Device and method for supporting data processing, electronic equipment and medium
By setting up a storage unit in the data processing device and storing and processing data frames in a preset order, the problem of high latency in multi-channel sensor data processing is solved, and more efficient data processing is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-09
- Publication Date
- 2026-03-24
AI Technical Summary
In multi-sensor data processing, the data processing delay is high because the receiving time of data transmitted from multiple sensors cannot be determined by the chip and other data processing devices. This is especially true when data collected from multiple sensors needs to be fused in a certain order. In the existing technology, time-division multiplexing is performed according to the order in which the data is received, which results in high processing delay.
By setting up a storage unit in the device, the received data frames are stored and processed according to the preset data processing order, ensuring that the data frames with the earlier data processing order are processed by the processor first, thereby reducing the processing latency of the data frames.
By storing and processing data frames according to a preset data processing order, the processing latency of data frames is reduced, and the processing efficiency of multi-frame data acquired by multiple sensors is improved.
Smart Images
Figure CN121723375A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to computer technology, and in particular to an apparatus, method, electronic device, and medium that support data processing. Background Technology
[0002] In some scenarios, multiple sensors can be configured to collect environmental information, and data processing devices such as chips can be used to process the multi-channel sensor data collected by these sensors to achieve environmental perception based on the processing results. For example, in the case of intelligent driving, sensors such as cameras and radars installed on the vehicle can collect information about the vehicle's driving environment. A chip can then fuse and process the sensor data collected by multiple sensors to achieve environmental perception, and the results can be used for downstream tasks such as target detection and tracking, target behavior prediction, target trajectory prediction, vehicle path planning, and vehicle driving control.
[0003] In some cases, processing data from multiple sensors requires a specific processing order. For example, it may be necessary to fuse multiple frames of images captured by cameras with multiple perspectives on a vehicle in a particular order. Related technologies typically use time-division multiplexing to process the data in the order it is received. However, because the receiving time of data from multiple sensors cannot be determined by the chip or other data processing devices, this results in significant processing delays. Summary of the Invention
[0004] To address the aforementioned technical problems, this disclosure provides an apparatus, method, electronic device, and medium that support data processing.
[0005] A first aspect of the present disclosure provides an apparatus for supporting data processing, including a processor configured to;
[0006] In response to the fact that the first data frame received by the device is the data frame to be transmitted as indicated by the preset data processing order, the first data frame is transmitted to the first storage unit for storage. The first data frame is a data frame transmitted by any one of the multiple sensors of the mobile device.
[0007] The first data frame stored in the first storage unit is processed.
[0008] A second aspect of this disclosure provides a method for supporting data processing, comprising:
[0009] In response to the fact that the first data frame received by the device is the data frame to be transmitted as indicated by the preset data processing order, the first data frame is transmitted to the first storage unit for storage. The first data frame is a data frame transmitted by any one of the multiple sensors of the mobile device.
[0010] The first data frame stored in the first storage unit is processed.
[0011] A third aspect of this disclosure provides an electronic device, comprising:
[0012] Memory, used to store computer programs;
[0013] A processor is configured to execute a computer program stored in a memory, wherein, when the computer program is executed, it implements the method of any embodiment of the data processing method of the second aspect of this disclosure described above.
[0014] A fourth aspect of this disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method of any embodiment of the data processing method of the second aspect described above.
[0015] A fifth aspect of this disclosure provides a computer program including computer-readable code, which, when executed by a processor, is capable of implementing the method of any embodiment of the data processing method of the second aspect described above.
[0016] Based on the embodiments of this disclosure, when the first data frame received by the device is the data frame to be transmitted according to the preset data processing order, the first data frame is transmitted to the first storage unit for storage. The first data frame is a data frame transmitted by any one of the multiple sensors of the mobile device. Then, the first data frame stored in the first storage unit is processed. In this way, the first data frame can be transmitted to the first storage unit for storage according to the data processing order of the data frames transmitted by each sensor. Thus, the first data frame with the earlier data processing order is transmitted to the first storage unit for storage first, so that the processor can start processing the data frame with the earlier data processing order in the first storage unit earlier, thereby reducing the data frame processing delay and improving the processing efficiency of multiple data frames collected by multiple sensors.
[0017] The technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of an application scenario applicable to the embodiments of this disclosure.
[0019] Figure 2 This is a schematic diagram of the structure of an apparatus supporting data processing provided in an exemplary embodiment of the present disclosure.
[0020] Figure 3This is a flowchart illustrating a method for supporting data processing configured to be performed by an apparatus for supporting data processing provided in an exemplary embodiment of this disclosure.
[0021] Figure 4 This is a flowchart illustrating a method for supporting data processing configured to be performed by an apparatus for supporting data processing provided in another exemplary embodiment of the present disclosure.
[0022] Figure 5 This is a flowchart illustrating a method for supporting data processing performed by an apparatus for supporting data processing provided in another exemplary embodiment of this disclosure.
[0023] Figure 6 This is a schematic diagram of the process for timing the storage duration of a target data frame in an apparatus supporting data processing provided by an exemplary embodiment of this disclosure.
[0024] Figure 7 This is a schematic diagram of the connection relationship between sensors and channels in an apparatus supporting data processing provided by an exemplary embodiment of this disclosure.
