Initialization method and device of automatic driving equipment, electronic equipment and computer program product

Abstract

The invention discloses an initialization method and device of automatic driving equipment, electronic equipment and a computer program product. The method comprises the following steps: determining whether the automatic driving equipment meets a preset initialization condition at present or not; if yes, the automatic driving equipment is initialized through a first initialization strategy, a first initialization result is obtained, and the first initialization strategy comprises a hard disk initialization strategy; after the hard disk is successfully initialized, a second initialization strategy is used for initialization, a second initialization result is obtained, and the second initialization strategy comprises at least one of a container initialization strategy, a system user initialization strategy and a network configuration initialization strategy. According to the method, the initialization process and the equipment startup link are decoupled, the pre-judgment step of the initialization condition is added, different initialization strategies are designed according to different initialization items and the dependency relationship between the initialization items, the initialization requirement of the automatic driving equipment is met, and the initialization efficiency is improved. And the initialization success rate and efficiency of the automatic driving equipment are improved.

Description

Technical Field

[0001] The present application relates to the technical field of initialization of autonomous driving equipment, and in particular to an initialization method, device, electronic device, and computer program product for autonomous driving equipment. Background Art

[0002] As the first step in starting and running a device, the core of the device system initialization is to perform necessary configuration operations on the system software to ensure that the device can perform various functions as expected. Traditionally, this initialization process relies on manual execution of a series of commands, requiring technicians to perform initialization settings for each functional node in the device one by one. However, this manual operation mode is inefficient and costly, and it is difficult to adapt to the market demand for large-scale device deployment and rapid response.

[0003] In order to overcome the limitations of manual initialization, some existing technologies attempt to integrate the initialization process into the device's power-on sequence to achieve automatic initialization after power-on. Although this method simplifies the operation process and improves efficiency to a certain extent, it is not suitable for all device scenarios, especially in the field of autonomous driving equipment.

[0004] The initialization process of autonomous driving devices, such as autonomous driving domain controllers and intelligent edge computers, is often accompanied by specific configuration requirements. These configurations can only be performed under the premise of meeting certain conditions. Considering that these conditions may not always be met during the equipment production stage or daily use, binding the initialization with the power-on startup process may cause the initialization operation to fail due to unmet conditions, thereby affecting the normal operation and performance of the equipment. Summary of the invention

[0005] The embodiments of the present application provide an initialization method, device, electronic device, and computer program product for an autonomous driving device to meet the initialization requirements of the autonomous driving device and realize automatic initialization of the autonomous driving device.

[0006] The present application embodiment adopts the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a method for initializing an autonomous driving device, wherein the method for initializing an autonomous driving device includes:

[0008] Determine whether the automatic driving device currently meets the preset initialization conditions;

[0009] In a case where the autonomous driving device currently meets a preset initialization condition, initializing the autonomous driving device using a first initialization strategy to obtain a first initialization result, wherein the first initialization strategy includes a hard disk initialization strategy;

[0010] When the first initialization result is successful initialization, the autonomous driving device is initialized using a second initialization strategy to obtain a second initialization result, where the second initialization strategy includes at least one of a container initialization strategy, a system user initialization strategy, and a network configuration initialization strategy.

[0011] Optionally, determining whether the automatic driving device currently meets a preset initialization condition includes:

[0012] Determine whether the autonomous driving device is inserted into an external hard disk and whether it is initialized for the first time;

[0013] If the autonomous driving device has been inserted into an external hard disk and is being initialized for the first time, determining that the autonomous driving device currently meets a preset initialization condition;

[0014] Otherwise, it is determined that the automatic driving device currently does not meet the preset initialization conditions.

[0015] Optionally, the using a first initialization strategy to initialize the autonomous driving device to obtain a first initialization result includes:

[0016] Check whether the hard disk has hard disk partitions;

[0017] If it does not exist, format the hard disk;

[0018] If it exists, mount the hard disk.

[0019] Optionally, the mounting operation on the hard disk includes:

[0020] Create a hard disk mount directory in the system of the autonomous driving device;

[0021] Mount the hard disk to the hard disk mounting directory;

[0022] If the mounting is successful, determining the first initialization result is that the initialization is successful, creating a mounting configuration file and starting the hard disk mounting service, wherein the mounting configuration file contains the drive letter and mounting path of the hard disk;

[0023] If the mounting fails, it is determined that the first initialization result is initialization failure.

