Data processing system, method, device and equipment and storage medium

Abstract

The invention discloses a data processing system, method, device and equipment and a storage medium, and relates to the technical field of intelligent driving. The system comprises a data integration unit, and a sensor unit, a bus data acquisition unit and a data storage unit which are connected with the data integration unit, the data integration unit is used for sending a starting signal to at least one of the sensor unit and the bus data acquisition unit; the sensor unit is used for acquiring vehicle environment information under the condition that the starting signal sent by the data integration unit is received, and sending the vehicle environment information to the data integration unit; the bus data acquisition unit is used for acquiring vehicle state information under the condition that the starting signal sent by the data integration unit is received, and sending the vehicle state information to the data integration unit; and the data integration unit is used for sending at least one of the vehicle environment information and the vehicle state information to the data storage unit. The management efficiency of data acquisition can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of intelligent driving technology, and in particular to a data processing system, method, apparatus, device and storage medium. Background Art

[0002] With the improvement of computing power, the maturity of sensor technology and the development of artificial intelligence algorithms, intelligent driving is gradually moving from theory to market application.

[0003] Data collection is a complex and multi-dimensional process that aims to collect various types of data required for training, verifying and optimizing autonomous driving algorithms, such as raw information from sensors (such as cameras, lidar, millimeter-wave radar, etc.). In related technologies, each sensor module is often developed independently and then the data collected by each sensor module is fused offline.

[0004] However, although the solutions in the related art can reduce the difficulty of initial development, they affect the efficiency of data collection. Summary of the invention

[0005] The embodiments of the present application provide a data processing system, method, apparatus, device and storage medium, which can not only improve the working efficiency of data collection, but also improve the management efficiency of each collected data; the technical solution proposed in the present application is as follows:

[0006] According to one aspect of an embodiment of the present application, a data processing system is provided, the system comprising: a data integration unit, and a sensor unit, a bus data acquisition unit and a data storage unit connected to the data integration unit;

[0007] The data integration unit is used to send a start signal to at least one of the sensor unit and the bus data acquisition unit;

[0008] The sensor unit is used to obtain vehicle environment information and send the vehicle environment information to the data integration unit when receiving the start signal sent by the data integration unit; the vehicle environment information is used to indicate information about the environment in which the vehicle is located;

[0009] The bus data acquisition unit is used to obtain vehicle status information and send the vehicle status information to the data integration unit when receiving the start signal sent by the data integration unit; the vehicle status information is used to indicate the status of the vehicle itself;

[0010] The data integration unit is used to send at least one of the vehicle environment information and the vehicle status information to the data storage unit.

[0011] According to one aspect of an embodiment of the present application, a data processing method is provided, the method being executed by a data integration unit of a data processing system, the system further comprising a sensor unit, a bus data acquisition unit, and a data storage unit connected to the data integration unit, the method comprising:

[0012] Sending a start signal to at least one of the sensor unit and the bus data acquisition unit, so that the sensor unit acquires vehicle environment information when receiving the start signal and sends the vehicle environment information to the data integration unit; and the bus data acquisition unit acquires vehicle status information when receiving the start signal and sends the vehicle status information to the data integration unit; the vehicle environment information is used to indicate information about the environment in which the vehicle is located, and the vehicle status information is used to indicate information about the vehicle's own status;

[0013] At least one of the vehicle environment information and the vehicle status information is sent to the data storage unit.

[0014] In some embodiments, the sending of a start signal to at least one of the sensor unit and the bus data acquisition unit further comprises:

[0015] receiving a start instruction; the start instruction is used to instruct the start of at least one sub-unit in the sensor unit and the bus data acquisition unit;

[0016] Determine a to-be-activated list according to the activation instruction; the to-be-activated list includes at least one subunit that is activated as instructed by the activation instruction;

[0017] The activation signal is sent to at least one subunit in the to-be-activated list.

[0018] In some embodiments, the start instruction is also used to indicate a specified start condition of at least one subunit in the sensor unit and the bus data acquisition unit; the specified start condition includes at least one of the following: the location information of the vehicle meets the specified location condition and reaches a specified period;

[0019] The sending the start signal to at least one subunit in the to-be-started list includes:

[0020] When the specified start condition is met, the start signal is sent to at least one subunit in the to-be-started list.

[0021] In some embodiments, sending at least one of the vehicle environment information and the vehicle status information to the data storage unit includes:

[0022] Performing detection processing on at least one of the vehicle environment information and the vehicle status information;

[0023] When it is detected that at least one of the vehicle environment information and the vehicle status information meets a specified detection condition, at least one of the vehicle environment information and the vehicle status information is sent to the data storage unit.

[0024] In some embodiments, the vehicle environment information includes at least one of the following: image data, point cloud data;

[0025] The vehicle status information includes at least one of the following: vehicle status parameters, distance and relative speed of a long-distance measurement target, and distance of a short-distance measurement target;

[0026] The specified detection conditions include at least one of the following:

[0027] The difference between the timestamps corresponding to the image data and the point cloud data does not exceed a first specified threshold;

[0028] The repetition degree between the projected point cloud data and the object in the image data meets a first specified requirement;

[0029] The difference between the timestamps corresponding to the vehicle state parameter, the distance and relative speed of the long-distance measurement target, and the distance of the short-distance measurement target does not exceed a second specified threshold;

[0030] The frame rates corresponding to the vehicle state parameter, the distance and relative speed of the long-distance measurement target, and the distance of the short-distance measurement target respectively meet the second specified requirement.

[0031] According to one aspect of an embodiment of the present application, a data processing device is provided, the device comprising:

[0032] a signal sending module, configured to send a start signal to at least one of the sensor unit and the bus data acquisition unit, so that the sensor unit, when receiving the start signal, acquires vehicle environment information and sends the vehicle environment information to the data integration unit; and the bus data acquisition unit, when receiving the start signal, acquires vehicle status information and sends the vehicle status information to the data integration unit; the vehicle environment information is used to indicate information about the environment in which the vehicle is located, and the vehicle status information is used to indicate information about the vehicle's own status;

[0033] An information sending module is used to send at least one of the vehicle environment information and the vehicle status information to the data storage unit.