[0025] Figure 8 This is a flowchart illustrating a method for supporting data processing configured to be performed by an apparatus for supporting data processing, as provided in yet another exemplary embodiment of this disclosure.
[0026] Figure 9 This is a schematic diagram illustrating the calculation of the time from when the sensor outputs a data frame to when the processor completes processing the data frame in the existing technology.
[0027] Figure 10 This is a schematic diagram illustrating a method for calculating the time from when a sensor outputs a data frame to when a processor completes processing the data frame, provided by an exemplary embodiment of this disclosure.
[0028] Figure 11 This is a structural diagram of an electronic device provided in an exemplary embodiment of this disclosure. Detailed Implementation
[0029] To explain this disclosure, exemplary embodiments of the disclosure will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the disclosure, and not all of them. It should be understood that the disclosure is not limited to exemplary embodiments.
[0030] It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of this disclosure.
[0031] This disclosure outlines
[0032] In realizing this disclosure, the inventors discovered through research that, in some scenarios, multiple sensors can be configured to collect environmental information, and the multi-channel sensor data collected by these sensors can be processed by devices supporting data processing, such as chips, to achieve environmental perception based on the processing results. For example, in the context of intelligent driving, sensors such as cameras and radars configured on the vehicle can collect information about the vehicle's driving environment. Devices supporting data processing, such as chips, can then fuse and process the sensor data collected by multiple sensors on the vehicle to achieve environmental perception. The environmental perception results can then be used for downstream tasks such as target detection and tracking, target behavior prediction, target trajectory prediction, vehicle path planning, and vehicle driving control.
[0033] In some cases, processing data from multiple sensors requires a specific processing order. For example, it may be necessary to fuse multiple frames of images captured by cameras with multiple perspectives on a vehicle in a particular order. Related technologies typically use time-division multiplexing to process the data in the order it is received. However, because the receiving time of data from multiple sensors cannot be determined by the chip or other data processing devices, this results in significant processing delays.
[0034] Exemplary Applications
[0035] The data processing apparatus provided in this disclosure can be applied to data frame processing in various application scenarios, such as processing data frames collected by sensors in scenarios like intelligent driving and robot navigation. In this disclosure, the data processing apparatus can be applied to any device with data processing requirements, including, but not limited to, in-vehicle computing platforms, SOCs (System on a Chip), or functional circuits within a chip with data frame processing capabilities. Specifically, the data processing apparatus may include a processor, such as a CPU (Central Processing Unit), or other forms and architectures of processors, or other devices within the chip besides the processor. This disclosure does not limit the specific application and implementation of the data processing apparatus. This disclosure will now exemplify an example where the data processing apparatus is an SOC and the processor is a CPU.
[0036] Figure 1 This is a schematic diagram illustrating an application scenario applicable to an embodiment of this disclosure. For example... Figure 1As shown, taking an intelligent driving scenario as an example, the device supporting data processing (hereinafter referred to as device 100 for illustrative purposes) can be installed on a mobile device, such as, but not limited to, an intelligent vehicle, an unmanned vehicle, an unmanned aerial vehicle, or a robot, etc., and the mobile device is equipped with one or more sensors 200. Figure 1 The diagram shows multiple devices, including a downstream task processing system 300. The device 100 is coupled to the sensor 200 and the downstream task processing system 300, respectively. The downstream task processing system 300 includes, but is not limited to, at least one of the following: a domain controller, a central processing unit, an artificial intelligence processor, a server, etc.
[0037] The sensor 200 can collect information about the external environment of the mobile device and transmit the collected data frames (such as the first data frame) to the device 100. The sensor 200 can be a camera, RADAR, LiDAR, or other similar sensor. Multiple sensors 200 can be positioned at different locations on the mobile device. Multiple sensors 200 of the same type can be used to collect environmental data from different directions of the mobile device. For example, if the mobile device is a smart vehicle, four cameras can be installed at the front left, front right, rear left, and rear right of the smart vehicle to collect image data from these four perspectives. Thus, the sensor 200 can transmit the image data as data frames to the data processing device 100.
[0038] In a specific application, the processor 111 in the device 100 can read executable instructions to receive data frames transmitted by the sensors, and after transmitting all or part of the received data frames to the first storage unit for storage, process the first data frames stored in the first storage unit. This processing may include, but is not limited to, splicing and / or fusing multiple data frames synchronously acquired by multiple sensors.
[0039] In one example, at the logical level, device 100 can receive data frames collected by sensor 200 in parallel. However, in actual transmission, due to factors such as communication delays between each sensor 200 and device 100, scheduling differences of device 100, and uneven load, the arrival time order of data frames transmitted by multiple sensors 200 to device 100 cannot be strictly consistent. That is, the arrival time of data frames transmitted by each sensor 200 to device 100 is random. As a result, when processor 111 performs fusion according to the preset data processing order, the data frame that processor 111 currently needs to process has not yet been transmitted, resulting in a high data frame processing delay.
[0040] To alleviate the aforementioned problems, in this embodiment of the present disclosure, after a data frame transmitted from any of the multiple sensors 200 in the mobile device is transmitted to the device 100, the processor 111 in the device 100 can determine whether the data frame is the current data frame to be transmitted according to the preset data processing order. If the data frame received by the device 100 is the current data frame to be transmitted according to the preset data processing order, the data frame is transmitted to the first storage unit for storage, so that the processor 111 can process the first data frame stored in the first storage unit. In this way, the first data frame can be transmitted to the first storage unit for storage according to the data processing order of the data frames transmitted from each sensor by the processor 111, so that the first data frame with the earlier data processing order is transmitted to the first storage unit for storage first, so that the processor can start processing the data frames with the earlier data processing order in the first storage unit earlier, thereby reducing the data frame processing delay and improving the processing efficiency of multiple data frames collected by multiple sensors.