[0024] Optionally, the second initialization strategy includes a container initialization strategy, and the step of initializing the autonomous driving device using the second initialization strategy to obtain a second initialization result includes:

[0025] Create a container storage directory in the hard disk mount directory;

[0026] Add the container user to the system user group and enable the container user to log in to the image management repository;

[0027] Modify a container service configuration file, wherein the container service configuration file includes the container storage directory and container user information.

[0028] Optionally, the second initialization strategy includes a system user initialization strategy, and the step of initializing the autonomous driving device using the second initialization strategy to obtain a second initialization result includes:

[0029] Create a system user;

[0030] Change the system user's directory to the hard disk mount directory, and grant the system user permissions based on the hard disk mount directory;

[0031] Modify a system user configuration file, wherein the system user configuration file includes a path, login information, and user permissions of a system user.

[0032] Optionally, the second initialization strategy includes a network configuration initialization strategy, and the step of initializing the autonomous driving device using the second initialization strategy to obtain a second initialization result includes:

[0033] Determine whether there is a network configuration backup file in the hard disk mount directory;

[0034] If it exists, copy the network configuration backup file to the system network configuration file directory;

[0035] If it does not exist, modify the system network configuration file according to the preset network configuration rules.

[0036] Optionally, the autonomous driving device is a domain control device including a multi-node control unit, the multi-node control unit includes a master node control unit and at least one slave node control unit, the second initialization strategy also includes a device node initialization strategy, and the second initialization result obtained by initializing the autonomous driving device using the second initialization strategy includes:

[0037] Read the level of the GPIO interface of the baseboard to which each node control unit is connected;

[0038] Determine a master node control unit and a slave node control unit in the multi-node control unit according to the read levels of each node control unit;

[0039] Write the master node control unit, slave node control unit and node flag into the device node configuration file.

[0040] In a second aspect, an embodiment of the present application further provides an initialization device for an autonomous driving device, wherein the initialization device for the autonomous driving device includes:

[0041] A determination unit, used to determine whether the automatic driving device currently meets a preset initialization condition;

[0042] A first initialization unit is configured to initialize the autonomous driving device using a first initialization strategy to obtain a first initialization result when the autonomous driving device currently meets a preset initialization condition, wherein the first initialization strategy includes a hard disk initialization strategy;

[0043] The second initialization unit is used to initialize the autonomous driving device using a second initialization strategy to obtain a second initialization result when the first initialization result is successful initialization. The second initialization strategy includes at least one of a container initialization strategy, a system user initialization strategy, and a network configuration initialization strategy.

[0044] In a third aspect, an embodiment of the present application further provides an electronic device, including:

[0045] A processor; and a memory arranged to store computer executable instructions, which, when executed, cause the processor to perform any of the aforementioned initialization methods for the autonomous driving device.

[0046] In a fourth aspect, an embodiment of the present application further provides a computer program product, comprising a computer program or instructions, which, when executed by a processor, implements any of the aforementioned initialization methods for the autonomous driving device.

[0047] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: the initialization method of the autonomous driving device in the embodiments of the present application first determines whether the autonomous driving device currently meets the preset initialization conditions; then, when the autonomous driving device currently meets the preset initialization conditions, the first initialization strategy is used to initialize the autonomous driving device to obtain a first initialization result, and the first initialization strategy includes a hard disk initialization strategy; finally, when the first initialization result is that the initialization is successful, the autonomous driving device is initialized using a second initialization strategy to obtain a second initialization result, and the second initialization strategy includes at least one of a container initialization strategy, a system user initialization strategy, and a network configuration initialization strategy. The initialization method of the autonomous driving device in the embodiments of the present application decouples the initialization process from the device startup link, adds a pre-judgment step of the initialization condition, and designs different initialization strategies for different initialization items and their dependencies, so that the execution of the initialization process can meet the initialization requirements of the autonomous driving device and improve the initialization success rate and efficiency of the autonomous driving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0049] Figure 1 This is a flow chart of an initialization method of an autonomous driving device in an embodiment of the present application;

