Data recharging method, data recharging system and related equipment

Abstract

The invention provides a data recharging method, a data recharging system and related equipment, and the method comprises the steps: obtaining recorded data corresponding to a to-be-tested module, the recorded data being data inputted to the to-be-tested module during a real vehicle test, and the recorded data comprising the receiving time of the to-be-tested module receiving the input data; and obtaining the receiving time in the recorded data. And determining synchronous data recharged into the to-be-tested module based on the recorded data, namely data needing to be input into the to-be-tested module. And recharging the synchronous data to the to-be-tested module based on the receiving time. Through the method, data recharge can be performed on the to-be-tested module based on the time when the to-be-tested module receives the input data during the real vehicle test, and the influence of the transmission time of the data in the data link is eliminated, so that the data recharge environment is close to the real vehicle test environment as much as possible, and the accuracy of the data recharge test result is improved.

Description

Technical Field

[0001] This application relates to the technical field of data processing, and in particular, to a data backfilling method, a data backfilling system, and related devices. Background Art

[0002] With the development of intelligent driving technology, the intelligent driving functions on vehicles are becoming increasingly rich. During the development of intelligent driving functions, it is necessary to repeatedly test the functions to ensure the correctness of the intelligent driving functions. If testing is carried out on a real vehicle, it will lead to problems such as long time consumption and high cost. Therefore, the data recorded during real vehicle testing can be used and backfilled into the algorithm modules corresponding to each function to test the algorithm modules, so as to simulate the real vehicle environment to complete the function testing or conduct problem debugging.

[0003] Common data backfilling methods will record the time when each data is generated, then synchronize the data based on the data generation time, and then backfill the synchronized data into the algorithm module. However, due to the complexity of the real vehicle test environment, there are differences between the real vehicle test environment and the backfilling environment, which will result in different data link time consumptions between each module. Subsequently, backfilling tests are carried out according to the data generation time, which may make it difficult to reproduce the problems that occurred during real vehicle testing during data backfilling, affecting the accuracy of the backfilling test results. Summary of the Invention

[0004] In view of this, this application is committed to providing a data backfilling method, a data backfilling system, and related devices to improve the accuracy of data backfilling test results.

[0005] In a first aspect, this application provides a data backfilling method, and the method includes:

[0006] Obtain the recorded data corresponding to the module to be tested, where the recorded data is the data input to the module to be tested during real vehicle testing, and the recorded data includes a reception time;

[0007] Obtain the reception time in the recorded data;

[0008] Determine the synchronized data to be backfilled into the module to be tested based on the recorded data;

[0009] Backfill the synchronized data into the module to be tested based on the reception time.

[0010] In a possible implementation manner, the determination process of the recorded data includes:

[0011] During real vehicle testing, when the module to be tested receives the initial input data, obtain the recorded data based on the initial input data and the reception time when the initial input data is received.

[0012] In a possible implementation, determining the synchronization data to be fed back to the module under test based on the recorded data includes:

[0013] When there is one piece of recorded data in the recorded data, determining the recorded data as the synchronization data; or,

[0014] When there are multiple pieces of recorded data in the recorded data, determining a reference synchronization time based on the reception times of the multiple pieces of recorded data;

[0015] For the first recorded data, when the reception time of the first recorded data is less than or equal to the reference synchronization time, determining the first recorded data and the recorded data corresponding to the reference synchronization time as the synchronization data, where the first recorded data represents any one of the multiple pieces of recorded data other than the recorded data corresponding to the reference synchronization time.

[0016] In a possible implementation, feeding back the synchronization data to the module under test based on the reception time includes:

[0017] When there is one piece of recorded data in the recorded data, feeding back the synchronization data to the module under test based on the reception time of the recorded data; or,

[0018] When there are multiple pieces of recorded data in the recorded data, determining a reference synchronization time based on the reception times of the multiple pieces of recorded data;

[0019] Feeding back the synchronization data to the module under test based on the reference synchronization time.

[0020] In a second aspect, the present application provides a data feedback system, the system includes: a data feedback module, a host computer, and a domain controller, and the domain controller includes a module under test;

[0021] The module under test is configured to, during real vehicle testing, obtain recorded data based on the received initial input data and the reception time of receiving the initial input data; send the recorded data to the host computer for storage;

[0022] The data feedback module is configured to execute the data feedback method according to any one of the implementations in the first aspect above.