[0041] Here, the aforementioned device 100 can implement the data processing method described below. Please refer to the following description for details; further elaboration will not be repeated here.
[0042] Exemplary embodiments
[0043] This disclosure provides an apparatus for supporting data processing, which may include a processor. The data processing apparatus of this embodiment can be applied to electronic devices such as intelligent vehicles, unmanned vehicles, unmanned aerial vehicles, or robots.
[0044] Figure 2 This is a schematic diagram of a data processing apparatus provided as an exemplary embodiment of the present disclosure. Figure 2 As shown, the device 100 includes a processor 111.
[0045] Figure 3 This is a schematic flowchart illustrating a method for supporting data processing performed by an apparatus for supporting data processing provided in an exemplary embodiment of this disclosure. See also Figure 3 The processor 111 can be configured as follows:
[0046] S201, in response to the fact that the first data frame received by the device is the data frame to be transmitted currently indicated by the preset data processing order, the first data frame is transmitted to the first storage unit for storage, wherein the first data frame is a data frame transmitted by any one of the multiple sensors of the mobile device.
[0047] The aforementioned device can receive data frames (e.g., a first data frame) transmitted from multiple sensors. In some optional implementations, the device can receive data frames transmitted from multiple sensors through a channel, with each channel corresponding to one sensor; or, multiple sensors can share the same channel.
[0048] In some alternative implementations, the device can receive data frames transmitted from multiple sensors in parallel. However, in actual transmission, due to factors such as communication delay, processor scheduling differences, and uneven load, the actual arrival times of each sensor are not completely consistent, meaning that the order in which the device receives the data frames is random.
[0049] The first data frame can be a data frame acquired and transmitted to the aforementioned device from any of the multiple sensors in the mobile device. As an example, the first data frame can be an image data frame, a point cloud data frame, etc.
[0050] A preset data processing order can represent the order in which the processor processes data frames acquired from multiple sensors. As an example, the preset data processing order can be represented by the order of sensor identifiers, such as a sequence of sensor identifiers arranged from smallest to largest, largest to smallest, or other orders. As yet another example, the preset data processing order can also be represented by the order of channel identifiers, such as a sequence of channel identifiers arranged from smallest to largest, largest to smallest, or other orders.
[0051] Here, the preset data processing order ensures that the processor maintains a consistent processing order for each sensor. In some scenarios (such as advanced driver assistance systems), when data frames from multiple sensors are fused, there are requirements for the order of data frame processing. Multiple data frames are processed by the processor through time-division multiplexing. Therefore, maintaining a constant data frame processing order can effectively reduce processor latency.
[0052] The data frame to be transmitted can be: a data frame that should be transmitted to the first storage unit in the preset data processing order; or a data frame that the processor should process in the preset data processing order. During the transmission of data frames from multiple sensors, the data frame to be transmitted can be dynamically updated as data frames arrive. For example, if the preset data processing order indicates that data frames from each channel are processed sequentially in the order of channel 1, channel 2, and channel 3, then the data frame transmitted from channel 1 can be used as the current data frame to be transmitted. After the received data frame from channel 1 has been transmitted to the first storage unit for storage, the current data frame to be transmitted can be updated to the data frame transmitted from channel 2, and so on.
[0053] The processor can process data frames transmitted from multiple sensors, such as data fusion and data stitching.
[0054] A mobile device can be a device capable of movement. As examples, a mobile device can be a robot, a vehicle, or other similar device.
[0055] Multiple sensors can be used to acquire data frames of different types or the same type from different angles. Each sensor can be coupled to the device via a single channel, or all sensors can be coupled to the device via the same channel. For example, a sensor could be a camera for acquiring visual information about the environment. Alternatively, a sensor could be a LiDAR for acquiring point cloud data about the environment. Or, a sensor could be a millimeter-wave radar for acquiring distance information about the environment.
[0056] The first data frame can be any data frame transmitted from the sensor to the aforementioned device. For example, if the sensor is a camera, the first data frame can be a frame of image data. If the sensor is a LiDAR sensor, the first data frame can be a frame of point cloud data. If the sensor is a millimeter-wave radar sensor, the first data frame can be a frame of distance information.
[0057] The first storage unit can be used to store data frames (e.g., the first data frame) according to a preset data processing order. The data frames stored in the first storage unit will be processed by the processor for data fusion, data splicing, etc.
[0058] In some optional implementations, the device can receive any data frame transmitted from any of the multiple sensors in the mobile device and use it as the first data frame. Then, it can determine whether the first data frame is the current data frame to be transmitted according to a preset data processing order. For example, if the preset data processing order indicates processing data frames in the order of channel 1, channel 2, and channel 3, then the data frame transmitted by channel 1 can be used first as the current data frame to be transmitted according to the preset data processing order. After receiving the first data frame, the device can determine whether it is a data frame transmitted by channel 1. If the first data frame is a data frame transmitted by channel 1, it can be transmitted to the first storage unit for storage; if the first data frame is not a data frame transmitted by channel 1, it can be temporarily not transmitted to the first storage unit for storage.