[0050] Figure 2 This is a schematic diagram of an initialization process of an autonomous driving device in an embodiment of the present application;

[0051] Figure 3 This is a schematic diagram of the structure of an initialization device for an automatic driving device in an embodiment of the present application;

[0052] Figure 4 This is a schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0054] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0055] The present application embodiment provides a method for initializing an autonomous driving device, such as Figure 1 As shown, a flowchart of an initialization method of an autonomous driving device in an embodiment of the present application is provided, and the initialization method of the autonomous driving device at least includes the following steps S110 to S130:

[0056] Step S110, determining whether the automatic driving device currently meets the preset initialization conditions.

[0057] The initialization method of the autonomous driving device in the embodiment of the present application is applied to the initialization scenario after the system of the autonomous driving device is flashed. In this specific scenario, the autonomous driving device needs to meet certain initialization conditions to ensure the normal progress of the subsequent initialization process. Therefore, after the autonomous driving device is turned on and started, before the initialization begins, the embodiment of the present application needs to first determine whether the autonomous driving device currently meets the preset initialization conditions. The initialization conditions may include, for example, the determination of the number of initializations and the installation status of the external hard disk. The specific initialization conditions can be flexibly set in combination with the initialization requirements of the autonomous driving device, and are not specifically limited here.

[0058] Step S120, when the autonomous driving device currently meets the preset initialization conditions, the autonomous driving device is initialized using a first initialization strategy to obtain a first initialization result, where the first initialization strategy includes a hard disk initialization strategy.

[0059] If the autonomous driving device currently meets the initialization conditions, the initialization program can be started, and the autonomous driving device can be initialized using the initialization strategy. The first initialization strategy mainly refers to the hard disk initialization strategy, because the hard disk is the storage medium for data and information generated by the autonomous driving device, and is the basis for the execution of other initialization operations. Therefore, the embodiment of the present application needs to perform a hard disk initialization operation first to obtain a hard disk initialization result.

[0060] Step S130, when the first initialization result is successful initialization, the autonomous driving device is initialized using a second initialization strategy to obtain a second initialization result, wherein the second initialization strategy includes at least one of a container initialization strategy, a system user initialization strategy, and a network configuration initialization strategy.

[0061] If the hard disk is successfully initialized, it is necessary to further use the second initialization strategy to initialize other initialization items of the autonomous driving device, such as container initialization, system user initialization, and network configuration initialization. Different initialization items have different initialization strategies, and there is no strict order between these initialization items. Therefore, they can also be executed in parallel to obtain container initialization results, system user initialization results, and network configuration initialization results.

[0062] The autonomous driving equipment system of the embodiment of the present application can use Linux Shell scripts to implement the main initialization functions, and use the Systemd system service manager to control and trigger the execution of the system initialization functions.

[0063] The initialization method for the autonomous driving device in the embodiment of the present application decouples the initialization process from the device power-on and startup phase, adds a pre-judgment step for the initialization conditions, and designs different initialization strategies for different initialization items and their dependencies, so that the execution of the initialization process can meet the initialization requirements of the autonomous driving device and improve the initialization success rate and efficiency of the autonomous driving device.

[0064] In some embodiments of the present application, determining whether the autonomous driving device currently meets the preset initialization conditions includes: determining whether the autonomous driving device is inserted into an external hard disk and whether it is the first time to be initialized; if the autonomous driving device has been inserted into the external hard disk and it is the first time to be initialized, determining that the autonomous driving device currently meets the preset initialization conditions; otherwise, determining that the autonomous driving device currently does not meet the preset initialization conditions.

[0065] The initialization conditions set in the embodiment of the present application mainly include the judgment conditions of the insertion of the external hard disk and the number of initialization times.

[0066] On the one hand, because subsequent hard disk initialization operations as well as container initialization, system user initialization, network configuration initialization, etc. will all rely on the insertion of an external hard disk, the embodiment of the present application needs to first determine whether the autonomous driving device is currently inserted into the external hard disk. Specifically, the fdisk tool can be used to check whether the external hard disk exists. If it does not exist, the initialization program is exited directly, indicating that the system initialization has failed.