[0034] In some embodiments, the signal sending module is used to receive a start instruction; the start instruction is used to instruct the start of at least one sub-unit in the sensor unit and the bus data acquisition unit;

[0035] The signal sending module is used to determine a to-be-activated list according to the activation instruction; the to-be-activated list includes at least one subunit that is activated by the activation instruction;

[0036] The signal sending module is used to send the start signal to at least one subunit in the to-be-started list.

[0037] In some embodiments, the start instruction is also used to indicate a specified start condition of at least one subunit in the sensor unit and the bus data acquisition unit; the specified start condition includes at least one of the following: the location information of the vehicle meets the specified location condition and reaches a specified period;

[0038] The signal sending module is used to send the start signal to at least one subunit in the to-be-started list when the specified start condition is met.

[0039] In some embodiments, the information sending module is used to perform detection processing on at least one of the vehicle environment information and the vehicle status information;

[0040] The information sending module is used to send at least one of the vehicle environment information and the vehicle status information to the data storage unit when it is detected that at least one of the vehicle environment information and the vehicle status information meets a specified detection condition.

[0041] In some embodiments, the vehicle environment information includes at least one of the following: image data, point cloud data;

[0042] The vehicle status information includes at least one of the following: vehicle status parameters, distance and relative speed of a long-distance measurement target, and distance of a short-distance measurement target;

[0043] The specified detection conditions include at least one of the following:

[0044] The difference between the timestamps corresponding to the image data and the point cloud data does not exceed a first specified threshold;

[0045] The repetition degree between the projected point cloud data and the object in the image data meets a first specified requirement;

[0046] The difference between the timestamps corresponding to the vehicle state parameter, the distance and relative speed of the long-distance measurement target, and the distance of the short-distance measurement target does not exceed a second specified threshold;

[0047] The frame rates corresponding to the vehicle state parameter, the distance and relative speed of the long-distance measurement target, and the distance of the short-distance measurement target respectively meet the second specified requirement.

[0048] According to one aspect of an embodiment of the present application, a computer device is provided, the computer device comprising a processor and a memory, the memory storing a computer program, the computer program being loaded and executed by the processor to implement the above-mentioned data processing method.

[0049] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is loaded and executed by a processor to implement the above-mentioned data processing method.

[0050] According to one aspect of an embodiment of the present application, a computer program product is provided. The computer program product includes a computer program. The computer program is loaded and executed by a processor to implement the above data processing method.

[0051] The technical solution provided in the embodiments of the present application can bring the following beneficial effects:

[0052] The sensor unit or the data integration unit is started by the data integration unit. After being started, the sensor unit or the data integration unit can perform the data collection task and send the collected vehicle environment information or vehicle status information to the data integration unit. The data integration unit stores the vehicle environment information or vehicle status information in the data storage unit. The above-mentioned data processing system provides a unified data collection platform. The collection personnel can drive the vehicle equipped with the data processing system and complete the collection and storage of the vehicle environment information or vehicle status information through the operation of the data integration unit, which can not only improve the work efficiency of data collection, but also improve the management efficiency of each collected data. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0054] Figure 1 is a schematic diagram of an implementation environment provided by an exemplary embodiment of the present application;

[0055] Figure 2 is a flow chart of a data collection method provided by an exemplary embodiment of the present application;

[0056] Figure 3 is a schematic diagram of a data processing system provided by an exemplary embodiment of the present application;

[0057] Figure 4 is a flow chart of a data processing method provided by an exemplary embodiment of the present application;

[0058] Figure 5 is a schematic diagram of a multi-sensor modular autonomous driving data acquisition system provided by an exemplary embodiment of the present application;

[0059] Figure 6 is a flow chart of a multi-sensor modular autonomous driving data collection method provided by an exemplary embodiment of the present application;

[0060] Figure 7 is a block diagram of a data processing device provided by an exemplary embodiment of the present application;

[0061] Figure 8 It is a structural block diagram of a computer device provided by an embodiment of the present application.

[0062] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. DETAILED DESCRIPTION

[0063] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0064] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0065] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0066] In the embodiments of the present application, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0067] It should be understood that although the terms first, second, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first specified threshold may also be referred to as the second specified threshold, and similarly, the second specified threshold may also be referred to as the first specified threshold. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0068] First, several terms involved in this application are introduced and explained:

[0069] Intelligent driving technology: It combines advanced technologies such as AI algorithms, sensors, computer vision, radar, monitoring devices and global positioning systems to enable vehicles to complete driving tasks autonomously without driver intervention. The core process of autonomous driving technology can be divided into three main parts:

[0070] Environmental perception and positioning: refers to obtaining information about the vehicle's surroundings through a variety of sensors such as cameras, lidar, millimeter-wave radar, ultrasonic sensors, etc., and accurately positioning the vehicle in combination with high-precision maps and the Global Positioning System (GPS); these sensors can help the vehicle identify road signs, pedestrians, other vehicles, and other obstacles;

[0071] Decision-making and planning: Based on the collected information, the decision-maker needs to make reasonable judgments and plan the best driving route; the decision-maker also needs to consider factors such as safety, comfort and efficiency to ensure that each operation is the optimal solution;

[0072] Execution control: It converts decisions into actual actions, that is, controlling the vehicle's acceleration, deceleration, steering and other activities; this part of the work is completed by the wire control system, which uses electrical signals instead of traditional mechanical connections to achieve more precise and smooth operation.

[0073] Please refer to Figure 1 , which shows a schematic diagram of an implementation environment provided by an exemplary embodiment of the present application. Figure 1As shown, the implementation environment may include: a vehicle 110 and a server 120. The vehicle 110 and the server 120 communicate with each other via a network. Optionally, the vehicle 110 and the server 120 are directly or indirectly connected via wired or wireless communication, which is not limited in this application.