[0059] In some alternative implementations, pointers or specific character identifiers can be used to determine the current data frame to be transmitted, as indicated by the preset data processing order.
[0060] In some optional implementations, the preset data processing order can correspond to the channel identification order, or the preset data processing order can also correspond to the sensor identification order.
[0061] S202, process the first data frame stored in the first storage unit.
[0062] In some alternative implementations, the processor can perform splicing, merging, or other processing on the first data frame stored in the first storage unit. For example, the processor can process each first data frame stored in the first storage unit. Thus, since the processor does not need to wait for other data frames not stored in the first storage unit to start processing the first data frame, processing of the first data frame can begin earlier, thereby reducing the processing latency of the first data frame.
[0063] In some alternative implementations, the processor can process the first data frame stored in the first memory unit serially or in parallel.
[0064] In this embodiment, when the first data frame received by the device is the data frame to be transmitted according to the preset data processing order, the first data frame is transmitted to the first storage unit for storage. The first data frame is a data frame transmitted by any one of the multiple sensors in the mobile device. Then, the first data frame stored in the first storage unit is processed. In this way, the first data frame can be transmitted to the first storage unit for storage according to the data processing order of the data frames transmitted by each sensor. This allows the first data frame with the earlier data processing order to be transmitted to the first storage unit first, so that the processor can start processing the data frames with the earlier data processing order in the first storage unit earlier, thereby reducing the data frame processing delay and improving the processing efficiency of multiple data frames collected by multiple sensors.
[0065] In some alternative implementations, such as Figure 4 As shown above, in the above Figure 3 Based on the illustrated embodiment, the processor 111 can be further configured as follows:
[0066] S203, in response to the fact that the first data frame received by the device is not the current data frame to be transmitted as indicated by the preset data processing order, the first data frame is stored as the target data frame in the second storage unit.
[0067] The second storage unit is used to store target data frames that are in a suspended state from multiple sensor transmissions. The suspended state indicates that the target data frame has been received by the device but does not belong to the currently pending data frame indicated by the preset data processing order. The second storage unit can be located in the processor or outside the processor.
[0068] The suspended state can be the state of the target data frame when it is received by the device but does not belong to the currently to be transmitted data frame indicated by the preset data processing order.
[0069] The target data frame can be a data frame that has been received by the device but is not the data frame that is currently to be transmitted according to the preset data processing order. It needs to be temporarily stored in the second storage unit, and then transmitted to the first storage unit for storage when the dynamically updated data frame to be transmitted indicates that it is the target data frame.
[0070] In some optional implementations, if the preset data processing order indicates that the data frames of each channel are processed sequentially in the order of channel 1, channel 2, and channel 3, then the data frame transmitted by channel 1 can be used as the current data frame to be transmitted. When the first data frame received by the device is a data frame transmitted by channel 2, this first data frame can be stored as the target data frame in the second storage unit.
[0071] In some alternative implementations, the second storage unit can use queue storage to sequentially store the target data frames transmitted by multiple sensors in a suspended state, according to the order in which the target data frames are received. Alternatively, the second storage unit can also use partitioned storage, allocating independent storage space for each sensor to store the target data frames transmitted by the corresponding sensor in a suspended state.
[0072] It is understandable that, since the reception time of data frames transmitted by multiple sensors in related technologies is random (although they are parallel, there is still an order of arrival among the data frames transmitted by multiple sensors), by storing the first data frame that does not meet the transmission conditions (i.e., the first data frame received by the device is not the data frame to be transmitted as indicated by the preset data processing order) as the target data frame in the second storage unit, the loss of the first data frame that has not been processed due to the random reception order of the first data frame can be avoided. This ensures that subsequent data frames are transmitted to the first storage unit for storage in the preset data processing order and are processed by the processor in the preset data processing order.
[0073] In some alternative implementations, such as Figure 5 As shown above, in the above Figure 4 Based on the illustrated embodiment, the processor 111 can be further configured as follows:
[0074] S204, determine whether the target data frame stored in the second storage unit is the data frame to be transmitted as indicated by the preset data processing order. Then, if yes, execute S205; if no, execute S206.
[0075] The processor can determine whether the target data frame stored in the second storage unit is the data frame to be transmitted as indicated by the preset data processing order.
[0076] In some optional implementations, after each first data frame is transmitted to the first storage unit for storage, the data frame to be transmitted as indicated by the preset data processing order needs to be updated. Thus, after each first data frame is transmitted to the first storage unit for storage, it can be determined whether the target data frame stored in the second storage unit is the data frame to be transmitted as indicated by the preset data processing order.
[0077] S205, the target data frame is transmitted to the first storage unit for storage.
[0078] In some alternative implementations, if it is determined that the target data frame stored in the second storage unit is the current data frame to be transmitted as indicated by the preset data processing order, the target data frame can be transmitted to the first storage unit for storage.
[0079] S206, determine the current data frame to be transmitted from the first data frame received by the device, which is indicated by the preset data processing order.
[0080] In some alternative implementations, if it is determined that the target data frame stored in the second storage unit is not the data frame to be transmitted as indicated by the preset data processing order, the data frame to be transmitted as indicated by the preset data processing order can be determined from the first data frame received (i.e., the data frame transmitted from any of the multiple sensors and is not in a suspended state).