[0067] On the other hand, the initialization of the autonomous driving device only needs to be performed once after the system of the autonomous driving device is flashed. Multiple initializations will affect the normal operation of the autonomous driving device. Therefore, it is necessary to determine whether the initialization operation to be started is the first initialization after the system is flashed. The constraint on the number of initializations here refers to the constraint on the number of successful initializations, and does not include retrying after initialization failure.

[0068] If the automatic driving device is currently plugged into an external hard disk and this is the first initialization operation after the system is flashed, it is determined that the automatic driving device currently meets the preset initialization conditions and can proceed with the subsequent initialization process. Otherwise, the preset initialization conditions are not met and the initialization program is exited, indicating that the system initialization has failed.

[0069] In some embodiments of the present application, the autonomous driving device is initialized using the first initialization strategy to obtain a first initialization result including: checking whether a hard disk partition exists on the hard disk; if not, formatting the hard disk; if exists, mounting the hard disk.

[0070] When using the hard disk initialization strategy to initialize the hard disk of the autonomous driving device, you can use the fdisk command to check whether the partition in the hard disk exists. If the hard disk partition does not exist, use the mkfs tool to format the hard disk. If the partition exists, do not format the hard disk, and continue with subsequent hard disk mounting operations to mount the hard disk to the specified system directory to complete the hard disk initialization.

[0071] It should be noted here that the hard disk formatting operation is only performed once, and only once after the hard disk has no partition detected, because formatting the hard disk every time the system is initialized will be detrimental to data backup.

[0072] In some embodiments of the present application, the operation of mounting the hard disk includes: creating a hard disk mount directory in the system of the autonomous driving device; mounting the hard disk to the hard disk mount directory; if the mount is successful, determining that the first initialization result is successful initialization, creating a mount configuration file and starting the hard disk mount service, wherein the mount configuration file contains the drive letter and mount path of the hard disk; if the mount fails, determining that the first initialization result is initialization failure.

[0073] Since the system disk space of current autonomous driving devices generally only has 64G of storage space, but the autonomous driving device may contain multiple control unit SoCs, each control unit SoC will be connected to a larger external hard disk (such as 2T storage space), so the hard disk needs to be formatted and mounted as the system's data disk.

[0074] Specifically, you can now create a data disk mount directory under the system directory of the autonomous driving device, and use the mount command to mount the external hard disk to the data disk path of the system directory. Then determine whether the hard disk is mounted successfully. If the mount fails, it means that the hard disk may be damaged or the connection is abnormal during assembly, then the system initialization is completed. If the mount is successful, create a mount configuration file, write the configuration information such as the drive letter and mount path of the external hard disk into the mount configuration file, and then enable the hard disk mount service, that is, the hard disk mount service will be turned on each time the device is turned on, so that the autonomous driving device can automatically mount the hard disk to the data disk path of the system directory each time it is turned on.

[0075] The embodiment of the present application can also set a retry mechanism for the initialization of the hard disk, for example, setting three failed retries. If the hard disk initialization still fails three times, the system initialization service cannot continue the initialization of other modules normally.

[0076] In some embodiments of the present application, the second initialization strategy includes a container initialization strategy, and the second initialization result obtained by initializing the autonomous driving device using the second initialization strategy includes: creating a container storage directory in the hard disk mount directory; adding the container user to the system user group, and logging the container user into the image management repository; modifying the container service configuration file, wherein the container service configuration file includes the container storage directory and container user information.

[0077] The core of autonomous driving technology is to realize the driving of autonomous vehicles through modules such as perception, decision-making and control. However, due to the requirements of sensor data processing, high-performance computing and high real-time performance, the software architecture of the autonomous driving system is very large and complex. Traditional software deployment methods usually require the installation and configuration of various modules on physical servers, which makes software updates and maintenance difficult and reduces the reliability and scalability of the system.

[0078] Docker is a lightweight containerization technology that can package an application and all its dependencies into an independent, portable container. This container contains the operating environment, library files, and configuration information required by the application, so that the application can be consistent when running in different environments. Therefore, the autonomous driving device of the embodiment of the present application can use Docker technology to improve the reliability and scalability of the autonomous driving device system and reduce maintenance costs.