[0074] The vehicle 110 is equipped with a variety of sensors and communication devices, which can record and transmit important data such as road conditions, traffic flow, weather conditions, etc. in real time. For example, in order to achieve remote monitoring and support subsequent data analysis, the vehicle 110 can transmit important data such as road conditions, traffic flow, weather conditions, etc. to the server 120 through the network.

[0075] Optionally, the vehicle 110 can be installed with different types of sensors as required, such as cameras, lidars, millimeter-wave radars, ultrasonic sensors, etc., and other types of sensors can also be installed, which is not limited in this application. The sensors of the vehicle 110 will be used to monitor dynamic changes around the vehicle, including the location of other vehicles, pedestrian activities, and the presence of obstacles. Exemplarily, the vehicle 110 can use a CAN bus or other form of internal network protocol to ensure stable communication between the various sensors and between the sensors and the central processing unit to achieve efficient data exchange.

[0076] Exemplarily, the vehicle 110 is a data collection vehicle (DCV).

[0077] The server 120 is used to provide background services for the vehicle 110. Optionally, the server 120 is a server, or a server cluster or distributed system composed of multiple servers, or a cloud computing service center, or a cloud server, cloud database, cloud computing, cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, content delivery network (CDN) that provides cloud computing services. Optionally, the server 120 provides background services for multiple vehicles 110 at the same time.

[0078] In one data collection method, each sensor module is developed separately, and then the collected data is fused offline. For different models of LiDAR and millimeter wave radar data access, different data processing solutions are generally used for different models; for different models of cameras, the original data is converted into JPEG or NV12 format data after image signal processing (ISP) debugging for collection. However, the above data collection method results in a low correlation between the modules.

[0079] Based on this, the subsequent embodiments of the present application provide a new data collection method, which is executed by a data integration unit of a data processing system. The data processing system is installed on a vehicle, and the data processing system also includes a sensor unit connected to the data integration unit, a bus data collection unit, and a data storage unit.

[0080] like Figure 2 As shown, upon receiving a start instruction, the data integration unit sends a start signal to at least one of the sensor unit and the bus data acquisition unit; wherein the start instruction may be triggered by a person inside the vehicle through the data integration unit; or, it may be sent by the server to the vehicle through the network.

[0081] Accordingly, when the sensor unit receives the start signal, it acquires vehicle environment information and sends the vehicle environment information to the data integration unit; the vehicle environment information is used to indicate information about the environment in which the vehicle is located, such as image information and point cloud information.

[0082] Accordingly, when the bus data acquisition unit receives the start signal, it obtains the vehicle status information and sends the vehicle status information to the data integration unit; the vehicle status information is used to indicate the information of the vehicle's own status, such as: vehicle status parameters, the distance and relative speed of the long-distance measurement target, and the distance of the long-distance measurement target.

[0083] Afterwards, upon receiving the vehicle environment information sent by the sensor unit and the vehicle status information sent by the data integration unit, the data integration unit sends at least one of the vehicle environment information and the vehicle status information to the data storage unit.

[0084] Please refer to Figure 3 , which shows a schematic diagram of a data processing system provided by an exemplary embodiment of the present application. Optionally, the data processing system can be installed in a vehicle, for example, the vehicle is Figure 1 The vehicle 110 in the system shown. Figure 3 As shown, the system may include a data integration unit 310 , and a sensor unit 320 , a bus data acquisition unit 330 , and a data storage unit 340 connected to the data integration unit 310 .

[0085] Exemplarily, the sensor unit 320 may be connected to the data integration unit 310 via Ethernet (ETH), the bus data acquisition unit 330 may be connected to the data integration unit 310 via Peripheral Component Interconnect Express (PCIE), and the data storage unit 340 may be connected to the data integration unit 310 via USB or ETH.

[0086] The data integration unit 310 is used to send a start signal to at least one of the sensor unit 320 and the bus data acquisition unit 330 .

[0087] The data integration unit 310 is the core control node of the entire data processing system. When a round of data collection cycle needs to be started, the data integration unit 310 will send a start signal to at least one of the sensor unit 320 and the bus data collection unit 330.

[0088] Exemplarily, the start signal may be a simple trigger pulse or a command set including detailed parameter setting information, for example, the parameter setting information includes sampling frequency, continuous monitoring within a specific time period, etc.

[0089] Optionally, the data integration unit 310 may be an industrial computer (such as an IPC) installed with a data acquisition system of the vehicle. An operator inside the vehicle may trigger a start instruction on the industrial computer, and the start instruction may instruct to send a start signal to at least one of the sensor unit 320 and the bus data acquisition unit 330.

[0090] Optionally, the server may send a remote start instruction to the data integration unit 310 through the network, and the start instruction may instruct to send a start signal to at least one of the sensor unit 320 and the bus data acquisition unit 330 .

[0091] The sensor unit 320 is used to obtain vehicle environment information when receiving a start signal sent by the data integration unit 310, and send the vehicle environment information to the data integration unit 310; the vehicle environment information is used to indicate information about the environment in which the vehicle is located.

[0092] After receiving the start signal sent by the data integration unit 310, the sensor unit 320 starts working and uses its built-in various sensing devices (such as cameras, laser radars, etc.) to collect information about the vehicle's surrounding environment. Once the data collection is completed, the sensor unit 320 can package the collected vehicle environment information and send it back to the data integration unit 310 through an appropriate communication interface.

[0093] Exemplarily, the sensor unit 320 includes at least one of the following: a camera subunit, a laser radar subunit, a precision time protocol PTP subunit, and may also include other subunits, which are not limited in this application. Accordingly, the above-mentioned vehicle environment information may include at least one of the following: image information obtained by the camera subunit, point cloud information obtained by the laser radar subunit. Among them, PTP is a time synchronization device that aligns the timestamps of image data and point cloud data.

[0094] The camera subunit includes a camera mounted on the vehicle for capturing visual information. Optionally, the camera can be a monocular, binocular or trinocular camera, or even a surround view camera. The main function of the camera subunit is to identify road signs, lane lines, pedestrians and other obstacles through image processing algorithms.