[0023] In a possible implementation, the module under test includes: a data reception module and an algorithm module;

[0024] The data reception module is specifically configured to receive first data transmitted by a sensor, determine sensor recorded data based on the first data and the first time of receiving the first data; send the sensor recorded data to the host computer for storage;

[0025] The algorithm module is specifically configured to, in response to receiving the second data as input, determine algorithm recording data based on the second data and the second time when the second data is received; and send the algorithm recording data to the host computer for storage.

[0026] In a possible implementation manner, the domain controller further includes: a data publishing module;

[0027] The data receiving module is specifically configured to send the sensor recording data to the data publishing module, so that the data publishing module sends the sensor recording data to the host computer for storage;

[0028] The algorithm module is specifically configured to send the algorithm recording data to the data publishing module, so that the data publishing module sends the algorithm recording data to the host computer for storage.

[0029] In a third aspect, the present application provides a data backfilling device, and the device includes:

[0030] A data acquisition unit, configured to acquire the recording data corresponding to the unit to be tested, where the recording data is the data input to the unit to be tested during real vehicle testing, and the recording data includes a reception time;

[0031] A time acquisition unit, configured to acquire the reception time in the recording data;

[0032] A synchronization unit, configured to determine synchronization data to be backfilled to the module to be tested based on the recording data;

[0033] A data backfilling unit, configured to backfill the synchronization data to the module to be tested based on the reception time.

[0034] In a fourth aspect, the present application provides an electronic device, and the device includes: a memory and a processor;

[0035] The memory is used to store relevant program codes;

[0036] The processor is used to call the program codes to execute the data backfilling method according to any one of the implementation manners in the first aspect above.

[0037] In a fifth aspect, the present application provides a computer-readable storage medium, and the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the data backfilling method according to any one of the implementation manners in the first aspect above.

[0038] Sixth aspect, the present application provides a computer program product, which includes computer programs / instructions. When the computer programs / instructions are executed by a processor, the data backfilling method described in any implementation manner of the above first aspect is implemented.

[0039] In the above implementation manners of the present application, in order to perform data backfilling test on a module to be tested, first, it is necessary to obtain the recorded data corresponding to the module to be tested. Among them, the recorded data is the data input to the module to be tested during real vehicle testing, and the recorded data includes the reception time when the module to be tested receives the input data. Obtain the reception time in the recorded data. Determine the synchronization data to be backfilled into the module to be tested based on the recorded data, that is, the data that needs to be input to the module to be tested. Backfill the synchronization data into the module to be tested based on the reception time. Through the method of the embodiments of the present application, data backfilling can be performed on the module to be tested based on the time when the module to be tested receives input data during real vehicle testing, eliminating the influence of the data transmission time in the data link, making the data backfilling environment as close as possible to the real vehicle testing environment, and improving the accuracy of the data backfilling test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments provided in the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0041] Figure 1 It is a flowchart of a data backfilling method provided by an embodiment of the present application.

[0042] Figure 2 It is a flowchart of another data backfilling method provided by an embodiment of the present application.

[0043] Figure 3 It is a schematic diagram of a data backfilling system provided by an embodiment of the present application.

[0044] Figure 4 It is a schematic diagram of another data backfilling system provided by an embodiment of the present application.

[0045] Figure 5 It is a schematic diagram of a data backfilling device provided by an embodiment of the present application.

[0046] Figure 6 It is a schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. The described embodiments are only exemplary embodiments of the present application and not all implementation manners. Those skilled in the art can obtain other embodiments without creative efforts in combination with the embodiments of the present application, and these embodiments are also within the protection scope of the present application.

[0048] With the development of intelligent driving technology, the intelligent driving functions on vehicles are becoming increasingly rich. During the process of developing intelligent driving functions, it is necessary to repeatedly test the functions to ensure the correctness of the intelligent driving functions. If testing is carried out on a real vehicle, it will lead to problems such as long time consumption and high cost. Therefore, the data recorded during real vehicle testing can be used and backfilled into the algorithm modules corresponding to each function to test the algorithm modules, so as to simulate the real vehicle environment to complete the function test or conduct problem debugging.

