Data storage method, system and equipment for automatic driving equipment, and computer program product

Abstract

The invention discloses a data drop method, system and device of an automatic driving device and a computer program product, the method is executed by the data drop system of the automatic driving device, and the automatic driving device comprises a plurality of main control devices which are located in the same local area network and are deployed with drop services. The method comprises the following steps: when a data disk falling start event is triggered, determining a target main control device mounted with a specified external hard disk in a plurality of main control devices; when the external hard disk meets a data disk dropping starting condition, determining a main service device in the plurality of main control devices; and based on the main service device and the target main control device, remotely transmitting the to-be-stored file of the non-target main control device to the external hard disk. Through the main service node and the main control node on which the external hard disk is mounted, parallel transmission and disk dropping of data of multiple devices in a local area network can be realized, and the flexibility of data disk dropping is improved; and in combination with visual display and background operation disk falling modes, automation of data disk falling is realized, and the data disk falling efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular, to a data disk dropping method, system, device, and computer program product for an autonomous driving device. Background Art

[0002] During the self-driving operation of autonomous driving, it is necessary to store or copy various sensor data of the autonomous driving vehicle during the operation process to other storage media. Especially in the vehicle-road-cloud integrated autonomous driving solution, multiple cameras, lidars, millimeter-wave radars, etc. are connected to the vehicle side and the road side. Under the multi-sensor solution, a large number of data files will be generated. Sensor data files are often the most important files during the autonomous driving process. During the research and development process of the autonomous driving system, such actual data files are needed. Through the collection of such actual operation data files, finally, R & D personnel can use them for data playback and scenario simulation, so as to improve the stability, reliability, and safety of the autonomous driving system, etc.

[0003] Currently, each autonomous driving vehicle has multiple domain control devices, and there are multiple intelligent edge computing devices on the autonomous driving road. When dropping data to disk, it is necessary to copy the bag files in all domain control and edge computing devices. However, the traditional data disk dropping scheme has many deficiencies. On the one hand, the method of manually using a computer to copy one by one is not only time-consuming and laborious, but also error-prone, greatly increasing the time and labor costs of data disk dropping. On the other hand, early data copy schemes, such as scp or wget, usually adopt a single-threaded and uncompressed transmission method. Facing data volumes of hundreds of GB, the transmission efficiency is low and cannot meet the data timeliness requirements of the autonomous driving system. Summary of the Invention

[0004] Embodiments of this application provide a data disk dropping method, system, device, and computer program product for an autonomous driving device to achieve the automation of data disk dropping for autonomous driving devices and improve the data disk dropping efficiency.

[0005] Embodiments of this application adopt the following technical solutions:

[0006] In a first aspect, embodiments of this application provide a data disk dropping method for an autonomous driving device. The data disk dropping method for the autonomous driving device is executed by a data disk dropping system of the autonomous driving device. The autonomous driving device includes multiple master devices in the same local area network, and a disk dropping service is deployed in each of the multiple master devices. The data disk dropping method for the autonomous driving device includes:

[0007] When a data disk dropping start event is triggered on the visualization interface, determine a target master device among the multiple master devices. The target master device is the master device with a specified external hard disk mounted;

[0008] When the specified external hard disk mounted on the target master device meets the data disk write start condition, determine the primary service device among multiple master devices, where the primary service device is the master device on which the disk write primary service is deployed;

[0009] Based on the primary service device and the target master device, remotely transfer the files to be disk written of the non-target master devices among the multiple master devices to the specified external hard disk mounted on the target master device, where the non-target master devices are the master devices that do not mount the specified external hard disk.

[0010] Optionally, when triggering the data disk write start event on the visualization interface, determining the target master device among multiple master devices includes:

[0011] When triggering the data disk write start event on the visualization interface, traverse all master devices within the same local area network and query whether each master device mounts the specified external hard disk;

[0012] When the master device mounts the specified external hard disk, determine that the master device is the target master device and record the IP address of the target master device and the mount directory of the specified external hard disk.

[0013] Optionally, the data disk write method of the autonomous driving device further includes:

[0014] When triggering the data disk write start event on the visualization interface, obtain the sizes of the files to be disk written of all master devices within the same local area network;

[0015] Compare the sum of the sizes of the files to be disk written of all master devices with the remaining capacity of the specified external hard disk;

[0016] When the sum of the sizes of the files to be disk written of all master devices is not greater than the remaining capacity of the specified external hard disk, determine that the specified external hard disk mounted on the target master device meets the data disk write start condition.

[0017] Optionally, when the specified external hard disk mounted on the target master device meets the data disk write start condition, determining the primary service device among multiple master devices includes:

[0018] When the specified external hard disk mounted on the target master device meets the data disk write start condition, obtain the system resource occupancy information of all master devices;

[0019] Determine the primary service device among multiple master devices according to the system resource occupancy information of all master devices.

[0020] Optionally, based on the master service device and the target master control device, remotely transferring the files to be landed of the non-target master control devices among the multiple master control devices to the specified external hard disk mounted by the target master control device includes:

[0021] Obtain the IP addresses of all master control devices and the mounting directory of the specified external hard disk;

[0022] Determine the source IP address and the target IP address according to the IP addresses of all master control devices, where the source IP address is the IP address of the non-target master control device, and the target IP address is the IP address of the target master control device;

[0023] According to the source IP address, the target IP address, and the mounting directory of the specified external hard disk, use the first transfer command to remotely transfer the files to be landed of the non-target master control device to the specified external hard disk mounted by the target master control device.