[0079] Based on this, the second initialization strategy of the embodiment of the present application may include a Docker container initialization strategy. The initialization of the Docker container mainly changes the storage path of the Docker image to the data disk to achieve persistent storage of Docker data.

[0080] When initializing the Docker container, first create a Docker container storage directory in the hard disk mount directory and add the Docker user to the system user group to allow the Docker user to have permission to perform corresponding operations. Then use the Docker login command to log in to the image management warehouse to facilitate subsequent Docker image pulling and pushing. Finally, modify the container configuration file. The main changes here are the Docker storage directory, Docker username and password, and finally restart the Docker service to modify the application.

[0081] In some embodiments of the present application, the second initialization strategy includes a system user initialization strategy, and the use of the second initialization strategy to initialize the autonomous driving device to obtain a second initialization result includes: creating a system user; changing the system user's directory to the hard disk mount directory, and granting the system user permissions based on the hard disk mount directory; modifying the system user configuration file, and the system user configuration file includes the system user's path, login information and user permissions.

[0082] The normal use of the autonomous driving device requires system user information. Therefore, the second initialization strategy of the embodiment of the present application may also include a system user initialization strategy. The initialization of the system user mainly creates a system user for the autonomous driving device and changes the system user directory to the data disk.

[0083] When initializing the system user, you can first use the adduser command to create a system user, then copy the system user's directory to the data disk, grant the system user permissions to the system user directory in the data disk, and then modify the system directory in the system user configuration file / etc / passwd to the directory of the data disk to initialize the system user. The initialization of the system user realizes the persistent storage of the system user information, and there is no need to recreate the system user every time the device is powered on.

[0084] In some embodiments of the present application, the second initialization strategy includes a network configuration initialization strategy, and the second initialization result obtained by initializing the autonomous driving device using the second initialization strategy includes: determining whether there is a network configuration backup file in the hard disk mount directory; if so, copying the network configuration backup file to the system network configuration file directory; if not, modifying the system network configuration file according to preset network configuration rules.

[0085] System network configuration is also a basic operation in the initialization phase. When performing the initialization operation of the system network configuration, you can first determine whether there is a network configuration backup file in the data disk. If it exists, copy the network configuration backup file to the system directory. If it does not exist, you can modify the system network configuration file according to the network configuration rules of the autonomous driving device. For example, if the control nodes in the autonomous driving device include master and slave nodes, you can write the default IP addresses of the master and slave nodes in the system network configuration file according to the network configuration rules of the master and slave nodes, and then use the Netplan command to apply the network configuration changes.

[0086] In some embodiments of the present application, the autonomous driving device is a domain control device including a multi-node control unit, the multi-node control unit includes a master node control unit and at least one slave node control unit, the second initialization strategy also includes a device node initialization strategy, and the use of the second initialization strategy to initialize the autonomous driving device to obtain a second initialization result includes: reading the level of the GPIO interface of the baseboard to which each node control unit is connected; determining the master node control unit and the slave node control unit in the multi-node control unit based on the read level of each node control unit; and writing the master node control unit, the slave node control unit and the node flag into the device node configuration file.

[0087] The autonomous driving device of the embodiment of the present application can be a domain control device composed of multiple node control units, which include a master node control unit and at least one slave node control unit. Different control nodes perform different functions, so it is necessary to distinguish and initialize multiple node control units.

[0088] When initializing the multi-node control unit, the high and low levels of the GPIO interface of the master and slave node control units connected to the baseboard can be read in hardware. The levels of the GPIO interfaces of different nodes are different and can be defined in advance. For example, the high level is the master node and the low level is the slave node. Then, the master and slave nodes can be judged and distinguished by the read high and low levels, and then the master and slave node distinction flags are written into the system configuration file, such as / etc / mogo / roles, where 1 is written for the master node and 0 is written for the slave node. At the same time, the export command is used to add the master and slave distinction flags to the environment variables.

[0089] Furthermore, the initialization configurations of different nodes are also different. Take the dual control unit solution as an example, that is, one master node and one slave node. Some system software functions are only configured in the master node, such as time synchronization service, power management service, etc. By judging the master and slave node flags in the system environment variables, different difference configurations can be executed for the master and slave nodes respectively.