[0049] Common data backfilling methods will record the time when each data is generated, and then synchronize the data based on the data generation time, and then backfill the synchronized data into the algorithm module. However, due to the complexity of the real vehicle test environment, there are differences between the real vehicle test environment and the backfilling environment, which will result in different data link delays between each module. Subsequently, backfilling tests are carried out according to the data generation time, which may make it difficult to reproduce the problems that occurred during real vehicle testing during data backfilling, affecting the accuracy of the backfilling test results.

[0050] Based on this, the embodiments of the present application provide a data backfilling method to improve the accuracy of data backfilling test results. Specifically, when implementing, in order to perform a data backfilling test on the module to be tested, first, it is necessary to obtain the recorded data corresponding to the module to be tested. Among them, the recorded data is the data input to the module to be tested during real vehicle testing, and the recorded data includes the reception time when the module to be tested receives the input data. Obtain the reception time in the recorded data. Determine the synchronized data to be backfilled into the module to be tested based on the recorded data, that is, the data that needs to be input to the module to be tested. Backfill the synchronized data into the module to be tested based on the reception time. Through the method of the embodiments of the present application, data backfilling can be performed on the module to be tested based on the time when the module to be tested receives the input data during real vehicle testing, eliminating the influence of the data transmission time in the data link, making the data backfilling environment as close as possible to the real vehicle test environment, and improving the accuracy of the data backfilling test results. When the module to be tested receives multiple recorded data as inputs, since the time frequencies of different recorded data are different, time synchronization can be performed according to the reception times of different recorded data to determine the synchronized data that can be input to the module to be tested simultaneously during data backfilling, ensuring the accuracy of the data backfilling test.

[0051] To facilitate the understanding of the technical solutions provided by the embodiments of the present application, the following will specifically introduce with reference to the accompanying drawings in the embodiments.

[0052] See Figure 1 as shown Figure 1 This is a flowchart of a data backfilling method provided by an embodiment of the present application.

[0053] Optionally, this method can be executed by a data backfilling module. Among them, the data backfilling module can be a hardware device or a software device.

[0054] This method may include the following steps:

[0055] S101: Obtain the recorded data corresponding to the module to be tested.

[0056] Among them, the recorded data is the data input to the module to be tested during on-vehicle testing, and the recorded data includes the reception time. That is, before performing data backfilling testing on the module to be tested, it is necessary to test the module to be tested in the vehicle and record the data input to the module to be tested during on-vehicle testing. Since the data link may be relatively complex in the on-vehicle testing scenario and the time-consuming during the process of transmitting data to the module to be tested may be relatively long, while the data link in the data backfilling environment is relatively simple. In order to make the data backfilling environment as close as possible to the on-vehicle testing scenario, the embodiments of the present application can record the time when the module to be tested receives the input data during on-vehicle testing, that is, the reception time, so as to perform data backfilling on the module to be tested according to the reception time instead of according to the time when the data is generated, thereby avoiding the influence brought by the time-consuming of the data link.

[0057] In a possible implementation manner, the recorded data can be generated by a domain controller during on-vehicle testing. Among them, the domain controller includes the module to be tested, and the module to be tested can generate the corresponding recorded data. Specifically, during on-vehicle testing, when the module to be tested receives the initial input data, the recorded data can be obtained based on the initial input data and the reception time of receiving the initial input data. That is, the reception time of receiving the initial input data is added when storing the initial input data to obtain the recorded data including the reception time.

[0058] In a possible implementation manner, the module to be tested in the domain controller may include a data reception module, at least one algorithm module, etc. Among them, the data reception module can receive the sensor data collected and transmitted by various sensors during vehicle driving, that is, the sensor data can be used as the initial input data of the data reception module. When the data reception module receives the sensor data, the sensor data and the reception time of receiving the sensor data can be combined to obtain the recorded data of the data reception module.