[0095] Among them, the laser radar subunit includes the laser radar (LiDAR) installed on the vehicle. Laser radar (LiDAR) is a radar system that uses laser beams to detect target position, speed and other characteristic quantities. The working principle of laser radar is to send a detection signal (laser beam) to the target, then receive the signal reflected from the target, and compare the two. After processing, relevant information of the target can be obtained. Laser radar has the characteristics of high resolution and high precision, and can generate accurate three-dimensional point cloud maps in complex environments, which is very important for building detailed environmental models.

[0096] Among them, the precise time protocol of the PTP subunit provides precise time synchronization services on the network. This helps to eliminate the time deviation problem caused by the internal clock differences of each sensor, thereby improving the reliability and accuracy of the entire system.

[0097] The bus data acquisition unit 330 is used to obtain vehicle status information when receiving a start signal sent by the data integration unit 310, and send the vehicle status information to the data integration unit 310; the vehicle status information is used to indicate the status of the vehicle itself.

[0098] After receiving the start signal sent by the data integration unit 310, the bus data acquisition unit 330 starts working and captures information related to the vehicle's own operation by reading the status reports of various electronic control units (ECUs) connected to the vehicle network. Once the data collection is completed, the bus data acquisition unit 330 can package the collected vehicle status information and send it back to the data integration unit 310 through an appropriate communication interface.

[0099] Exemplarily, the bus data acquisition unit 330 includes at least one of the following: a body CAN subunit, a millimeter-wave radar subunit, an ultrasonic sensor subunit, and may also include other subunits, which are not limited in this application. Accordingly, the above-mentioned vehicle status information may include at least one of the following: a vehicle status parameter obtained by the body CAN subunit, the distance and relative speed of a long-distance measurement target obtained by the millimeter-wave radar subunit, and the distance of a short-distance measurement target obtained by the ultrasonic sensor subunit. Among them, the vehicle status parameters include engine performance indicators, vehicle speed, throttle opening, brake pressure, etc., and long-distance measurement targets and short-distance measurement targets refer to obstacles encountered by the vehicle during driving (such as other vehicles).

[0100] Among them, the Body CAN of the Body CAN subunit is a serial communication protocol used to connect various electronic control units (ECUs) inside the vehicle so that they can exchange information efficiently.

[0101] Among them, the millimeter wave radar subunit includes a millimeter wave radar installed on the vehicle. Millimeter wave radar uses high-frequency signals within the radio band to perform distance measurement and speed estimation. Compared with lidar, millimeter wave radar has better penetration in adverse weather conditions (such as rain, snow and fog), making it very suitable for use as an all-weather sensor.

[0102] The ultrasonic sensor subunit includes an ultrasonic sensor installed on the vehicle. Ultrasonic sensors are mainly used for short-range detection tasks, such as reversing radar in parking assistance systems. When a vehicle approaches an obstacle, the ultrasonic sensor emits sound waves and waits for the echo to return, thereby calculating the relative distance between the two.

[0103] The data integration unit 310 is used to send at least one of the vehicle environment information and the vehicle status information to the data storage unit 340 .

[0104] Exemplarily, after receiving the vehicle environment information sent from the sensor unit 320 and the vehicle status information sent from the bus data acquisition unit 330, the data integration unit 310 can perform preliminary cleaning, conversion and format unification processing on the vehicle environment information and vehicle status information to eliminate inconsistencies between the data. The processed environment information and / or vehicle status information will be further packaged into a form suitable for long-term storage and sent to the dedicated data set storage unit 340 for storage.

[0105] Optionally, the data storage unit 340 includes at least one of the following: a solid state drive SSD subunit, a network attached storage NAS subunit, and may also include other subunits, which are not limited in this application. Accordingly, the data integration unit 310 may send at least one of the vehicle environment information and the vehicle status information to the solid state drive SSD subunit of the data storage unit 340 via USB; the data integration unit 310 may send at least one of the vehicle environment information and the vehicle status information to the network attached storage NAS subunit of the data storage unit 340 via ETH.

[0106] Exemplarily, in the process of sending at least one of the vehicle environment information and the vehicle status information to the data storage unit 340, the data integration unit 310 may carry a scene label during the sending process, and the scene label refers to the data scene in which the current vehicle collects the vehicle environment information and the vehicle status information, for example, the scene label may be sunny, rainy, highway, etc. Optionally, the scene label may be added manually or automatically by the data integration unit 310. Specifically, for example, the data integration unit 310 may obtain the scene label of the vehicle environment information and the vehicle status information in the same time period as the vehicle environment information based on the image information in the vehicle environment information through an image recognition algorithm.

[0107] To summarize, the technical solution provided in the embodiment of the present application starts the startup of the control sensor unit or the data integration unit through the data integration unit. After startup, the sensor unit or the data integration unit can perform the data acquisition task, and send the collected vehicle environment information or vehicle status information to the data integration unit, and the data integration unit stores the vehicle environment information or vehicle status information in the data storage unit; the above-mentioned data processing system provides a unified data acquisition platform, and the acquisition personnel can drive the vehicle equipped with the data processing system, and complete the acquisition and storage of the vehicle environment information or vehicle status information through the operation of the data integration unit, which can not only improve the work efficiency of data acquisition, but also improve the management efficiency of each collected data.

[0108] Based on the above Figure 3 In the solution of the embodiment shown, in a possible implementation, the data integration unit 310 is used to receive a start instruction; the start instruction is used to instruct the start of at least one sub-unit in the sensor unit 320 and the bus data acquisition unit 330;

[0109] The data integration unit 310 is used to determine a to-be-activated list according to the activation instruction; the to-be-activated list includes at least one subunit that is activated by the activation instruction;

[0110] The data integration unit 310 is used to send a start signal to at least one sub-unit in the to-be-started list.