[0024] Optionally, after using the first transfer command to remotely transfer the files to be landed of the non-target master control device to the specified external hard disk mounted by the target master control device according to the source IP address, the target IP address, and the mounting directory of the specified external hard disk, the data landing method of the autonomous driving device further includes:

[0025] Use the second transfer command to synchronize the files to be landed in the target master control device to the specified external hard disk mounted by the target master control device.

[0026] Optionally, based on the master service device and the target master control device, remotely transferring the files to be landed of the non-target master control devices among the multiple master control devices to the specified external hard disk mounted by the target master control device includes:

[0027] Start a progress query sub-thread;

[0028] Use the progress query sub-thread to determine the data landing progress;

[0029] The data landing method of the autonomous driving device further includes:

[0030] Display the data landing progress;

[0031] In the case where the data landing progress is landing completed, perform file verification on the landed files.

[0032] In a second aspect, an embodiment of the present application further provides a data landing system for an autonomous driving device. The data landing system for the autonomous driving device includes a visualization module, a data landing module, and a communication module;

[0033] The visualization module is configured to determine a target master device among multiple master devices when a data disk drop start event is triggered on a visualization interface, where the target master device is a master device with a specified external hard disk mounted thereon; and, when the specified external hard disk mounted on the target master device meets the data disk drop start condition, determine a primary service device among multiple master devices, where the primary service device is a master device on which a disk drop primary service is deployed.

[0034] The data disk drop module is configured to remotely transfer the files to be disk-dropped of non-target master devices among multiple master devices to the specified external hard disk mounted on the target master device based on the primary service device, where the non-target master devices are master devices without a specified external hard disk mounted thereon.

[0035] The communication module is configured to establish a communication connection between the visualization module and the data disk drop module.

[0036] In a third aspect, an embodiment of the present application further provides a device, including:

[0037] A processor; and a memory arranged to store computer-executable instructions, where the executable instructions, when executed, cause the processor to execute any one of the data disk drop methods of the aforementioned autonomous driving device.

[0038] In a fourth aspect, an embodiment of the present application further provides a computer program product, including computer programs / instructions, where the computer programs / instructions, when executed by a processor, implement any one of the data disk drop methods of the aforementioned autonomous driving device.

[0039] The above at least one technical solution adopted in the embodiments of the present application can achieve the following beneficial effects: The data disk dropping method of the automatic driving device in the embodiments of the present application is executed by the data disk dropping system of the automatic driving device. The automatic driving device includes multiple master devices in the same local area network, and a disk dropping service is deployed in each of the multiple master devices. When a data disk dropping start event is triggered on the visualization interface, a target master device among the multiple master devices is determined. The target master device is the master device with a specified external hard disk mounted; when the specified external hard disk mounted on the target master device meets the data disk dropping start condition, a main service device among the multiple master devices is determined. The main service device is the master device with a disk dropping main service deployed; based on the main service device and the target master device, the files to be disk dropped of the non-target master devices among the multiple master devices are remotely transmitted to the specified external hard disk mounted on the target master device. The non-target master devices are the master devices without the specified external hard disk mounted. The data disk dropping method of the automatic driving device in the embodiments of the present application can realize the parallel transmission and disk dropping of data of multiple devices in the same local area network by determining the main service node and the master node with an external hard disk mounted in the domain control device, and has no requirement for the hard disk installation position, improving the flexibility of data disk dropping and reducing the error rate caused by hard disk installation; in addition, the data disk dropping operation can be triggered with one key on the visualization interface, and by combining the front-end display and the background running disk dropping method, the automation of data disk dropping is realized, which is convenient for the operation personnel to operate and improves the data disk dropping efficiency. Description of the Drawings

[0040] 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 to the present application. In the drawings:

[0041] Figure 1 It is a schematic flowchart of a data disk dropping method for an automatic driving device in the embodiments of the present application;

[0042] Figure 2 It is a schematic flowchart of a data disk dropping process for an automatic driving device in the embodiments of the present application;

[0043] Figure 3 It is a schematic structural diagram of a data disk dropping system for an automatic driving device in the embodiments of the present application;

[0044] Figure 4 It is a schematic flowchart of a disk dropping process of a data disk dropping system for an automatic driving device in the embodiments of the present application;

[0045] Figure 5 It is a schematic structural diagram of a device in the embodiments of the present application. Detailed Embodiments

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments of this application and the corresponding drawings. Apparently, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

[0047] The following will, with reference to the drawings, elaborate on the technical solutions provided by each embodiment of this application.

[0048] An embodiment of this application provides a method for data disk dropping of an autonomous driving device. The method for data disk dropping of the autonomous driving device is executed by a data disk dropping system of the autonomous driving device. The autonomous driving device includes multiple master devices within the same local area network, and a disk dropping service is deployed in each of the multiple master devices.

[0049] The autonomous driving devices in the autonomous driving system of the embodiment of this application are mainly divided into vehicle-end devices and road-end devices. Vehicle-end devices include, for example, multiple in-vehicle domain controllers on a vehicle, and road-end devices include, for example, multiple intelligent edge computers at an intersection. These devices can be collectively referred to as master devices. The master devices within the same local area network can be connected through a network switch and a router. For example, multiple in-vehicle domain controllers on a vehicle are within the same local area network, and multiple intelligent edge computers at an intersection are within the same local area network. A disk dropping service is uniformly deployed in each master device. The disk dropping service can be understood as a service that actually executes data transmission and disk dropping operations, and an external hard disk for data disk dropping can be connected to any master device.