[0059] Optionally, after the data receiving module receives the sensor data, it can preprocess the sensor data to obtain sensor data that conforms to the input format of the algorithm module. That is, the initial input data of the algorithm module can be the preprocessed sensor data sent by the data receiving module. Based on this, after the algorithm module receives the preprocessed sensor data, it can combine the preprocessed sensor data and the receiving time of the preprocessed sensor data to obtain the recorded data of the algorithm module.

[0060] Optionally, when there are multiple algorithm modules in the domain controller, the output result of the first algorithm module may be used as the input of the second algorithm module. That is, the output result of the first algorithm module can be used as the initial input data of the second algorithm module. At this time, when the second algorithm module receives the output result of the first algorithm module as the initial input data, it can combine the output result of the first algorithm module and the receiving time of the output result of the first algorithm module to obtain the recorded data of the second algorithm module. That is, the recorded data can be generated based on the data of the sensor or the output result of the algorithm module.

[0061] Specifically, taking the domain controller including a data receiving module, a first algorithm module, a second algorithm module, and a third algorithm module as an example, the input of the second algorithm module includes the sensor data output by the data receiving module and the output result of the first algorithm module, and the input of the third algorithm module includes the sensor data output by the data receiving module, the output result of the first algorithm module, and the output result of the second algorithm module. That is, the input of the third algorithm module includes three types of data. Since the transmission links between the first algorithm module and the second algorithm module, between the second algorithm module and the third algorithm module, and between the first algorithm module and the third algorithm module all require different time-consuming, subsequent data backfilling based on the time when the third algorithm module receives each input data can restore the test environment as much as possible and reduce the impact of data transmission time-consuming on the backfilling test.

[0062] In a possible implementation manner, after obtaining the recorded data of the module to be tested, the module to be tested and its corresponding recorded data can be stored correspondingly, that is, the corresponding relationship between the module to be tested and the recorded data is stored, which is convenient for subsequent data backfilling of the module to be tested, and the recorded data corresponding to the module to be tested can be obtained according to the pre-stored corresponding relationship.

[0063] In a possible implementation, after the module under test generates the recorded data, the recorded data can be sent to the data publishing module in the domain controller. The data publishing module can send the recorded data corresponding to the module under test to the host computer, and the recorded data and the correspondence between the module under test and the recorded data are stored in the host computer. For example, the correspondence between the module under test and the recorded data can be stored in the form of a table.

[0064] Optionally, the host computer may include a data storage module, which can store the recorded data sent by the data publishing module and the correspondence between the module under test and the recorded data. Subsequently, when performing a data backfill test on the module under test, the data backfill module can obtain the recorded data corresponding to the module under test based on the correspondence pre-stored in the data storage module of the host computer.

[0065] S102: Obtain the reception time in the recorded data.

[0066] After the data backfill module obtains the recorded data corresponding to the module under test, it can parse the recorded data to obtain the reception time in the recorded data. For example, when pre-storing the recorded data of the module under test, the recorded data may be compressed, and the compressed recorded data is sent to the host computer for storage. Therefore, after the data backfill module obtains the recorded data from the host computer, it needs to decompress the recorded data to obtain the reception time in the recorded data.

[0067] S103: Determine the synchronization data to be backfilled to the module under test based on the recorded data.

[0068] During real vehicle testing, for each test process, the data received by the module under test as input may be more than one data. For example, it may include sensor data sent by multiple sensors, or may also include the output results sent by other algorithm modules, and the times of receiving different data may also be different. Therefore, when performing a data backfill on the module under test, it is necessary to determine the test process for the current data backfill, and based on the recorded data that can be input to the module under test at a certain time, that is, the synchronization data that can be input to the module under test simultaneously, to ensure the accuracy of the data backfill test.

[0069] In a possible implementation, when the recorded data corresponding to the module under test includes one recorded data, that is, there is only one input data for the module under test. At this time, this recorded data can be input into the module under test to determine that this recorded data is synchronous data. When the recorded data corresponding to the module under test includes multiple recorded data, the generation frequency of each recorded data is different, and the reception time of the module under test for receiving multiple recorded data is different during on-vehicle testing. Therefore, during data backfilling, time synchronization needs to be performed according to the reception time of different recorded data. At this time, the recorded data determined to be input into the module under test simultaneously may be one or more. For example, based on the reception time of one of the recorded data as a reference, at least one recorded data that can be input into the module under test simultaneously can be determined.