[0090] In some embodiments of the present application, the second initialization strategy includes an operation and maintenance tool initialization strategy, and the second initialization result obtained by initializing the autonomous driving device using the second initialization strategy includes: obtaining the system network MAC address, generating an NPS key and writing it into the operation and maintenance tool configuration file, so that the device can be accessed through the operation and maintenance bastion host.

[0091] Of course, the specific initialization configurations may be flexibly configured by those skilled in the art according to actual needs, and will not be elaborated here.

[0092] After initialization is complete, you can delete the initialization script and management service to prevent system interference caused by multiple initializations.

[0093] In some embodiments of the present application, after determining whether the autonomous driving device currently meets the preset initialization conditions, the initialization method of the autonomous driving device also includes: creating an initialization log file when the autonomous driving device currently meets the preset initialization conditions; and using the initialization log file to record the first initialization result and the second initialization result.

[0094] The embodiments of the present application can record key information and results of the entire initialization process through an initialization log file, thereby improving the traceability and debuggability of the initialization process of the autonomous driving device, and providing valuable information for subsequent maintenance and optimization of the equipment.

[0095] In order to facilitate the understanding of the above embodiments, Figure 2 As shown, a schematic diagram of the initialization process of an autonomous driving device in an embodiment of the present application is provided. First, after the system of the autonomous driving device is started, it first determines whether the autonomous driving device currently meets the initialization conditions, such as whether an external hard disk has been installed, and whether it is the first initialization after the flash. If the initialization conditions are not met, the initialization program is terminated directly.

[0096] If the initialization conditions are met, the hard disk initialization strategy is used to perform the hard disk initialization operation, and whether the hard disk initialization operation is successful is determined. If the hard disk initialization operation fails, the initialization program is exited. If the hard disk initialization operation is successful, subsequent container initialization, system user initialization, network configuration initialization, operation and maintenance configuration initialization and other operations are performed respectively. Finally, the system initialization result of the autonomous driving device is output.

[0097] The present application embodiment also provides an initialization device 300 for an autonomous driving device, such as Figure 3 As shown, a schematic diagram of the structure of an initialization device of an automatic driving device in an embodiment of the present application is provided. The initialization device 300 of the automatic driving device includes: a determination unit 310, a first initialization unit 320 and a second initialization unit 330, wherein:

[0098] A determination unit 310 is used to determine whether the automatic driving device currently meets a preset initialization condition;

[0099] A first initialization unit 320 is configured to initialize the autonomous driving device using a first initialization strategy to obtain a first initialization result when the autonomous driving device currently meets a preset initialization condition, wherein the first initialization strategy includes a hard disk initialization strategy;

[0100] The second initialization unit 330 is used to initialize the autonomous driving device using a second initialization strategy to obtain a second initialization result when the first initialization result is successful initialization. The second initialization strategy includes at least one of a container initialization strategy, a system user initialization strategy, and a network configuration initialization strategy.

[0101] In some embodiments of the present application, the determination unit 310 is specifically used to: determine whether the autonomous driving device is inserted into an external hard disk and whether it is the first time to be initialized; if the autonomous driving device has been inserted into the external hard disk and it is the first time to be initialized, determine that the autonomous driving device currently meets the preset initialization conditions; otherwise, determine that the autonomous driving device currently does not meet the preset initialization conditions.

[0102] In some embodiments of the present application, the first initialization unit 320 is specifically used to: check whether there is a hard disk partition on the hard disk; if not, format the hard disk; if yes, mount the hard disk.

[0103] In some embodiments of the present application, the first initialization unit 320 is specifically used to: create a hard disk mount directory in the system of the autonomous driving device; mount the hard disk to the hard disk mount directory; if the mount is successful, determine that the first initialization result is successful initialization, create a mount configuration file and start the hard disk mount service, the mount configuration file contains the drive letter and mount path of the hard disk; if the mount fails, determine that the first initialization result is initialization failure.