[0050] As Figure 1 shown, a flowchart of a method for data disk dropping of an autonomous driving device in an embodiment of this application is provided. The method for data disk dropping of the autonomous driving device at least includes the following steps S110 to step S130:

[0051] Step S110, when a data disk dropping start event is triggered on the visualization interface, determine a target master device among the multiple master devices. The target master device is the master device with a specified external hard disk mounted.

[0052] Combined with Figure 2 , a flowchart of a data disk dropping process of an autonomous driving device in an embodiment of this application is provided. The operator operates through the visualization interface provided by the data disk dropping system to trigger a data disk dropping start event. This visualization interface can be an interface provided by any visualization module such as a desktop application on the master device side, a PC desktop application, or a Web online visualization web page. It provides a user-friendly interface to manage and display the data disk dropping tasks of the autonomous driving device.

[0053] After the operation staff triggers the data disk dropping event, check multiple master devices within the local area network to determine which master device has the specified external hard disk mounted, and use it as the target master device. Subsequently, the data of other master devices needs to be written to the external hard disk mounted by the target master device through the target master device.

[0054] Step S120, when the specified external hard disk mounted by the target master device meets the data disk dropping start condition, determine the main service device among the multiple master devices. The main service device is the master device on which the disk dropping main service is deployed.

[0055] After determining the target master device, it is also necessary to further determine whether the specified external hard disk currently mounted by the target master device meets the data disk dropping start condition. For example, it can include the judgment of the hard disk remaining space. If the disk dropping start condition is met, then continue to determine the main service device.

[0056] As mentioned above, the disk dropping service is uniformly deployed in each master device. Before data transmission, it is necessary to determine the main service node among these multiple master devices with the disk dropping service deployed, that is, the device node where the disk dropping main service is located. This process can be regarded as an election process. The specific designed election mechanism can be flexibly set by those skilled in the art according to actual needs and will not be specifically limited here. The purpose of determining the main service device is to use the main service device as the central control node to be responsible for uniformly coordinating and controlling the data disk dropping operations of all master devices within the same local area network to improve the efficiency of data disk dropping.

[0057] The disk dropping main service provides a unified HTTP external interface, which can communicate with the visualization end and respond to the operations of the operation staff on the visualization interface. Here, the visualization end can include various visualization modules such as the desktop application on the master device side, the PC desktop application, and the Web online visualization web page, etc., all of which can be connected to the disk dropping main service. Among them, the desktop application on the master device side can be directly opened on the monitor of the master device. The PC desktop application and the Web online visualization web page need to be directly connected to the master device through a network cable on another computer and be in the same local area network.

[0058] Step S130, based on the main service device and the target master device, remotely transmit the files to be disk dropped of the non-target master devices among the multiple master devices to the specified external hard disk mounted by the target master device. The non-target master device is the master device that does not have the specified external hard disk mounted.

[0059] After determining the target master device and the primary service device, the non-target master devices can be identified, i.e., the master devices that do not have the specified external hard drive mounted. The data on these devices needs to be written to the specified external hard drive mounted on the target master device. The primary service device coordinates the data transfer and disk writing process of the non-target master devices, and remotely transfers the files to be written on the non-target master devices to the specified external hard drive mounted on the target master device. This process may involve multiple steps such as file compression, encryption, and verification to ensure data integrity and security. When all the files to be written are successfully transferred and written to the external hard drive, the data disk writing process is completed.

[0060] It should be noted that the target master device and the primary service device determined in the embodiments of this application may be the same device or different devices. The determination of the two is an independent judgment, and this application has no requirements for the installation location of the external hard drive, thus improving the flexibility of data disk writing and reducing the error rate caused by hard drive installation.

[0061] Further, to improve the transmission efficiency, on the one hand, a parallel transmission method can be adopted for multiple master devices within the same local area network, that is, multiple non-target master devices can transfer data to the target master device simultaneously. On the other hand, since the data disk writing time of the devices of a vehicle or an intersection is relatively long, when the operator finishes operating the current vehicle or intersection, the operator can use the interval time to operate other vehicles and intersections simultaneously, thus realizing parallel operation and further improving the data disk writing efficiency.

[0062] The data disk writing method of the autonomous driving device in the embodiments of this application can realize the parallel transmission and disk writing of multi-device data within the same local area network by determining the primary service node and the master node with the external hard drive mounted in the domain control device. There are no requirements for the hard drive installation location, which improves the flexibility of data disk writing and reduces the error rate caused by hard drive installation. In addition, the data disk writing operation can be triggered with one key through the visual interface. By combining the front-end display and the background operation for disk writing, the automation of data disk writing is realized, which is convenient for the operator to operate and improves the data disk writing efficiency.

[0063] In some embodiments of this application, when triggering the data disk writing start event on the visual interface, determining the target master device among multiple master devices includes: when triggering the data disk writing start event on the visual interface, traversing all the master devices within the same local area network and querying whether each master device has the specified external hard drive mounted; when the master device has the specified external hard drive mounted, determining the master device as the target master device and recording the IP address of the target master device and the mounting directory of the specified external hard drive.