[0070] In specific implementation, the reference synchronization time can be determined based on the reception time of multiple recorded data. For example, the reception time corresponding to the recorded data with the highest reception frequency among multiple recorded data can be determined as the reference synchronization time. For example, if the module under test receives sensor data sent by the first sensor at a frequency of once every 10 seconds and receives sensor data sent by the second sensor at a frequency of once every 50 seconds, then the reception time in the recorded data corresponding to the higher frequency of once every 10 seconds can be used as the reference synchronization time.

[0071] After determining the reference synchronization time, then determine whether the reception time of other recorded data is before the reference synchronization time. If it is before the reference synchronization time, it indicates that before receiving the recorded data corresponding to the reference synchronization time, the module under test also received other recorded data. Then, other recorded data can be input into the module under test for data backfilling test. Specifically, for the first recorded data, when the reception time of the first recorded data is less than or equal to the reference synchronization time, determine that the first recorded data and the recorded data corresponding to the reference synchronization time are synchronous data, that is, the data that can be input into the module under test. Wherein, the first recorded data represents any recorded data except the recorded data corresponding to the reference synchronization time among multiple recorded data. When the reception time of the first recorded data is greater than the reference synchronization time, it indicates that during the original on-vehicle testing, the module under test has not received the first recorded data. Then, the first recorded data cannot be input into the module under test during data backfilling, that is, the first recorded data is not determined as synchronous data.

[0072] S104: Backfill the synchronous data into the module under test based on the reception time.

[0073] In order to make the data backfilling environment as close as possible to the on-vehicle testing environment, the determined synchronous data can be backfilled into the module under test based on the reception time of the module under test for receiving recorded data to obtain the test result of data backfilling.

[0074] In a possible implementation, when the recorded data corresponding to the module under test includes only one piece of recorded data, the synchronization data can be backfilled to the module under test based on the reception time of the recorded data. At this time, the synchronization data is the recorded data. That is, the recorded data can be backfilled to the module under test based on the reception time.

[0075] When the recorded data corresponding to the module under test includes multiple pieces of recorded data, the reference synchronization time can be determined based on the reception times of the multiple pieces of recorded data, and then the determined synchronization data can be backfilled to the module under test based on the reference synchronization time. According to the above embodiments, after determining the reference synchronization time, the synchronization data that can be input to the module under test can be determined based on the reference synchronization time and the reception times of other recorded data, that is, the recorded data whose reception time is less than or equal to the reference synchronization time. Then, the synchronization data can be backfilled to the module under test based on the reference synchronization time to complete the data backfill test. For example, when there are multiple algorithm modules in the domain controller, considering the influence of the data transmission link between different algorithm modules, time synchronization can be performed based on the time when each algorithm module receives data from the data receiving module or other algorithm modules to determine the synchronization data, and data backfill can be performed based on the reception time of the synchronization data to restore the test environment as much as possible, reduce the influence of data transmission time consumption on the backfill test, and improve the accuracy of the backfill test.

[0076] Based on the above method embodiments, an embodiment of the present application also provides a data backfill method. Specifically, refer to Figure 2 shown in Figure 2 the flowchart of another data backfill method provided by an embodiment of the present application.

[0077] The method may include the following steps:

[0078] S201: Obtain the recorded data corresponding to the module under test;

[0079] S202: Obtain the reception time in the recorded data;

[0080] S203: Determine whether the recorded data corresponding to the module under test includes multiple pieces of recorded data; if so, jump to step S206; otherwise, execute step S204;

[0081] S204: Determine that the recorded data is the synchronization data to be backfilled to the module under test;

[0082] S205: Backfill the synchronization data to the module under test based on the reception time;

[0083] S206: Determine the reference synchronization time based on the reception times of multiple pieces of recorded data;

[0084] S207: When the reception time of the first recorded data is less than or equal to the reference synchronization time, determine that the first recorded data and the recorded data corresponding to the reference synchronization time are synchronized data;

[0085] Wherein, the first recorded data represents any recorded data among the multiple recorded data except the recorded data corresponding to the reference synchronization time.