[0104] In some embodiments of the present application, the second initialization strategy includes a container initialization strategy, and the second initialization unit 330 is specifically used to: create a container storage directory in the hard disk mount directory; add the container user to the system user group, and enable the container user to log in to the image management repository; modify the container service configuration file, which contains the container storage directory and container user information.

[0105] In some embodiments of the present application, the second initialization strategy includes a system user initialization strategy, and the second initialization unit 330 is specifically used to: create a system user; change the system user's directory to the hard disk mount directory, and grant system user permissions based on the hard disk mount directory; modify the system user configuration file, and the system user configuration file includes the system user's path, login information and user permissions.

[0106] In some embodiments of the present application, the second initialization strategy includes a network configuration initialization strategy, and the second initialization unit 330 is specifically used to: determine whether there is a network configuration backup file in the hard disk mount directory; if so, copy the network configuration backup file to the system network configuration file directory; if not, modify the system network configuration file according to the preset network configuration rules.

[0107] In some embodiments of the present application, the autonomous driving device is a domain control device including a multi-node control unit, the multi-node control unit includes a master node control unit and at least one slave node control unit, the second initialization strategy also includes a device node initialization strategy, and the second initialization unit 330 is specifically used to: read the level of the GPIO interface of the baseboard to which each node control unit is connected; determine the master node control unit and the slave node control unit in the multi-node control unit according to the read level of each node control unit; write the master node control unit, the slave node control unit and the node flag into the device node configuration file.

[0108] It can be understood that the initialization device of the above-mentioned autonomous driving equipment can implement the various steps of the initialization method of the autonomous driving equipment provided in the aforementioned embodiments. The relevant explanations on the initialization method of the autonomous driving equipment are applicable to the initialization device of the autonomous driving equipment and will not be repeated here.

[0109] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 4 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include a memory, such as a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. Of course, the electronic device may also include hardware required for other services.

[0110] The processor, network interface and memory can be interconnected through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0111] The memory is used to store the program. Specifically, the program may include a program code, and the program code includes a computer operation instruction. The memory may include a memory and a non-volatile memory, and provides instructions and data to the processor.

[0112] The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, forming an initialization device for the autonomous driving device at the logical level. The processor executes the program stored in the memory and is specifically used to perform the following operations:

[0113] Determine whether the automatic driving device currently meets the preset initialization conditions;

[0114] When the autonomous driving device currently meets a preset initialization condition, initializing the autonomous driving device using a first initialization strategy to obtain a first initialization result, wherein the first initialization strategy includes a hard disk initialization strategy;

[0115] When the first initialization result is successful initialization, the autonomous driving device is initialized using a second initialization strategy to obtain a second initialization result, where the second initialization strategy includes at least one of a container initialization strategy, a system user initialization strategy, and a network configuration initialization strategy.

[0116] The above application Figure 1The method performed by the initialization device of the automatic driving device disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or instructions in software form. The above processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in a decoding processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0117] The present application also provides a computer program product, which stores one or more programs, wherein the one or more programs include instructions, which, when executed by an electronic device including multiple application programs, enable the electronic device to execute Figure 1 The method executed by the initialization device of the autonomous driving device in the illustrated embodiment is specifically used to execute:

[0118] Determine whether the automatic driving device currently meets the preset initialization conditions;

[0119] When the autonomous driving device currently meets a preset initialization condition, initializing the autonomous driving device using a first initialization strategy to obtain a first initialization result, wherein the first initialization strategy includes a hard disk initialization strategy;

[0120] When the first initialization result is successful initialization, the autonomous driving device is initialized using a second initialization strategy to obtain a second initialization result, where the second initialization strategy includes at least one of a container initialization strategy, a system user initialization strategy, and a network configuration initialization strategy.

[0121] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0122] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0123] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0124] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0125] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0126] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0127] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0128] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0129] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0130] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for initializing an autonomous driving device, wherein: The initialization method of the automatic driving device includes: Determine whether the automatic driving device currently meets the preset initialization conditions; In a case where the autonomous driving device currently meets a preset initialization condition, initializing the autonomous driving device using a first initialization strategy to obtain a first initialization result, wherein the first initialization strategy includes a hard disk initialization strategy; When the first initialization result is successful initialization, the autonomous driving device is initialized using a second initialization strategy to obtain a second initialization result, where the second initialization strategy includes at least one of a container initialization strategy, a system user initialization strategy, and a network configuration initialization strategy.

