting and packaging data from the on-chip system through the communication soft gateway to generate a text format file; collecting and packaging data from the sensors through the bridging channel to generate a first data packet capture format file; collecting and packaging data from the microelectronic control unit through the mirror channel to generate a second data packet capture format file; and combining the text format file, the first data packet capture format file, and the second data packet capture format file to generate the parsable file.

2. The method according to claim 1, characterized in that, The step of determining the forwarding routing table based on the resolvable file includes: Read the parsable file and determine the data processing node corresponding to the parsable file; Based on the data processing nodes, a forwarding routing table is determined.

3. The method according to claim 2, characterized in that, The step of feeding the network packets back to the vehicle control operating system basic software includes: The network packets are fed back from the data processing node to the running node of the vehicle control operating system basic software.

4. The method according to claim 3, characterized in that, The data processing node includes an output processing node, and the step of feeding the network packets back from the data processing node to the runtime node of the vehicle control operating system basic software includes: The network packets are fed back from the output processing 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 node further includes a process processing node, and the step of feeding the network packets back from the data processing node to the runtime node of the vehicle control operating system basic software further includes: The network packets are sequentially fed back to the process processing node, the output processing node, and the running node of the vehicle control operating system basic software.

6. The method according to claim 5, characterized in that, The data processing node further includes an input processing node, and the step of feeding the network packets back from the data processing node to the runtime node of the vehicle control operating system basic software further includes: The network packets are 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.

7. The method according to claim 1, characterized in that, The microelectronic control unit is pre-installed with a second debugging tool, and the method further includes: A second debug data capture command is sent to the microelectronic control unit, and the microelectronic control unit is used to respond to the second debug data capture command to start the second debug tool; Receive the target runtime data collected by the second debugging tool; By combining the task scheduling monitoring data and the target runtime data, joint scheduling curve data is generated.

8. A vehicle data processing device, characterized in that, This is applied to an in-vehicle debugging industrial control computer. The in-vehicle debugging industrial control computer is connected to the in-vehicle intelligent driving host through a communication soft gateway, a bridging channel, and a mirror channel. The in-vehicle debugging industrial control computer is connected to the on-chip system of the in-vehicle intelligent driving host through the communication soft gateway, connected to the sensors of the in-vehicle intelligent driving host through the bridging channel, and connected to the microelectronic control unit of the in-vehicle intelligent driving host through the mirror channel. The basic software of the vehicle control operating system is deployed on the on-chip system, the sensors, and the microelectronic control unit. The on-chip system is pre-installed with a first debugging tool, and the device includes: The data acquisition module is used to acquire data from the vehicle control operating system basic software of the in-vehicle intelligent driving host through the communication soft gateway, the bridging channel and the mirror channel, and generate a parseable file. The routing determination module is used to determine a forwarding routing table based on the resolvable file; The parsing module is used to parse the parsable file and generate network packets; The feedback module is used to feed back the network packets to the vehicle control operating system basic software based on the forwarding routing table; The first command sending module is used to send a first debug data capture command to the system on chip, and the system on chip is used to respond to the first debug data capture command to start the first debug tool; The first receiving module is used to receive task scheduling monitoring data collected by the first debugging tool; The first visualization module is used to generate a flame graph file based on the task scheduling and monitoring data; The acquisition module includes: The first acquisition submodule is used to acquire and package the data of the on-chip system through the communication soft gateway and generate a text format file; The second acquisition submodule is used to acquire and package the data from the sensor through the bridging channel to generate a first data packet capture format file; The third acquisition submodule is used to acquire and package the data of the microelectronic control unit through the mirror channel to generate a second data packet capture format file; The combined 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.

9. A vehicle, characterized in that, The system includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the vehicle data processing method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the vehicle data processing method as described in any one of claims 1 to 7.

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