[0064] Continue to refer to Figure 2, the operator operates through the visualization interface provided by the data disk-down system. After triggering the data disk-down start event, all devices will be traversed one by one according to the pre-configured master device list, or the ARP technology can also be used to scan all master devices under the local area network. While traversing the master devices, it queries whether a specific external hard disk is mounted on a certain master device, and records the IP address and the mounted directory of the master device with the specific external hard disk mounted. The specific external hard disk refers to the hard disk with a specific configuration file. If the specific configuration file exists in the mounted directory, it proves that the hard disk is a specific external hard disk, thus ensuring the correctness and security of data disk-down.

[0065] In some embodiments of the present application, the data disk-down method of the autonomous driving device further includes: when triggering the data disk-down start event on the visualization interface, obtaining the sizes of the files to be disked down for all master devices within the same local area network; comparing the sum of the sizes of the files to be disked down for all master devices with the remaining capacity of the specified external hard disk; when the sum of the sizes of the files to be disked down for all master devices is not greater than the remaining capacity of the specified external hard disk, determining that the specified external hard disk mounted on the target master device meets the data disk-down start condition.

[0066] After determining the target master device, it is further necessary to determine whether the specified external hard disk mounted on the target master device meets the data disk-down start condition. In the embodiments of the present application, it mainly judges whether the current remaining capacity of the specified external hard disk meets the capacity required for data disk-down.

[0067] When specifically implementing, the sshpass command can be used to send ssh commands to each master device within the local area network to query and parse the sizes of the files to be disked down in the specified disk-down file directory (such as / data / autocar / bag / ), and then the sizes of the files to be disked down returned by all master devices are accumulated to obtain the total size of the files to be disked down. This total size represents the amount of hard disk space that will be occupied after all data disk-down is completed.

[0068] The remaining capacity information of the specified external hard disk mounted on the target master device is obtained by reading the status information of the hard disk or querying the file system metadata, etc. The total size of the files to be disked down calculated above is compared with the remaining capacity of the external hard disk. If the total size of the files to be disked down is not greater than the remaining capacity of the external hard disk, it is considered that the specified external hard disk mounted on the target master device meets the data disk-down start condition. This means that there is enough space to store all the data, and the data disk-down process can continue.

[0069] If the total size of the files to be disked down is greater than the remaining capacity of the external hard disk, information indicating insufficient hard disk space can be prompted and the data disk-down task cannot continue.

[0070] Through the above steps, it is possible to intelligently determine whether the specified external hard disk mounted on the target master device meets the start condition for data disk writing. This process involves multiple links such as collecting the size information of the files to be disk-written, calculating the total size, comparing the remaining capacity, and making a judgment, ensuring the smooth progress of the data disk-writing process and the reasonable utilization of disk space. This automated judgment mechanism improves the efficiency and reliability of data disk writing, reducing the risk of data loss or disk-writing failure caused by insufficient disk space.

[0071] In some embodiments of the present application, determining the primary service device among multiple master devices when the specified external hard disk mounted on the target master device meets the start condition for data disk writing includes: when the specified external hard disk mounted on the target master device meets the start condition for data disk writing, obtaining the system resource occupancy information of all master devices; determining the primary service device among multiple master devices according to the system resource occupancy information of all master devices.

[0072] After the space capacity meets the disk-writing requirements, the visualization module will further trigger the disk-writing primary service election mechanism. This mechanism is automatic and is used to select a node among all master devices that is most suitable as the primary service device.

[0073] Specifically, by traversing all master devices and collecting the system resource occupancy of all master devices, this includes but is not limited to key performance indicators such as CPU occupancy rate, disk I / O read and write rate, and network rate. These information reflect the current load situation and available resource volume of each master device. Based on the collected system resource occupancy information for analysis and comparison, find the master device with the least resource occupancy in the current disk-writing system. This device is considered the best choice that can provide more available resources during the disk-writing process and thus may achieve a faster disk-writing rate.

[0074] After determining the master device with the least resource occupancy, it can be elected as the primary service device. The primary service device will be responsible for coordinating and managing the entire data disk-writing process, including interacting with the visualization module, sending disk-writing instructions to other master devices, etc.

[0075] Through the above implementation steps, it is possible to automatically elect a master device with the least resource occupancy as the primary service device when the start condition for data disk writing is met. This mechanism not only improves the efficiency and reliability of data disk writing but also optimizes the system performance by reducing resource competition and conflicts. At the same time, the direct interaction between the primary service device and the visualization module also enhances the transparency and controllability of the system, enabling operators to more conveniently monitor and manage the data disk-writing process.

[0076] In some embodiments of the present application, the remote transmission of the files to be landed of the non-target master devices among the multiple master devices to the specified external hard disk mounted by the target master device based on the master service device and the target master device includes: obtaining the IP addresses of all master devices and the mounting directory of the specified external hard disk; determining the source IP address and the target IP address according to the IP addresses of all master devices, where the source IP address is the IP address of the non-target master device, and the target IP address is the IP address of the target master device; and remotely transmitting the files to be landed of the non-target master device to the specified external hard disk mounted by the target master device by using a first transmission command according to the source IP address, the target IP address, and the mounting directory of the specified external hard disk.

[0077] When performing data landing based on the master service device and the target master device, the IP addresses of all master devices and the mounting directory of the specified external hard disk on the target master device can be obtained first. These information are the basis for subsequent file transmission.

[0078] After obtaining the IP addresses of all master devices, the source IP address and the target IP address are determined according to this information. The source IP address refers to the IP address of the non-target master device, that is, those devices that need to transmit the files to be landed, and the target IP address is the IP address of the target master device, that is, the device that receives these files.