2. The method for initializing an automatic driving device according to claim 1, wherein: Determining whether the automatic driving device currently meets the preset initialization condition includes: Determine whether the autonomous driving device is inserted into an external hard disk and whether it is initialized for the first time; If the autonomous driving device has been inserted into an external hard disk and is being initialized for the first time, determining that the autonomous driving device currently meets a preset initialization condition; Otherwise, it is determined that the automatic driving device currently does not meet the preset initialization conditions.

3. The method for initializing an automatic driving device according to claim 1, wherein: Initializing the automatic driving device by using the first initialization strategy to obtain a first initialization result includes: Check whether the hard disk has hard disk partitions; If it does not exist, format the hard disk; If it exists, mount the hard disk.

4. The method for initializing an automatic driving device according to claim 3, wherein: The operation of mounting the hard disk includes: Create a hard disk mount directory in the system of the autonomous driving device; Mount the hard disk to the hard disk mounting directory; If the mounting is successful, determining the first initialization result is that the initialization is successful, creating a mounting configuration file and starting the hard disk mounting service, wherein the mounting configuration file contains the drive letter and mounting path of the hard disk; If the mounting fails, it is determined that the first initialization result is initialization failure.

5. The method for initializing an automatic driving device according to claim 4, wherein: The second initialization strategy includes a container initialization strategy, and the second initialization result obtained by initializing the autonomous driving device using the second initialization strategy includes: Create a container storage directory in the hard disk mount directory; Add the container user to the system user group and enable the container user to log in to the image management repository; Modify a container service configuration file, wherein the container service configuration file includes the container storage directory and container user information.

6. The method for initializing an automatic driving device according to claim 4, wherein: The second initialization strategy includes a system user initialization strategy, and the second initialization result obtained by initializing the autonomous driving device using the second initialization strategy includes: Create a system user; Change the system user's directory to the hard disk mount directory, and grant the system user permissions based on the hard disk mount directory; Modify a system user configuration file, wherein the system user configuration file includes a path, login information, and user permissions of a system user.

7. The method for initializing an automatic driving device according to claim 4, wherein: The second initialization strategy includes a network configuration initialization strategy, and the second initialization result obtained by initializing the autonomous driving device using the second initialization strategy includes: Determine whether there is a network configuration backup file in the hard disk mount directory; If it exists, copy the network configuration backup file to the system network configuration file directory; If it does not exist, modify the system network configuration file according to the preset network configuration rules.

8. The method for initializing an automatic driving device according to claim 1, wherein: The autonomous driving device is a domain control device including a multi-node control unit, the multi-node control unit includes a master node control unit and at least one slave node control unit, the second initialization strategy also includes a device node initialization strategy, and the second initialization result obtained by initializing the autonomous driving device using the second initialization strategy includes: Read the level of the GPIO interface of the baseboard to which each node control unit is connected; Determine a master node control unit and a slave node control unit in the multi-node control unit according to the read levels of each node control unit; Write the master node control unit, slave node control unit and node flag into the device node configuration file.

9. An initialization device for an automatic driving device, wherein: The initialization device of the automatic driving device includes: A determination unit, used to determine whether the automatic driving device currently meets a preset initialization condition; A first initialization unit is configured to initialize the autonomous driving device using a first initialization strategy to obtain a first initialization result when the autonomous driving device currently meets a preset initialization condition, wherein the first initialization strategy includes a hard disk initialization strategy; The second initialization unit is used to initialize the autonomous driving device using a second initialization strategy to obtain a second initialization result when the first initialization result is successful initialization. The second initialization strategy includes at least one of a container initialization strategy, a system user initialization strategy, and a network configuration initialization strategy.

10. An electronic device comprising: processor; And a memory arranged to store computer executable instructions, which, when executed, cause the processor to execute the initialization method of the automatic driving device of any one of claims 1 to 8.

11. A computer program product, comprising a computer program or instructions, which, when executed by a processor, implements the initialization method of the automatic driving device described in any one of claims 1 to 8.

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