[0081] It is understandable that when the target data frame in the second storage unit meets the current transmission conditions (i.e., the target data frame is the data frame to be transmitted as indicated by the preset data processing order), it can be transmitted to the first storage unit for storage in a timely manner to ensure that the target data frame in the pending state is not missed; when the target data frame in the second storage unit does not meet the current transmission conditions, the data frame to be transmitted to the first storage unit for storage can be selected from the newly received first data frame to ensure that the transmission, storage and processing of data frames are carried out in the preset data processing order.
[0082] In some alternative implementations, such as Figure 6 As shown above, in the above Figure 5 Based on the illustrated embodiment, the processor 111 can be further configured as follows:
[0083] S207, when storing the first data frame as the target data frame in the second storage unit, the storage duration of the target data frame is timed.
[0084] The storage duration can represent the duration for which the target data frame is stored in the second storage unit.
[0085] In some alternative implementations, when the first data frame is stored as the target data frame in the second storage unit, the storage duration of the target data frame can be timed using a timer; or, the time when the target data frame is stored in the second storage unit can be recorded, and the storage duration can be calculated by the difference between the real-time time and that time.
[0086] S208, in response to the fact that the current data frame to be transmitted indicated by the preset data processing order has been transmitted to the first storage unit for storage, the current data frame to be transmitted indicated by the preset data processing order is updated to the next data frame indicated by the preset data processing order.
[0087] The next data frame can refer to the next data frame that needs to be transmitted to the first storage unit for storage in the preset data processing order.
[0088] In some optional implementations, if the preset data processing order indicates that the data frames of each channel are processed sequentially in the order of channel 1, channel 2, and channel 3, then the data frame transmitted by channel 1 can be used as the current data frame to be transmitted. After the received data frame transmitted by channel 1 has been transmitted to the first storage unit for storage (i.e., the current data frame to be transmitted as indicated by the preset data processing order has been transmitted to the first storage unit for storage), the current data frame to be transmitted as indicated by the preset data processing order can be updated to the data frame transmitted by channel 2, and so on.
[0089] S209, in response to the updated current data frame to be transmitted being the target data frame and the target data frame having been transmitted to the first storage unit for storage before the storage duration reaches the preset duration, the timing of the storage duration of the first data frame is cancelled.
[0090] The preset duration can represent the maximum time the target data frame is allowed to be stored in the second storage unit, or it can represent the maximum time the target data frame can be suspended. For example, the preset duration could be 100ms, 80ms, etc.
[0091] Here, the updated data frame to be transmitted is the target data frame, and the target data frame has been transmitted to the first storage unit for storage before the preset storage time is reached. This means that the target data frame has been transmitted and processed in a timely manner according to the preset data processing order, and there is no need to continue occupying the storage resources of the second storage unit. At this time, canceling the timer for the storage time of the first data frame can avoid invalid timer consumption of system performance.
[0092] In some optional implementations, if the updated current data frame to be transmitted is the target data frame and the target data frame has been transmitted to the first storage unit for storage before the storage time reaches the preset time, the target data frame stored in the second storage unit can also be marked or deleted, or the suspended state of the target data frame can be canceled.
[0093] S210, in response to the storage time reaching the preset time, the current data frame to be transmitted indicated by the preset data processing order is updated to the next data frame indicated by the preset data processing order.
[0094] Here, if the storage time reaches the preset time, it means that the target data frame has been in the second storage unit for the maximum allowed time but has not yet been transmitted to the first storage unit for storage. At this time, it can be determined that the current data frame to be transmitted, as indicated by the preset data processing order, is abnormal and a timeout processing mechanism needs to be triggered (such as updating the current data frame to be transmitted, as indicated by the preset data processing order, to the next data frame indicated by the preset data processing order) to ensure the timeliness and continuity of data processing.
[0095] In some optional implementations, the preset data processing order can be implemented using a queue, and the current data frame to be transmitted, indicated by the preset data processing order, can be identified by a pointer. For example, the pointer can point to the sensor identifier or channel identifier corresponding to the current data frame to be transmitted. Thus, when the storage time reaches the preset time, the current data frame to be transmitted, indicated by the preset data processing order, can be updated to the next data frame indicated by the preset data processing order by moving the pointer to the next sensor identifier or channel identifier in the queue.
[0096] It is understandable that timing the storage duration of the target data frame can, on the one hand, promptly cancel the storage duration timing when the target data frame meets the transmission conditions (the target data frame is the data frame to be transmitted as indicated by the preset data processing order), and perform transmission and other processing on the target data frame, ensuring the timeliness of data frame transmission and processing; on the other hand, it can automatically update the data frame to be transmitted as indicated by the preset data processing order after the target data frame storage timeout, skipping missing or delayed data frames, avoiding the blockage of the entire processing flow due to the long delay of a certain data frame, further ensuring the continuity and stability of multi-channel sensor data frame processing, and reducing the processor's latency in data frame processing.
[0097] In some optional implementations, a preset data processing order represents a channel sequence consisting of multiple channels. Each channel corresponds one-to-one with a multi-sensor. Data frames corresponding to each of the multiple sensors are transmitted to the aforementioned device through multiple channels. The channel sequence is arranged according to the processing order of the data frames transmitted from the multiple channels by the processor.
[0098] The channel can be used to transmit data frames collected by the corresponding sensor.