[0079] According to the source IP address, the target IP address, and the mounting directory of the specified external hard disk, a file transmission command is prepared. In the embodiments of the present application, the rsync command tool is mainly used for network file transmission. Rsync can synchronize files and directories through a local area network, aiming to provide the fastest data transmission speed while reducing network traffic and disk I / O. The rsync command needs to specify information such as the source path (the landing directory on the non-target master device), the target path (the external hard disk directory mounted by the target master device), the username and password (for authentication when accessing the target device), etc.

[0080] When using the rsync command, the system will add the -z parameter to compress the landed files. Compressing the files can reduce the amount of data during the transmission process, thereby improving the transmission efficiency. At the same time, in order to make full use of the performance of the multi-core CPU, the system will use the parallel command in cooperation to execute the file transmission task in a multi-threaded parallel manner. In this way, multiple files can be transmitted simultaneously, further accelerating the data landing speed.

[0081] Through the above implementation steps, the to-be-disked files of non-target master devices in multiple master devices can be efficiently and remotely transferred to the specified external hard disk mounted by the target master device. By using the rsync command for file transfer and combining compression and multi-threading technologies, not only the efficiency of data disking is improved, but also the reliability and integrity of file transfer are ensured. At the same time, by clearly specifying the source IP address, target IP address, and mounted directory, the process of file transfer can be precisely controlled, avoiding chaos and errors in data transfer.

[0082] In some embodiments of the present application, after remotely transferring the to-be-disked files of the non-target master device to the specified external hard disk mounted by the target master device according to the source IP address, the target IP address, and the mounted directory of the specified external hard disk, the data disking method of the autonomous driving device further includes: using a second transfer command to synchronize the to-be-disked files in the target master device to the specified external hard disk mounted by the target master device.

[0083] After the file transfer of the non-target master device is completed, it is necessary to ensure that all to-be-disked files on the target master device are also synchronized to the external hard disk, preventing any missing or newly generated to-be-disked files on the target master device from being excluded from the previous transfer.

[0084] To achieve this step, a second transfer command can be used, which can be any file synchronization command compatible with the file system on the target master device. However, in this specific embodiment, since the target master device has already mounted the external hard disk and it is one of the local storages of the device, the system can directly use a system-level file synchronization command (such as the sync command) to force all to-be-disked files on the target master device to be synchronized to the hard disk.

[0085] On the target master device, a sync command (or a similar system-level command) is set, which traverses the storage locations of all to-be-disked files to ensure that this data is fully written to the hard disk, preventing data loss or damage caused by system crashes, power outages, or other reasons during the data disking process.

[0086] After all to-be-disked files have been successfully synchronized to the external hard disk and it is confirmed that the data has been safely written, the last step is to remove the external hard disk, indicating the completion of the data disking process. At this time, the external hard disk contains all the necessary autonomous driving data and can be used for subsequent data analysis, storage, or backup.

[0087] Through the above implementation steps, it can be ensured that all the files to be dropped on the autonomous driving device are securely transmitted and synchronized to the specified external hard disk mounted on the target master device. The step of forcing data synchronization using the sync command further enhances the security and reliability of the data, preventing the risk of data loss or corruption.

[0088] In some embodiments of the present application, remotely transmitting the files to be dropped of the non-target master devices among multiple master devices to the specified external hard disk mounted on the target master device based on the master service device and the target master device includes: starting a progress query sub-thread; determining the data dropping progress using the progress query sub-thread; the data dropping method of the autonomous driving device further includes: displaying the data dropping progress; and performing file verification on the dropped files when the data dropping progress is completion of dropping.

[0089] While the master service device starts the rsync command for data dropping, a progress query sub-thread can also be started to be responsible for real-time monitoring of the data dropping progress. The progress query sub-thread loops through setting a timer of N seconds, continuously calculates the percentage of the currently remotely copied file volume in the total volume of all the files to be dropped, and this percentage information can reflect the data dropping progress in real time. The progress query sub-thread responds the calculated progress percentage information to the visualization end. After receiving this information, the visualization end can display the data dropping progress in the form of graphics or text on the user interface, enabling the user to intuitively understand the data dropping process.

[0090] When the progress query sub-thread detects that the data dropping progress reaches 100%, it means that all the files to be dropped have been successfully transmitted to the external hard disk mounted on the target master device. At this time, the progress query sub-thread will destroy the timer and exit.

[0091] Perform file verification on the dropped files. For example, the md5sum command can be used to calculate the md5 value of the dropped files and compare it with the md5 value before transmission. If the md5 values before and after are the same, it means that the file transmission is successful and there is no abnormality; if they are inconsistent, the visualization end will prompt that the file transmission is abnormal and suggest that the user retry.

[0092] If the result of the file verification shows that all files are transmitted successfully and there is no abnormality, then by means of traversal, the original files (i.e., source files) in all the master devices are deleted. This step is to free up the storage space on the master device for facilitating data dropping next time.

[0093] Through the above implementation steps, the data disk writing task of the autonomous driving device can be completed efficiently and safely. The use of the progress query sub-thread enables users to understand the progress of data disk writing in real time, improving the transparency of the system and the user experience. The process of file verification ensures the integrity and accuracy of the data, preventing errors or damage during data transmission. The step of deleting the source file prepares for the next data disk writing, making the entire system more efficient and reliable.