[0086] S208: Based on the reference synchronization time, backfill the synchronized data to the module to be tested.

[0087] Through the method provided by the above embodiments, it is possible to backfill data to the module to be tested based on the time when the module to be tested receives input data during in-vehicle testing, eliminate the influence of the data transmission time in the data link, make the data backfill environment as close as possible to the in-vehicle testing environment, and improve the accuracy of the data backfill test results. When the module to be tested receives multiple recorded data as input, time synchronization can be performed according to the reception times of different recorded data to determine the synchronized data that can be input to the module to be tested simultaneously during data backfill, ensuring the accuracy of the data backfill test.

[0088] Based on the above method embodiments, the embodiments of the present application also provide a data backfill system. Specifically, refer to Figure 3 as shown in Figure 3 which is a schematic diagram of a data backfill system provided by the embodiments of the present application.

[0089] The data backfill system 300 includes: a data backfill module 301, a host computer 302, and a domain controller 303. Among them, the domain controller 303 includes a module to be tested 3031;

[0090] The module to be tested 3031 is configured to, during in-vehicle testing, obtain recorded data based on the received initial input data and the reception time of the received initial input data; send the recorded data to the host computer 302 for storage;

[0091] The data backfill module 301 is configured to execute the data backfill method described in the above method embodiments.

[0092] In a possible implementation, the module to be tested 3031 includes: a data reception module and an algorithm module;

[0093] Among them, the data reception module is specifically configured to receive the first data transmitted by the sensor; determine the sensor recorded data based on the first data and the first time of receiving the first data; send the sensor recorded data to the host computer for storage.

[0094] The algorithm module is specifically configured to, in response to receiving the second data as input, determine algorithm recording data based on the second data and the second time when the second data is received, and send the algorithm recording data to the host computer for storage.

[0095] Optionally, after the data receiving module receives the first data transmitted by the sensor, it can preprocess the first data to obtain data that conforms to the input format of the algorithm module, so that the preprocessed first data can be sent to the algorithm module.

[0096] Optionally, when there are multiple algorithm modules in the domain controller, the output result of one module may be used as the input of another algorithm module. That is, the second data input to the algorithm module can be the data output by the data receiving module, or the output result of another algorithm module. The algorithm recording data can include both sensor data and the output data of other algorithm modules. The recording data includes sensor recording data and algorithm recording data.

[0097] In a possible implementation, the domain controller 303 may further include: a data publishing module. After the data receiving module generates the sensor recording data, it can send the sensor recording data to the data publishing module, and the data publishing module sends the sensor recording data to the host computer for storage. Similarly, after the algorithm module generates the algorithm recording data, it can send the algorithm recording data to the data publishing module, and the data publishing module sends the algorithm recording data to the host computer for storage.

[0098] See Figure 4 shown in Figure 4 a schematic diagram of another data backfilling system provided by an embodiment of the present application.

[0099] Among them, the module to be tested 3031 includes a data receiving module 3033, a first algorithm module 3034, and a second algorithm module 3035. Among them, the data receiving module 3033 can receive the first data collected and transmitted by various sensors when the vehicle is driving. The second data input to the first algorithm module 3034 is the data output by the data receiving module 3033, and the second data input to the second algorithm module 3035 is the output result of the first algorithm module 3034.

[0100] According to Figure 4It can be known that the host computer 302 may include a data storage module 3021, and the domain controller 303 may further include a data publishing module 3032. After the data receiving module 3033 generates the sensor recording data, it can send the sensor recording data to the data publishing module 3032, and the data publishing module 3032 sends the sensor recording data to the data storage module 3021, so that the data storage module 3021 stores the sensor recording data and the corresponding relationship between the data receiving module 3033 and the sensor recording data.

[0101] After the first algorithm module 3034 receives the data output by the data receiving module 3033, it determines the first algorithm recording data based on the data and the time when the data is received. Then it sends the first algorithm recording data to the data publishing module 3032, and the data publishing module 3032 sends the first algorithm recording data to the data storage module 3021, so that the data storage module 3021 stores the first algorithm recording data and the corresponding relationship between the first algorithm module 3034 and the first algorithm recording data.