[0099] A channel sequence can be a sequence formed by arranging multiple channels according to the processor's processing order of data frames.
[0100] See Figure 7 ,exist Figure 7 In this device, each sensor 200 can be connected to the device 100 through a channel 400, and each sensor 200 can correspond to an independent channel 400.
[0101] In the above Figure 6 Based on this, in S210, the current data frame to be transmitted, as indicated by the preset data processing order, is updated to the next data frame, as indicated by the preset data processing order, including:
[0102] If the data frame to be transmitted is the last data frame transmitted in the channel sequence according to the preset data processing order, the data frame transmitted in the first channel of the channel sequence is determined as the next data frame; if the data frame to be transmitted is not the last data frame transmitted in the channel sequence according to the preset data processing order, the data frame transmitted in the next channel adjacent to the current channel is determined as the next data frame.
[0103] Here, if the data frame to be transmitted currently indicated by the preset data processing order is the data frame transmitted by the last channel in the channel sequence, the data frame transmitted by the first channel in the channel sequence can be determined as the next data frame; if the data frame to be transmitted currently indicated by the preset data processing order is not the data frame transmitted by the last channel, the data frame transmitted by the next channel adjacent to the current channel in the channel sequence can be determined as the next data frame.
[0104] The first channel can be the channel that is the first one in the channel sequence.
[0105] The current channel can be the channel corresponding to the data frame currently to be transmitted in the channel sequence. In some cases, the current channel can be identified by a pointer.
[0106] The last channel can be the channel that is last in the channel sequence.
[0107] It is understood that this embodiment can realize the cyclic processing of data frames, that is, after the data frame completes one round of transmission to the subsequent processing unit, it automatically cycles to the first channel of the sequence to continue the next round of processing. In this way, it can ensure that the multi-channel sensor data frames can be continuously and cyclically transmitted and processed according to the preset channel sequence, further ensuring the orderliness and continuity of data frame transmission and processing.
[0108] In some optional implementations, the processor 111 is also configured to: configure the processor to process data frames transmitted through multiple channels in a predetermined order based on the received configuration information.
[0109] The configuration information can be used to specify the processing order of data frames transmitted through multiple channels by the processor. As an example, the configuration information can represent "Channel 1, Channel 2, Channel 3", which indicates that the processor processes the data frames transmitted through each channel in the order of Channel 1, Channel 2, Channel 3. It can also indicate that the data frames transmitted through each channel are transmitted to the first storage unit for storage in the order of Channel 1, Channel 2, Channel 3.
[0110] In some alternative implementations, the configuration information can be set by the user or the system. After the configuration information is set, the processor receives the configuration information and, based on the received configuration information, configures the processor's processing order for data frames transmitted through multiple channels.
[0111] It is understood that this embodiment can flexibly set the processing order of data frames transmitted through each channel through configuration information, so as to set different configuration information according to different application scenarios to adapt to the data processing needs of different application scenarios.
[0112] As an example, see Figure 8 , Figure 8 This is a flowchart illustrating a method for supporting data processing configured to be performed by an apparatus for supporting data processing, as provided in yet another exemplary embodiment of this disclosure.
[0113] like Figure 8 As shown, this embodiment is illustrated by taking a sensor including camera A and camera B, corresponding to channel A and channel B respectively.
[0114] Step 1, Queue Sorting: Based on the user-defined configuration information, the multiple camera channels are sorted to determine the preset data processing order. Queue members (i.e., channels or sensors) can be dynamically added or removed. For example, the preset data processing order can represent the processing order of channel A and channel B. Initially, the preset data processing order indicates the data frame to be transmitted, which may be the data frame transmitted by channel A (identified by a pointer).
[0115] Step two: When a data frame from a certain camera requests processing, the processor checks whether it is the processor's turn to process the data frame transmitted through that channel according to the channel pointed to by the processing pointer in the sorting queue (representing the channel transmitting the data frame to be transmitted, such as channel A). If it is not the processor's turn to process the data frame transmitted through that channel, the data frame is suspended, and a timer is set to check for timeout. If it is the processor's turn to process the data frame transmitted through that channel, the processing is performed, the timer is canceled, and the processing pointer is moved to the next member in the queue (such as channel B). The processor then checks whether the suspended frame queue (i.e., the target data frame in the suspended state) is empty. If not, a data frame is selected from the suspended frame queue for processing in step two.
[0116] Step 3: The timer times out and triggers, the pending pointer points to the next member in the queue (which represents the channel order), and a data frame is selected from the data frames in the pending state, and Step 2 is repeated.
[0117] In this way, data frames can be processed sequentially according to a pre-set sorting queue.
[0118] Therefore, based on the pre-configured processing order (i.e. the preset data processing order), it is determined whether the currently received data frame is ready for processing. If it is not ready, the data frame is suspended; if it is ready, the processor is triggered to process the data frame; if the data frame is missing for a long time, a timeout mechanism can be triggered to skip the processing of the data frame.
[0119] Please see Figure 9 and Figure 10 ,exist Figure 9 and Figure 10 For example, two sensors transmit data frames to the device at a period of 33 milliseconds per frame. Data frames marked in black are transmitted by sensor 1 to the device, and data frames marked in white are transmitted by sensor 2. The processor processes the data frames sequentially, first by sensor 1 and then by sensor 2. Figure 9 The scenario shown does not have a preset data processing order configured. Figure 10 The scenario shown has a preset data processing order configured, and the preset data processing order is that sensor 1 takes precedence over sensor 2.