[0094] The embodiment of the present application also provides a data disk writing system 300 for an autonomous driving device, as Figure 3 shown, which provides a schematic structural diagram of a data disk writing system for an autonomous driving device in an embodiment of the present application, as Figure 4 shown, which provides a schematic diagram of the disk writing process of a data disk writing system for an autonomous driving device in an embodiment of the present application. The data disk writing system 300 for the autonomous driving device includes a visualization module 310, a data disk writing module 320, and a communication module 330; wherein:

[0095] The visualization module 310 is configured to determine a target master device among multiple master devices when a data disk writing start event is triggered on the visualization interface, where the target master device is a master device with a specified external hard disk mounted; and, when the specified external hard disk mounted on the target master device meets the data disk writing start condition, determine a main service device among multiple master devices, where the main service device is a master device on which the disk writing main service is deployed;

[0096] The data disk writing module 320 is configured to remotely transmit the files to be disk written of non-target master devices among multiple master devices to the specified external hard disk mounted on the target master device, where the non-target master devices are master devices without a specified external hard disk mounted;

[0097] The communication module 330 is configured to establish a communication connection between the visualization module and the data disk writing module.

[0098] The data disk writing system for the autonomous driving device in the embodiment of the present application is composed of a data disk writing module, a visualization module, and a communication module. The core of the data disk writing system is to elect a master device as the main service device. The main service directly interacts with the visualization module, and the external hard disk can be inserted into any master device.

[0099] The data disk dropping module is the main functional module, which is used to implement functions such as verification of disk-dropped files, transmission of disk-dropped files, and acquisition of disk-dropping progress. The rsync remote file transmission tool is used to implement the data disk dropping function for multiple master devices. The communication module serves as the bridge for the overall architecture of the disk dropping system and is used for the interaction between the visualization module and the disk dropping module. The communication module uses the HTTP Server framework to provide a unified HTTP interface to complete the interaction with multiple visualization modules. The communication module directly calls the disk dropping method provided by the data disk dropping module for interaction. The visualization module uses Qt to develop the device-side and PC-side desktop client applications, and uses web development technologies to develop web visualization applications. Among them, the device-side desktop application and the web visualization application in the data disk dropping module, the communication module, and the visualization module can all be deployed on the master device, and the PC-side desktop application can be deployed on any PC. The PC and the device are connected through the network (wired / wireless).

[0100] In some embodiments of the present application, the visualization module 310 is specifically configured to: when triggering the data disk dropping start event on the visualization interface, traverse all master devices within the same local area network and query whether each master device is mounted with a specified external hard disk; when the master device is mounted with the specified external hard disk, determine the master device as the target master device and record the IP address of the target master device and the mounting directory of the specified external hard disk.

[0101] In some embodiments of the present application, the visualization module 310 is specifically configured to: when triggering the data disk dropping start event on the visualization interface, obtain the sizes of the files to be disk-dropped of all master devices within the same local area network; compare the sum of the sizes of the files to be disk-dropped of all master devices with the remaining capacity of the specified external hard disk; when the sum of the sizes of the files to be disk-dropped of all master devices is not greater than the remaining capacity of the specified external hard disk, determine that the specified external hard disk mounted by the target master device meets the data disk dropping start condition.

[0102] In some embodiments of the present application, the visualization module 310 is specifically configured to: when the specified external hard disk mounted by the target master device meets the data disk dropping start condition, obtain the system resource occupancy information of all master devices; determine the main service device among the multiple master devices according to the system resource occupancy information of all master devices.

[0103] In some embodiments of the present application, the data disk dropping module 320 is specifically configured to: obtain the IP addresses of all master devices and the mounting directory of the specified external hard disk; determine the source IP address and the target IP address according to the IP addresses of all master devices, where the source IP address is the IP address of a non-target master device, and the target IP address is the IP address of the target master device; and remotely transfer the files to be disk-dropped of the non-target master device to the specified external hard disk mounted by the target master device by using a first transfer command according to the source IP address, the target IP address, and the mounting directory of the specified external hard disk.

[0104] In some embodiments of the present application, the data disk dropping module 320 is specifically configured to: after remotely transferring the files to be disk-dropped of the non-target master device to the specified external hard disk mounted by the target master device by using a first transfer command according to the source IP address, the target IP address, and the mounting directory of the specified external hard disk, synchronize the files to be disk-dropped in the target master device to the specified external hard disk mounted by the target master device by using a second transfer command.

[0105] In some embodiments of the present application, the data disk dropping module 320 is specifically configured to: start a progress query sub-thread; determine the data disk dropping progress by using the progress query sub-thread; the visualization module is specifically configured to: display the data disk dropping progress; and perform file verification on the disk-dropped files when the data disk dropping progress is disk dropping completed.

[0106] It can be understood that the above data disk dropping system of the autonomous driving device can implement each step of the data disk dropping method of the autonomous driving device provided in the foregoing embodiments. The related explanations about the data disk dropping method of the autonomous driving device are applicable to the data disk dropping system of the autonomous driving device, and will not be elaborated here.

[0107] In summary, the present application has at least achieved the following technical effects:

[0108] 1) It can perform data disk dropping for multiple autonomous driving vehicle devices and intersection devices in parallel. By operating multiple vehicles and intersections in parallel and executing the disk dropping program in the background, the problem of low disk dropping efficiency in the existing solution is solved.

[0109] 2) There is no requirement for the hard disk installation position, which improves the flexibility of the disk dropping system and reduces the error rate caused by hard disk installation.