[0111] Among them, the above-mentioned startup instruction includes at least one of the following: a remote instruction from a server, a trigger instruction inside the vehicle, and may also include other types of instructions, which are not limited in this application.

[0112] Once the startup instruction is received, the data integration unit 310 can parse the startup instruction through the internal logic module to extract key parameters, such as the identifier of the subunit and the expected operation mode. After that, the data integration unit 310 can determine the list to be started based on the parsing result, wherein the list to be started lists all the subunits that need to respond to the startup instruction.

[0113] Optionally, the to-be-started list not only specifies which subunits should be started, but may also include additional configuration options, such as settings for sampling rate, duty cycle, etc.

[0114] After determining the list to be started, the next task of the data integration unit 310 is to send a start signal to each subunit listed in the list to be started. For example, the list to be started includes the camera subunit in the sensor unit 320, which means that the camera subunit starts to perform environmental shooting activities.

[0115] In an embodiment of the present application, the data integration unit can send a start signal to the sensor unit to be started and at least one sub-unit in the bus data acquisition unit according to the received start instruction; that is, the present application can specify the sub-unit to be started through the start instruction, and then realize the switching of the acquisition mode, thereby improving the flexibility of data acquisition and reducing operating costs.

[0116] Based on the solutions in the above embodiments of the present application, in a possible implementation, the start instruction is also used to indicate a specified start condition of at least one subunit in the sensor unit 320 and the bus data acquisition unit 330; the specified start condition includes at least one of the following: the location information of the vehicle meets the specified location condition and reaches the specified period;

[0117] The data integration unit 310 is used to send a start signal to at least one sub-unit in the to-be-started list when a specified start condition is met.

[0118] That is to say, in addition to identifying the subunit to be started, the above-mentioned start instruction may also carry additional information, namely, specify the start condition.

[0119] The vehicle location information satisfies the specified location condition, which means that the vehicle has traveled to the specified location. Exemplarily, the vehicle location information satisfies the specified location condition when the vehicle enters a preset geo-fenced area or approaches a specific location (such as a parking lot entrance or a highway toll station).

[0120] Optionally, the data integration unit 310 can utilize vehicle body CAN data, such as vehicle speed, driving distance, etc., in combination with positioning equipment and algorithms to complete high-precision positioning of the vehicle to obtain the above-mentioned vehicle position information.

[0121] The arrival time period may be a fixed time interval, such as once an hour; a specific date, such as the first day of each month; or an event-driven time point, such as 5 minutes after the engine is started.

[0122] In an embodiment of the present application, the data integration unit can send a start signal to the sensor unit to be started and at least one sub-unit in the bus data acquisition unit based on the received start instruction and when the specified start conditions are met; that is, the present application can specify the start conditions of the sub-unit to be started through the start instruction, such as the vehicle arriving at a designated location, arriving at a designated period, etc., thereby realizing the pre-setting of the acquisition mode, improving the flexibility of data acquisition, and reducing operating costs.

[0123] Based on the solutions in the above embodiments of the present application, in a possible implementation, the data integration unit 310 is used to perform detection processing on at least one of the vehicle environment information and the vehicle status information;

[0124] The data integration unit 310 is used to send at least one of the vehicle environment information and the vehicle status information to the data storage unit 340 when it is detected that at least one of the vehicle environment information and the vehicle status information meets a specified detection condition.

[0125] The data integration unit 310 may create a database table or a file structure for storing detection items corresponding to at least one of the vehicle environment information and the vehicle status information, and designated detection conditions corresponding to each detection item.

[0126] Accordingly, when at least one of the vehicle environment information and the vehicle status information is received, the data integration unit 310 can perform detection processing on at least one of the vehicle environment information and the vehicle status information according to the corresponding detection items in the database table or file structure; and send the vehicle environment information and vehicle status information that meet the specified detection conditions to the data storage unit 340.

[0127] The embodiment of the present application shows that the data integration unit first detects the received data before sending the data to the data storage unit, and then sends the data that meets the detection conditions to the data storage unit; that is, the above-mentioned data processing system can collect vehicle environment information and vehicle status information that meet the quality conditions required by the automatic driving system, avoid sending and storing unnecessary data, and thereby improve the accuracy and availability of data collection.

[0128] Based on the solutions in the above embodiments of the present application, in a possible implementation, the vehicle environment information includes at least one of the following: image data, point cloud data;

[0129] The vehicle state information includes at least one of the following: a vehicle state parameter, a distance and a relative speed of a remote measurement target, and a distance of a remote measurement target;

[0130] The specified detection conditions include at least one of the following:

[0131] The difference between the timestamps corresponding to the image data and the point cloud data does not exceed a first specified threshold;

[0132] The repetition degree between the projected point cloud data and the object in the image data meets the first specified requirement;

[0133] The difference between the timestamps corresponding to the vehicle state parameter, the distance and relative speed of the long-distance measurement target, and the distance of the short-distance measurement target does not exceed a second specified threshold;

[0134] The frame rates corresponding to the vehicle state parameters, the distance and relative speed of the long-distance measurement target, and the distance of the short-distance measurement target respectively meet the second specified requirement.

[0135] Among them, the above-mentioned image data is captured by the camera subunit, which can provide rich visual information to help identify other vehicles, pedestrians, traffic signs, etc. on the road; the above-mentioned point cloud data comes from the laser radar (LiDAR) subunit, which is used to build a three-dimensional environmental model to accurately describe the position and shape of surrounding objects.

[0136] Among them, the above-mentioned vehicle status parameters are derived from the vehicle body CAN subunit, which may include vehicle speed, acceleration, steering angle, etc.; the distance of the long-distance measurement target and its relative speed are derived from the millimeter-wave radar; the distance of the close-range measurement target is derived from the ultrasonic sensor.

[0137] The first specified threshold, the first specified requirement, the second specified threshold, and the second specified requirement are pre-set in the data integration unit 310 .