[0120] In this case, such as Figure 9As shown, sensor 1 and sensor 2 are connected to the device in parallel. The data frames transmitted by sensor 2 are received by the device before those transmitted by sensor 1. However, since no preset data processing order is configured, the data frames can be directly transmitted to the first storage unit for storage according to their arrival order. That is, the data frames of sensor 2 are transmitted to the first storage unit for storage first, and only then can the data frames of sensor 1 be transmitted to the first storage unit for storage. Since the processor needs to process the data frames in the order of sensor 1 and sensor 2, during the period when the data frames of sensor 2 have been transmitted to the first storage unit for storage but the data frames of sensor 1 have not yet been transmitted to the first storage unit for storage, the processor can only wait for the data frames of sensor 1 to arrive, causing the processing flow to be blocked and unable to process the data frames of sensor 2 earlier. Finally, when the data frames of sensor 1 and sensor 2 are processed, the delay reaches more than 66ms.
[0121] like Figure 10 As shown, sensor 1 and sensor 2 are connected to the device in parallel. The data frames transmitted by sensor 2 are received by the device before the data frames transmitted by sensor 1. Since a preset data processing order has been configured, the data frames can be transmitted to the first storage unit for storage according to the preset data processing order. That is, the data frames of sensor 1 are transmitted to the first storage unit for storage first, and then the data frames of sensor 2 are transmitted to the first storage unit for storage. Since the processor needs to process the data frames in the order of sensor 1 and sensor 2, the processor can start the processing flow immediately once it receives the data frame of sensor 1. After completing the processing of the data frame of sensor 1, the data frame of sensor 2 is processed immediately, so that the delay when the data frames of sensor 1 and sensor 2 are finally processed is less than 66ms.
[0122] contrast Figure 9 and Figure 10 It can be seen that in this embodiment, data frames can be transmitted to the first storage unit for storage according to a preset data processing order. Each time a data frame is stored in the first storage unit, the processor can start processing the data frame without waiting for data frames from other sensors to arrive. This avoids processing blockage caused by the inconsistency between the arrival order and the processing order of data frames, and improves the efficiency of data frame processing.
[0123] In some alternative implementations, S203 above may include:
[0124] In response to the fact that the first data frame received by the device is not the data frame to be transmitted as indicated by the preset data processing order, the first data frame is stored in the storage space of the second storage unit corresponding to the current transmission channel.
[0125] The current transmission channel is the channel among multiple channels used to transmit the first data frame. The current transmission channel corresponds to the sensor that transmits the first data frame.
[0126] The second storage unit includes multiple storage spaces corresponding one-to-one with multiple channels. Each storage space can be used to store the data frames transmitted by the corresponding channel. For example, channel 1 corresponds to storage space 1 in the second storage unit, channel 2 corresponds to storage space 2 in the second storage unit, and so on.
[0127] In some optional implementations, the processor can identify the channel identifier of the first data frame and store the first data frame in the corresponding storage space according to the correspondence between the channel identifier and the storage space; alternatively, a unique storage address range can be allocated to each channel, thereby allowing the first data frame to be stored in the storage space corresponding to the address range of the current transmission channel. Through these methods, data frames that are not in the current processing order can be temporarily stored in the storage space of the corresponding channel.
[0128] It is understandable that by allocating corresponding storage space to each channel, partitioned storage of target data frames transmitted from different channels can be achieved, avoiding the inefficient problem of finding the currently waiting data frame caused by mixed storage of data frames from different channels. When it is necessary to read the target data frame of a certain channel, the corresponding storage space can be accessed directly, improving the data reading speed and thus accelerating the efficiency of transmitting the target data frame to the first storage unit for storage. At the same time, partitioned storage facilitates independent management of data frames transmitted from different channels (such as cleaning up timed-out data frames), thereby improving the efficiency of transmitting data frames to the first storage unit for storage and the efficiency of the processor in processing data frames.
[0129] In some alternative implementations, in the above Figures 3-8 Based on any of the embodiments shown, the processing of the first data frame stored in the first storage unit in S202 above includes: fusing the first data frame currently transmitted to the first storage unit for storage with the data frame associated with the first data frame that has been transmitted to the first storage unit for storage.
[0130] The data frame associated with the first data frame may include one or more data frames associated with the first data frame. For example, the data frame associated with the first data frame may include the preceding or subsequent data frames (such as multiple adjacent data frames, or multiple data frames obtained by extracting frames from multiple adjacent data frames) that have been transmitted to the first storage unit for storage. The type of the data frame associated with the first data frame may be the same as or different from the type of the first data frame. For example, the first data frame may be image data, and the data frame associated with the first data frame may be image data or point cloud data.
[0131] The fusion processing can be used to fuse the first data frame with the data frame associated with the first data frame that has been transmitted to the first storage unit for storage.
[0132] In some alternative implementations, the processor can use a feature matching algorithm to extract the associated features (e.g., features at the same or adjacent locations in the world coordinate system) of the first data frame and the associated data frames, and perform data fusion processing based on the associated features; or, a weighted average algorithm can be used to assign weights according to the credibility of the first data frame and the associated data frames, and perform fusion processing using a weighted average algorithm.