[0102] After the second algorithm module 3035 receives the output result sent by the first algorithm module 3034, it determines the second algorithm recording data based on the output result and the time when the output result is received. Then it sends the second algorithm recording data to the data publishing module 3032, and the data publishing module 3032 sends the second algorithm recording data to the data storage module 3021, so that the data storage module 3021 stores the second algorithm recording data and the corresponding relationship between the second algorithm module 3035 and the second algorithm recording data.

[0103] Through the system provided by the above embodiments, the data backfilling module can perform data backfilling on the module to be tested based on the time when the module to be tested receives input data during real vehicle testing, eliminate the influence of the data transmission time in the data link, make the data backfilling environment as close as possible to the real vehicle testing environment, and improve the accuracy of the data backfilling test result.

[0104] Based on the above method embodiments and system embodiments, the embodiments of the present application further provide a data backfilling device. Specifically, it can be seen in Figure 5 shown in Figure 5 is a schematic diagram of a data backfilling device provided by the embodiments of the present application.

[0105] The device 500 includes:

[0106] A data acquisition unit 501, configured to acquire the recording data corresponding to the unit to be tested, where the recording data is the data input to the unit to be tested during real vehicle testing, and the recording data includes the reception time;

[0107] A time acquisition unit 502, configured to acquire the reception time in the recording data;

[0108] A synchronization unit 503, configured to determine synchronization data to be fed back to the module under test based on the recorded data;

[0109] A data feedback unit 504, configured to feed back the synchronization data to the module under test based on the reception time.

[0110] In a possible implementation, the process of determining the recorded data includes: during on-vehicle testing, when the module under test receives initial input data, obtaining the recorded data based on the initial input data and the reception time when the initial input data is received.

[0111] In a possible implementation, the synchronization unit 503 is specifically configured to, when there is one piece of recorded data in the recorded data, determine the recorded data as the synchronization data; or, when there are multiple pieces of recorded data in the recorded data, determine a reference synchronization time based on the reception times of the multiple pieces of recorded data; for the first recorded data, when the reception time of the first recorded data is less than or equal to the reference synchronization time, determine the first recorded data and the recorded data corresponding to the reference synchronization time as the synchronization data, where the first recorded data represents any one of the multiple pieces of recorded data except the recorded data corresponding to the reference synchronization time.

[0112] In a possible implementation, the data feedback unit 504 is configured to, when there is one piece of recorded data in the recorded data, feed back the synchronization data to the module under test based on the reception time of the recorded data; or, when there are multiple pieces of recorded data in the recorded data, determine a reference synchronization time based on the reception times of the multiple pieces of recorded data; and feed back the synchronization data to the module under test based on the reference synchronization time.

[0113] Based on the above method embodiments and apparatus embodiments, an embodiment of the present application further provides an electronic device. This will be introduced below with reference to the accompanying drawings.

[0114] See Figure 6 , Figure 6 which is a schematic diagram of an electronic device provided by an embodiment of the present application.

[0115] The device 600 includes: a memory 601 and a processor 602;

[0116] The memory 601 is used to store relevant program codes;

[0117] The processor 602 is used to call the program codes to execute the data feedback method described in the above method embodiments.

[0118] In addition, an embodiment of the present application further provides a computer-readable storage medium for storing a computer program for executing the data backfilling method described in the above method embodiment.

[0119] An embodiment of the present application further provides a computer program product including a computer program / instructions, which implement the data backfilling method described in the above method embodiment when executed by a processor.

[0120] It should be noted that the computer-readable medium in the present application may be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0121] The computer program product can be written in any combination of one or more programming languages for programming code to execute the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The programming code can be executed entirely on the user's computing device, partially on the user's device, executed as an independent software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0122] It should be noted that the various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. In particular, for system or device embodiments, since they are basically similar to method embodiments, the description is relatively simple. For the relevant parts, reference can be made to the corresponding descriptions in the method embodiments. The device embodiments described above are merely illustrative. The units or modules described as separate components may or may not be physically separated. The components shown as units or modules may or may not be physical modules, that is, they may be located in one place or distributed to multiple network units. Some or all of the units or modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative work.