[0138] The difference between the timestamps corresponding to the above-mentioned image data and point cloud data does not exceed the first specified threshold, which means that when the image data and the corresponding point cloud data are acquired at the same time, the time difference between the two should be very small. For example, the first specified threshold is in milliseconds; for example, the difference between the timestamps corresponding to the image data and the point cloud data does not exceed 100ms. This requirement ensures that the two different types of data can reflect the same environmental state at almost the same time, thereby improving the quality of the collected data.

[0139] Among them, detecting the repetition of the projected point cloud data and the objects in the image data can verify whether the point cloud data can form a good match with the objects in the image after being projected onto the two-dimensional image plane. When the repetition of the projected point cloud data and the objects in the image data meets the first specified requirement, each point in the point cloud should be able to find the corresponding pixel position, and the distribution of these points on the image should match the actual object contour, which helps to confirm the consistency of multi-sensor data.

[0140] The data integration unit 310 also needs to consider the synchronization between the vehicle state parameters and other sensor data. The difference between the timestamps corresponding to the above vehicle state parameters, the distance and relative speed of the long-distance measurement target, and the distance of the short-distance measurement target does not exceed the second specified threshold, which can ensure that the timestamp differences of all related data streams are kept within a small range, thus avoiding erroneous judgments caused by time deviation.

[0141] In order to maintain stable perception performance, the data integration unit 310 monitors the update frequency (i.e., frame rate) of the vehicle state parameters, the distance and relative speed of the long-distance measurement target, and the distance of the close-distance measurement target. If the frame rate of the output data of a subunit is too low, it may cause information loss; conversely, if the frame rate is too high, it may increase the computational burden. Therefore, the frame rates corresponding to the above-mentioned vehicle state parameters, the distance and relative speed of the long-distance measurement target, and the distance of the close-distance measurement target meet the second specified requirement, which can ensure the efficient operation of the data processing system.

[0142] The embodiments of the present application illustrate the specific information of the above-mentioned vehicle environment information and vehicle status information, and clarify the detection content of the above-mentioned vehicle environment information and vehicle status information, such as time synchronization, to further improve the accuracy and availability of data collection.

[0143] Please refer to Figure 4 , which shows a flow chart of a data processing method provided by an exemplary embodiment of the present application. The method is executed by a data integration unit of a data processing system. Optionally, the data processing system may be Figure 3 The data processing system shown in FIG. Figure 4 As shown, the method may include steps 410 to 420.

[0144] Step 410: Sending a start signal to at least one of the sensor unit and the bus data acquisition unit, so that the sensor unit acquires vehicle environment information when receiving the start signal and sends the vehicle environment information to the data integration unit; and the bus data acquisition unit acquires vehicle status information when receiving the start signal and sends the vehicle status information to the data integration unit; the vehicle environment information is used to indicate information about the environment in which the vehicle is located, and the vehicle status information is used to indicate information about the vehicle's own status;

[0145] Step 420: Send at least one of the vehicle environment information and the vehicle status information to a data storage unit.

[0146] It should be noted that the above Figure 4 The method provided in the embodiment is similar to the above Figure 3 The systems provided in the embodiments belong to the same concept, and their specific implementation processes are detailed in the system embodiments, which will not be repeated here.

[0147] Based on the solutions shown in the above embodiments, this application proposes a multi-sensor modular autonomous driving data acquisition system, including the access of multiple sensor underlying data, the coupling between different modules, and the integration and expansion of the entire system, aiming to solve the following problems:

[0148] The data collection solutions of different models of LiDAR and millimeter-wave radar are quite different, and they are not platform-based, making them difficult to expand and manage.

[0149] The mainstream camera data format requires a large amount of space, and the collection solution has high resource requirements, such as storage space and computing power resources;

[0150] The positioning accuracy of general GPS systems is not high, which makes it difficult to meet the requirements of high-precision positioning for autonomous driving, and it also does not provide an effective means of determining positioning accuracy.

[0151] The entire autonomous driving data collection system is not tightly coupled, the time synchronization of each module cannot be effectively confirmed, and the advantages of multi-module complementarity are not brought into play.

[0152] Please refer to Figure 5 , which shows a schematic diagram of a multi-sensor modular autonomous driving data acquisition system provided by an exemplary embodiment of the present application. Figure 5 As shown, the multi-sensor modular autonomous driving data acquisition system includes four modules: sensor module, CAN module, industrial personal computer (IPC) module, and data storage module.

[0153] Among them, the camera is connected to the electronic control unit (ECU), lidar, ECU, precision time protocol (PTP) and other sensors and camera data encoding modules through the gigabit multimedia serial link (GMSL), connected to the switch (Switch) through Ethernet (ETH), and then connected to the IPC module through ETH; millimeter wave radar (Radar), body CAN, ultrasonic sensor (Ultrasonic Sensor System USS) and other modules are connected to the CAN hardware connector through the controller area network (CAN) interface, and then connected to the IPC module through the peripheral component interconnect express (PCIE).

[0154] The data storage module includes a solid state drive (SSD) and a network attached storage (NAS).

[0155] Among them, the IPC module deploys a data acquisition system to integrate sensor data and monitor the operating status of each module.

[0156] Sensor data processing can be deployed on the IPC side, such as image compression, timestamp conversion, etc., and the data can be monitored to see if it meets the requirements, such as camera image, timestamp alignment, etc. A unified data acquisition program can also be deployed on the IPC side to receive the user's start acquisition, pause\resume acquisition, stop acquisition instructions, and store the required data on the disk to the storage module. Exemplarily, the user interface (UI) of the IPC module displays trigger controls such as START, PAUSE / RESUME, STOP, Camera Monitor, LidarMonitor, and Time Sync Monitor.

[0157] Users can select the required sensors, such as LiDAR, millimeter-wave radar, etc., in the UI of the IPC module according to the data requirements for autonomous driving, and connect to the IPC module through Ethernet or CAN interface. The IPC module can store data to SSD via Universal Serial Bus (USB) or to NAS via ETH. The data storage module can parse the collected data and provide it to the algorithm module for data analysis, model training, etc.