[0110] 3) The data disk dropping system provides various visualization capabilities and communication interfaces, which are convenient for expansion, and supports multiple choices for operators, facilitating the operation of operators and improving the data disk dropping efficiency.

[0111] 4) Use the rsync breakpoint resume tool for network transmission, which supports breakpoint resume (incremental transmission), multi-threaded transmission, and compressed transmission to improve the data transmission rate.

[0112] Figure 5 It is a schematic structural diagram of a device in an embodiment of the present application. As Figure 5 shown, the device includes one or more processors (or processing units), and may further include one or more memories coupled to the processors, and may further include a communication module coupled to the processors.

[0113] The communication module can be used to communicate with other devices or apparatuses, such as sending or receiving data and / or signals. The communication module may have at least one communication module for communication. The communication module may include any interface necessary for communicating with other devices. Exemplarily, the communication module may be a transceiver, a circuit, a bus, a module, or other types of communication modules.

[0114] The processor may include, but is not limited to, at least one of the following: a general-purpose computer, a special-purpose computer, a microcontroller, a digital signal controller (Digital Signal Processor, DSP), or one or more in a multi-core controller architecture based on a controller. The device may have multiple processors, such as an application-specific integrated circuit chip, which is subordinate to a clock synchronized with the main processor in time.

[0115] The memory may include one or more non-volatile memories and one or more volatile memories. Examples of non-volatile memories include, but are not limited to, at least one of the following: read-only memory (Read-Only-Memory, ROM), electrically programmable read-only memory (Electrically Programmable Read-Only-Memory, EPROM), flash memory, hard disk, compact disc (Compact Disc, CD), digital video disc (Digital Video Disk, DVD), or other magnetic storage and / or optical storage. Examples of volatile memories include, but are not limited to, at least one of the following: random access memory (Random Access Memory, RAM), or other volatile memories that do not persist during a power outage duration.

[0116] The computer program includes computer-executable instructions executed by an associated processor. The program may be stored in the ROM. The processor may execute any appropriate actions and processes by loading the program into the RAM.

[0117] Possible implementation manners of the present application can be implemented by means of a program, so that a communication device can execute any process discussed in the foregoing embodiments. Possible implementation manners of the present application can also be implemented by hardware or by a combination of software and hardware.

[0118] In some embodiments, the program can be tangibly embodied in a computer-readable storage medium, which can be included in the device (such as in a memory) or other storage devices accessible by the device. The program can be loaded from the computer-readable storage medium into the RAM for execution. The computer-readable storage medium can include any type of tangible non-volatile memory, such as ROM, EPROM, flash memory, hard disk, CD, DVD, etc.

[0119] Embodiments of the present application also provide a computer-readable storage medium, on which computer instructions or program codes are stored. When a processor runs the instructions or the program codes, the processor is caused to execute the methods and functions involved in any of the foregoing embodiments. The computer-readable medium can be any tangible medium that contains or stores a program for or relating to an instruction execution system, apparatus, or device. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, a data center, etc. that incorporates one or more available media. More detailed examples of the computer-readable storage medium include electrical connections with one or more wires, magnetic media (such as disks, floppy disks, hard disks, magnetic tapes, magnetic storage devices), optical media (such as optical storage devices, DVDs), semiconductor media (such as solid state drives), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), or any suitable combination thereof, etc.

[0120] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. Embodiments of the present application also provide at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes one or more computer-executable instructions, such as instructions included in program modules, which are executed in a device on a target real or virtual processor to perform the processes, methods, and functions involved in any one of the above embodiments. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line) or wirelessly (such as infrared, wireless, microwave, etc.).

[0121] Embodiments of the present application also propose a computer program product, including a computer program or instructions. When the computer program or instructions run on a computer, the computer is caused to perform the processes, methods, and functions in the above embodiments. Generally, program modules include routines, programs, libraries, objects, classes, components, data structures, etc. that perform specific tasks or implement specific abstract data types. In various embodiments, the functions of program modules can be combined or divided as needed between program modules. The machine-executable instructions for program modules can be executed within local or distributed devices. In a distributed device, program modules can be located in local and remote storage media.

[0122] Generally, the various embodiments of the present application can be implemented in hardware or dedicated circuits, software, logic, or any combination thereof. Some aspects can be implemented in hardware, while other aspects can be implemented in firmware or software, which can be executed by a controller, microprocessor, or other computing device. Although the various aspects of the embodiments of the present disclosure are shown and described as block diagrams, flowcharts, or using some other graphical representation, it should be understood that the blocks, devices, systems, techniques, or methods described herein can be implemented as, by way of non-limiting example, hardware, software, firmware, dedicated circuits or logic, general-purpose hardware or controllers or other computing devices, or some combination thereof.

[0123] It should be noted that although the embodiments of the present application have been described above in conjunction with the accompanying drawings respectively, the above embodiments are not independent of each other, and they can also be combined to obtain other embodiments. The manners, situations, categories, and the division of embodiments in the embodiments of the present application are only for the convenience of description and should not constitute a special limitation. The features in various manners, categories, situations, and embodiments can be combined with each other under logical circumstances. The various embodiments of the present application can be combined arbitrarily to achieve different technical effects. The embodiments of the present application will no longer list various combinations.