[0123] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of methods, devices, and equipment according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and this module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0124] It should be understood that in the present application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" may mean: only A exists, only B exists, and both A and B exist at the same time. Here, A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or its similar expression refers to any combination of these items, including any combination of single item (one) or plural items (ones). For example, at least one (one) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0125] It should also be noted that in this application, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article 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, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0126] The steps of the methods or algorithms described in connection with the embodiments disclosed in this application can be implemented directly in hardware, software modules executed by a processor, or a combination of both. The software modules can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well known in the technical field.

[0127] The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined in this application can be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed in this application.

Claims

1. A data backfilling method, characterized in that, The method includes: Obtaining the recorded data corresponding to the module to be tested, where the recorded data is the data input to the module to be tested during on-vehicle testing, and the recorded data includes the reception time; Obtaining the reception time in the recorded data; Determining the synchronization data to be backfed to the module to be tested based on the recorded data; Backfeeding the synchronization data to the module to be tested based on the reception time.

2. The method according to claim 1, characterized in that, The determination process of the recorded data includes: During on-vehicle testing, when the module to be tested receives the initial input data, obtaining the recorded data based on the initial input data and the reception time when the initial input data is received.

3. The method according to claim 1, characterized in that, The determining the synchronization data to be backfed to the module to be tested based on the recorded data includes: When there is one recorded data in the recorded data, determining the recorded data as the synchronization data; or, When there are multiple recorded data in the recorded data, determining the reference synchronization time based on the reception times of the multiple recorded data; For the first recorded data, when the reception time of the first recorded data is less than or equal to the reference synchronization time, determining the first recorded data and the recorded data corresponding to the reference synchronization time as the synchronization data, where the first recorded data represents any recorded data other than the recorded data corresponding to the reference synchronization time among the multiple recorded data.

4. The method according to claim 1, characterized in that, The backfeeding the synchronization data to the module to be tested based on the reception time includes: When there is one recorded data in the recorded data, backfeeding the synchronization data to the module to be tested based on the reception time of the recorded data; or, When there are multiple recorded data in the recorded data, determining the reference synchronization time based on the reception times of the multiple recorded data; Backfeeding the synchronization data to the module to be tested based on the reference synchronization time.

5. A data backfilling system, characterized in that, The system includes: a data backfeeding module, a host computer, and a domain controller, where the domain controller includes the module to be tested; The module to be tested is configured to, during on-vehicle testing, obtain recorded data based on the received initial input data and the reception time when the initial input data is received; and send the recorded data to the host computer for storage; The data backfeeding module is configured to execute the data backfeeding method according to any one of claims 1 to 4.

6. The system according to claim 5, characterized in that The module to be tested includes: a data reception module and an algorithm module; The data reception module is specifically configured to receive the first data transmitted by the sensor, determine the sensor recorded data based on the first data and the first time when the first data is received; and send the sensor recorded data to the host computer for storage; The algorithm module is specifically configured to, in response to receiving the second data as input, determine the algorithm recorded data based on the second data and the second time when the second data is received; and send the algorithm recorded data to the host computer for storage.

7. The system according to claim 6, wherein The domain controller further includes: a data publishing module; The data receiving module is specifically configured to send the sensor recorded data to the data publishing module, so that the data publishing module sends the sensor recorded data to the host computer for storage; The algorithm module is specifically configured to send the algorithm recorded data to the data publishing module, so that the data publishing module sends the algorithm recorded data to the host computer for storage.

8. A data backfilling device, characterized in that, The device includes: A data acquisition unit, configured to acquire recorded data corresponding to a unit to be tested, where the recorded data is data input to the unit to be tested during an in-vehicle test, and the recorded data includes a reception time; A time acquisition unit, configured to acquire the reception time in the recorded data; A synchronization unit, configured to determine synchronization data to be backfed to the module to be tested based on the recorded data; A data backfeeding unit, configured to backfeed the synchronization data to the module to be tested based on the reception time.

9. An electronic device, characterized in that, The device includes: a memory and a processor; The memory is used to store relevant program codes; The processor is used to call the program codes to execute the data backfeeding method according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the data backfeeding method according to any one of claims 1 to 4.

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