[0158] Please refer to Figure 6 , which shows a flowchart of a multi-sensor modular autonomous driving data collection method provided by an exemplary embodiment of the present application. Figure 6 As shown, the multi-sensor modular autonomous driving data collection method includes the following steps:

[0159] Step 601, mount the NAS server:

[0160] Among them, the user clicks the Mount NAS button in the front-end of the acquisition system, and the background calls the mounting service to complete the storage module configuration.

[0161] Step 602, start the background service:

[0162] Among them, the user clicks the start service button in the front end of the acquisition system, and the background calls the script to start all sensor services.

[0163] Step 603: Establish a connection between the front and back ends:

[0164] Among them, the front and back ends communicate through the websocket protocol.

[0165] Step 604, system status and image detection display:

[0166] Among them, the user clicks the monitoring button on the front desk of the acquisition system, and a system status display window pops up to display the system status in real time, and a camera image display window pops up to display the camera image in real time.

[0167] Step 605, check data validity:

[0168] Among them, the user clicks the detection button in the front-end of the acquisition system, the background collects sensor data to generate detection data, and calls the detection program to determine whether the data meets the requirements.

[0169] Step 606, start\pause collection:

[0170] Among them, the user clicks the start collection button in the front-end of the collection system, and the collection program is started in the background to write the sensor data to the storage unit.

[0171] Among them, the user clicks the start pause button in the foreground of the collection system, and the data storage service is closed in the background.

[0172] Step 607, stop collecting and exit:

[0173] Among them, the user clicks the stop collection button in the foreground of the collection system, and the collection program and data storage service are closed in the background.

[0174] Among them, the user stops the background service in the collection system and completes the collection process.

[0175] In summary, the above system generates data through sensor devices such as cameras and radars, completes data collection and interaction through software deployment through IPC devices, and requires NAS or SSD devices for data storage. The above system divides the autonomous driving sensors into different modules for implementation, and provides a unified integrated management platform based on QT, which can flexibly adjust the data collection plan and monitor data quality according to actual needs.

[0176] On the one hand, a unified data collection platform is provided, which can not only collect sensor data such as Camera, Lidar, Radar, etc. of different specifications and meeting quality requirements required by the autonomous driving system, but also realize the tight coupling of various sensor modules, and improve data availability through time synchronization, dynamic and static data projection, etc. On the other hand, in the process of collecting data, the scene label to which the data belongs can also be provided, thereby ensuring the high efficiency of data mining training of the algorithm module. Therefore, this application can improve system stability and scalability, provide data collection flexibility through sensor adjustment and acquisition mode switching, and reduce operating costs.

[0177] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0178] Please refer to Figure 7 , which shows a block diagram of a data processing device provided by an exemplary embodiment of the present application. The device has the functions of implementing the above examples, and the functions can be implemented by hardware or by hardware executing corresponding software. Figure 7 As shown, the device may include: a signal sending module 701 and an information sending module 702.

[0179] The signal sending module 701 is used to send a start signal to at least one of the sensor unit and the bus data acquisition unit, so that the sensor unit obtains vehicle environment information when receiving the start signal and sends the vehicle environment information to the data integration unit; and the bus data acquisition unit obtains vehicle status information when receiving the start signal and sends the vehicle status information to the data integration unit; the vehicle environment information is used to indicate information about the environment in which the vehicle is located, and the vehicle status information is used to indicate information about the vehicle's own status;

[0180] The information sending module 702 is used to send at least one of the vehicle environment information and the vehicle status information to the data storage unit.

[0181] In some embodiments, the signal sending module 701 is used to receive a start instruction; the start instruction is used to instruct the start of at least one sub-unit in the sensor unit and the bus data acquisition unit;

[0182] The signal sending module 701 is used to determine a to-be-activated list according to the activation instruction; the to-be-activated list includes at least one subunit to be activated by the activation instruction;

[0183] The signal sending module 701 is used to send a start signal to at least one subunit in the to-be-started list.

[0184] In some embodiments, the start instruction is also used to indicate a specified start condition of at least one subunit in the sensor unit and the bus data acquisition unit; the specified start condition includes at least one of the following: the vehicle's position information meets the specified position condition and reaches a specified period;

[0185] The signal sending module 701 is used to send a start signal to at least one sub-unit in the to-be-started list when a specified start condition is met.

[0186] In some embodiments, the information sending module 702 is used to perform detection processing on at least one of the vehicle environment information and the vehicle status information;

[0187] The information sending module 702 is used to send at least one of the vehicle environment information and the vehicle status information to the data storage unit when it is detected that at least one of the vehicle environment information and the vehicle status information meets the specified detection condition.

[0188] In some embodiments, the vehicle environment information includes at least one of the following: image data, point cloud data;

[0189] The vehicle status information includes at least one of the following: a vehicle status parameter, a distance and a relative speed of a long-distance measurement target, and a distance of a short-distance measurement target;

[0190] The specified detection conditions include at least one of the following:

[0191] The difference between the timestamps corresponding to the image data and the point cloud data does not exceed a first specified threshold;

[0192] The repetition degree between the projected point cloud data and the object in the image data meets the first specified requirement;

[0193] The difference between the timestamps corresponding to the vehicle state parameter, the distance and relative speed of the long-distance measurement target, and the distance of the short-distance measurement target does not exceed a second specified threshold;

[0194] The frame rates corresponding to the vehicle state parameters, the distance and relative speed of the long-distance measurement target, and the distance of the short-distance measurement target respectively meet the second specified requirement.

[0195] It should be noted that the device provided in the above embodiment, when implementing its functions, is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the content structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0196] Please refer to Figure 8 , which shows a block diagram of a computer device provided in one embodiment of the present application. The computer device 800 can be any electronic device with data calculation, processing and storage capabilities. The computer device 800 can be used to implement the data processing method provided in the above embodiment.

[0197] Typically, the computer device 800 includes a processor 801 and a memory 802 .