[0124] In addition, although the operations of the method of the present disclosure are described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. On the contrary, the steps depicted in the flowchart can be changed in the order of execution. Additionally or alternatively, some steps can be omitted, multiple steps can be combined into one step for execution, and / or one step can be decomposed into multiple steps for execution. It should also be noted that the features and functions of two or more devices according to the present disclosure can be embodied in one device. Conversely, the features and functions of one device described above can be further divided and embodied by multiple devices.

[0125] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process, method, commodity or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, commodity or device comprising the said element.

[0126] The above are only the embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for storing data of an autonomous driving device, characterized in that: The data storage method of the autonomous driving device is executed by a data storage system of the autonomous driving device, the autonomous driving device includes multiple master control devices in the same local area network, and the multiple master control devices are all deployed with a storage service. The data storage method of the autonomous driving device includes: When a data write-to-disk start event is triggered on the visual interface, a target master control device among multiple master control devices is determined, where the target master control device is a master control device mounted with a designated external hard disk; When the designated external hard disk mounted on the target master device meets the data write-to-disk start condition, determining a master service device among multiple master devices, the master service device being a master device with a write-to-disk master service deployed; Based on the main service device and the target master device, the files to be written to disk of a non-target master device among multiple master devices are remotely transmitted to a designated external hard disk mounted by the target master device, wherein the non-target master device is a master device without a designated external hard disk mounted.

2. The method for storing data on a disk of an autonomous driving device according to claim 1, characterized in that: In the case where the data disk start event is triggered on the visual interface, determining a target master control device among the multiple master control devices comprises: When the data storage start event is triggered on the visual interface, all the master control devices in the same local area network are traversed to check whether each master control device has a designated external hard disk mounted thereon; In the case that the main control device is mounted with a designated external hard disk, the main control device is determined to be the target main control device and the IP address of the target main control device and the mounting directory of the designated external hard disk are recorded.

3. The method for storing data on a disk of an autonomous driving device according to claim 1, characterized in that: The method for storing data on a disk of the autonomous driving device further includes: When the data storage start event is triggered on the visual interface, the size of the files to be stored on all the master devices in the same local area network is obtained; Compare the sum of the sizes of the files to be written to disk of all the master control devices with the remaining capacity of the designated external hard disk; When the sum of the sizes of the files to be written to disk of all the master control devices is not greater than the remaining capacity of the designated external hard disk, it is determined that the designated external hard disk mounted on the target master control device meets the data writing start condition.

4. The method for storing data on a disk of an autonomous driving device according to claim 1, characterized in that: When the designated external hard disk mounted on the target master control device meets the data write start condition, determining the master service device among the multiple master control devices includes: When the designated external hard disk mounted on the target master device meets the data write start condition, obtaining system resource occupancy information of all master devices; A main service device among multiple main control devices is determined according to the system resource occupation information of all main control devices.

5. The method for storing data on a disk of an autonomous driving device according to claim 1, characterized in that: The remotely transmitting the to-be-written files of the non-target master control device among the multiple master control devices to the designated external hard disk mounted on the target master control device based on the main service device and the target master control device comprises: Get the IP addresses of all master devices and the mount directory of the specified external hard disk; Determine a source IP address and a target IP address according to the IP addresses of all the master control devices, wherein the source IP address is the IP address of the non-target master control device, and the target IP address is the IP address of the target master control device; According to the source IP address, the target IP address and the mount directory of the designated external hard disk, the to-be-written file of the non-target master device is remotely transmitted to the designated external hard disk mounted on the target master device using a first transmission command.

6. The method for storing data on a disk of an autonomous driving device according to claim 5, characterized in that: After remotely transmitting the to-be-written file of the non-target master control device to the designated external hard disk mounted by the target master control device using a first transmission command according to the source IP address, the target IP address and the mount directory of the designated external hard disk, the data writing method of the autonomous driving device further includes: The second transmission command is used to synchronize the files to be written to the disk in the target master control device to the designated external hard disk mounted on the target master control device.

7. The method for storing data on a disk of an autonomous driving device according to any one of claims 1 to 6, characterized in that: The remotely transmitting the to-be-written files of the non-target master control device among the multiple master control devices to the designated external hard disk mounted on the target master control device based on the main service device and the target master control device comprises: Start the progress query sub-thread; Determine the progress of data storage by using the progress query subthread; The method for storing data on a disk of the autonomous driving device further includes: Displaying the progress of data being transferred to disk; When the data storage progress is complete, a file check is performed on the stored files.

8. A data storage system for an autonomous driving device, characterized in that: The data storage system of the autonomous driving device includes a visualization module, a data storage module and a communication module; The visualization module is used to determine a target master control device among multiple master control devices when a data disk start event is triggered on a visualization interface, wherein the target master control device is a master control device mounted with a specified external hard disk; and, when the specified external hard disk mounted with the target master control device meets a data disk start condition, determine a master service device among multiple master control devices, wherein the master service device is a master control device deployed with a disk drop master service; The data storage module is used to remotely transfer the files to be stored in non-target master control devices among the multiple master control devices to a designated external hard disk mounted on the target master control device based on the master service device, wherein the non-target master control device is a master control device that does not have a designated external hard disk mounted thereon; The communication module is used to establish a communication connection between the visualization module and the data storage module.

9. A device comprising: processor; And a memory arranged to store computer executable instructions, which, when executed, cause the processor to execute the method for storing data on disk for the autonomous driving device of any one of claims 1 to 7.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by the processor, the method for storing data on a disk of any one of claims 1 to 7 is implemented.

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