[0198] The processor 801 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 801 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field Programmable Gate Array), and PLA (Programmable Logic Array). The processor 801 may also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 801 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 801 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0199] The memory 802 may include one or more computer-readable storage media, which may be non-transitory. The memory 802 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 802 is used to store a computer program, which is configured to be executed by one or more processors to implement the above-mentioned data processing method.

[0200] Those skilled in the art will understand that Figure 8 The structure shown in the figure does not constitute a limitation on the computer device 800, and the computer device 800 may include more or less components than those shown in the figure, or combine some components, or adopt a different arrangement of components.

[0201] In an exemplary embodiment, a computer-readable storage medium is also provided, in which a computer program is stored, and the computer program is executed by a processor to implement the above-mentioned data processing method. Optionally, the computer-readable storage medium may include: ROM (Read-Only Memory), RAM (Random Access Memory), SSD (Solid State Drives) or an optical disk, etc. Among them, the random access memory may include ReRAM (Resistance Random Access Memory) and DRAM (Dynamic Random Access Memory).

[0202] In an exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program, the computer program being stored in a computer-readable storage medium. A processor of a computer device reads the computer program from the computer-readable storage medium, and the processor executes the computer program, so that the computer device performs the above data processing method.

[0203] It should be understood that the "multiple" mentioned in this article refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. In addition, the step numbers described in this article only illustrate a possible execution sequence between the steps. In some other embodiments, the above steps may not be executed in the order of the numbers, such as two steps with different numbers are executed at the same time, or two steps with different numbers are executed in the opposite order to the diagram. The embodiments of the present application are not limited to this.

[0204] The above description is only an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A data processing system, characterized in that: The system comprises: a data integration unit, and a sensor unit, a bus data acquisition unit and a data storage unit connected to the data integration unit; The data integration unit is used to send a start signal to at least one of the sensor unit and the bus data acquisition unit; The sensor unit is used to obtain vehicle environment information and send the vehicle environment information to the data integration unit when receiving the start signal sent by the data integration unit; the vehicle environment information is used to indicate information about the environment in which the vehicle is located; The bus data acquisition unit is used to obtain vehicle status information and send the vehicle status information to the data integration unit when receiving the start signal sent by the data integration unit; the vehicle status information is used to indicate the status of the vehicle itself; The data integration unit is used to send at least one of the vehicle environment information and the vehicle status information to the data storage unit.

2. The system according to claim 1, characterized in that The data integration unit is used to receive a start instruction; the start instruction is used to instruct the start of at least one sub-unit in the sensor unit and the bus data acquisition unit; The data integration unit is used to determine a to-be-activated list according to the activation instruction; the to-be-activated list includes at least one subunit that is activated by the activation instruction; The data integration unit is used to send the activation signal to at least one subunit in the to-be-activated list.

3. The system according to claim 2, characterized in that The start instruction is also used to indicate the specified start condition of at least one subunit in the sensor unit and the bus data acquisition unit; the specified start condition includes at least one of the following: the position information of the vehicle meets the specified position condition and reaches the specified period; The data integration unit is used to send the start signal to at least one sub-unit in the to-be-started list when the specified start condition is met.

4. The system according to any one of claims 1 to 3, characterized in that: The data integration unit is used to perform detection processing on at least one of the vehicle environment information and the vehicle status information; The data integration unit is used to send at least one of the vehicle environment information and the vehicle status information to the data storage unit when it is detected that at least one of the vehicle environment information and the vehicle status information meets a specified detection condition.

5. The system according to claim 4, characterized in that The vehicle environment information includes at least one of the following: image data, point cloud data; The vehicle status information includes at least one of the following: vehicle status parameters, distance and relative speed of a long-distance measurement target, and distance of a short-distance measurement target; The specified detection conditions include at least one of the following: The difference between the timestamps corresponding to the image data and the point cloud data does not exceed a first specified threshold; The repetition degree between the projected point cloud data and the object in the image data meets a first specified requirement; The difference between the timestamps corresponding to the vehicle state parameter, the distance and relative speed of the long-distance measurement target, and the distance of the short-distance measurement target does not exceed a second specified threshold; The frame rates corresponding to the vehicle state parameter, the distance and relative speed of the long-distance measurement target, and the distance of the short-distance measurement target respectively meet the second specified requirement.

6. A data processing method, characterized in that: The method is performed by a data integration unit of a data processing system, the system further comprising a sensor unit, a bus data acquisition unit and a data storage unit connected to the data integration unit, and the method comprises: Sending a start signal to at least one of the sensor unit and the bus data acquisition unit, so that the sensor unit acquires vehicle environment information when receiving the start signal and sends the vehicle environment information to the data integration unit; and the bus data acquisition unit acquires vehicle status information when receiving the start signal and sends the vehicle status information to the data integration unit; the vehicle environment information is used to indicate information about the environment in which the vehicle is located, and the vehicle status information is used to indicate information about the vehicle's own status; At least one of the vehicle environment information and the vehicle status information is sent to the data storage unit.

7. A data processing device, characterized in that: The device comprises: a signal sending module, configured to send a start signal to at least one of the sensor unit and the bus data acquisition unit, so that the sensor unit, when receiving the start signal, acquires vehicle environment information and sends the vehicle environment information to the data integration unit; and the bus data acquisition unit, when receiving the start signal, acquires vehicle status information and sends the vehicle status information to the data integration unit; the vehicle environment information is used to indicate information about the environment in which the vehicle is located, and the vehicle status information is used to indicate information about the vehicle's own status; An information sending module is used to send at least one of the vehicle environment information and the vehicle status information to the data storage unit.

8. A computer device, characterized in that: The computer device includes a processor and a memory, wherein a computer program is stored in the memory, and the computer program is loaded and executed by the processor to implement the data processing method according to claim 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which is loaded and executed by a processor to implement the data processing method according to claim 6.

10. A computer program product, characterized in that The computer program product comprises a computer program, the computer program is stored in a computer-readable storage medium, and a processor reads and executes the computer program from the computer-readable storage medium to implement the data processing method according to claim 6.

Images