[0133] It is understandable that since the preceding steps have ensured that all data frames are transmitted to the first storage unit for storage in a preset data processing order, the processor only needs to perform fusion processing on the first data frame and the data frames associated with the first data frame that have been transmitted to the first storage unit for storage, without waiting for the data frames transmitted to the first storage unit after the first data frame. This avoids processing delays caused by waiting for subsequent data frames and improves the efficiency of fusion processing.
[0134] Exemplary methods
[0135] This disclosure also provides methods for supporting data processing. These methods can be executed by any of the data processing apparatuses described in this disclosure. In one optional embodiment, the data processing method includes:
[0136] In response to the fact that the first data frame received by the device is the data frame to be transmitted as indicated by the preset data processing order, the first data frame is transmitted to the first storage unit for storage, wherein the first data frame is a data frame transmitted by any one of the multiple sensors of the mobile device.
[0137] The first data frame stored in the first storage unit is processed.
[0138] In one optional implementation, in response to the fact that the first data frame received by the device is not the currently to be transmitted data frame indicated by the preset data processing order, the first data frame is stored as the target data frame in the second storage unit.
[0139] The second storage unit is used to store target data frames that are in a suspended state transmitted by multiple sensors. The suspended state indicates that the target data frame has been received by the device but does not belong to the currently pending data frame indicated by the preset data processing order.
[0140] In an optional implementation, the method further includes:
[0141] In response to determining that the target data frame stored in the second storage unit is the current data frame to be transmitted as indicated by the preset data processing order, the target data frame is transmitted to the first storage unit for storage.
[0142] In response to determining that the target data frame stored in the second storage unit is not the current data frame to be transmitted as indicated by the preset data processing order, the current data frame to be transmitted as indicated by the preset data processing order is determined from the first data frame received by the device.
[0143] In an optional implementation, the method further includes:
[0144] When storing the first data frame as the target data frame in the second storage unit, the storage duration of the target data frame is timed.
[0145] In response to the fact that the current data frame to be transmitted has been transmitted to the first storage unit for storage according to the preset data processing order, the current data frame to be transmitted according to the preset data processing order is updated to the next data frame according to the preset data processing order; in response to the fact that the updated current data frame to be transmitted is the target data frame and the target data frame has been transmitted to the first storage unit for storage before the storage time reaches the preset time, the timer for the storage time of the first data frame is canceled.
[0146] In response to the storage time reaching the preset time, the current data frame to be transmitted, as indicated by the preset data processing order, is updated to the next data frame, as indicated by the preset data processing order.
[0147] In one optional implementation, the preset data processing order represents a channel sequence consisting of multiple channels, with each channel corresponding to a multi-channel sensor. The data frames corresponding to each of the multiple sensors are transmitted to the aforementioned device through the multiple channels respectively. The channel sequence is arranged according to the processing order of the data frames transmitted by the processor through the multiple channels.
[0148] Update the current data frame to be transmitted, as indicated by the preset data processing order, to the next data frame, as indicated by the preset data processing order, including:
[0149] In response to the preset data processing order indication, if the current data frame to be transmitted is the last data frame transmitted in the channel sequence, the data frame transmitted in the first channel sequence is determined to be the next data frame.
[0150] In response to the preset data processing order indication that the current data frame to be transmitted is not the last data frame transmitted by the last channel, the data frame to be transmitted by the next channel adjacent to the current channel in the channel sequence is determined as the next data frame.
[0151] In an optional implementation, the method further includes:
[0152] Based on the received configuration information, the processor is configured to process data frames transmitted through multiple channels in a specific order, thus obtaining a preset data processing order.
[0153] In one optional implementation, in response to the fact that the first data frame received by the device is not the currently to be transmitted data frame indicated by the preset data processing order, the first data frame is stored as the target data frame in the second storage unit, including:
[0154] In response to the fact that the first data frame received by the device is not the data frame to be transmitted as indicated by the preset data processing order, the first data frame is stored in the storage space corresponding to the current transmission channel in the second storage unit. The current transmission channel is the channel used to transmit the first data frame among multiple channels. The second storage unit includes multiple storage spaces that correspond one-to-one with the multiple channels.
[0155] In one optional implementation, processing the first data frame stored in the first storage unit includes:
[0156] The first data frame currently being transmitted to the first storage unit for storage is merged with the data frame associated with the first data frame that has already been transmitted to the first storage unit for storage.
[0157] Any of the data processing methods provided in the embodiments of this disclosure can be executed by any suitable device capable of supporting data processing, including but not limited to: devices supporting data processing, terminal devices, and servers. Alternatively, any of the data processing methods provided in the embodiments of this disclosure can be executed by a processor, such as by a processor executing any of the data processing methods mentioned in the embodiments of this disclosure by calling corresponding instructions stored in memory. Further details will not be elaborated below.
[0158] The beneficial technical effects corresponding to the exemplary embodiments of this method can be found in the corresponding beneficial technical effects of the exemplary device section above, and will not be repeated here.
[0159] Exemplary electronic devices
[0160] Figure 11 A structural diagram of an electronic device provided in an embodiment of this disclosure includes at least one processor 111 and a memory 112.
[0161] The processor 111 may be a SOC chip, a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 11 to perform desired functions.
[0162] The memory 112 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 111 may execute one or more computer program instructions to implement the data processing methods and / or other desired functions of the various embodiments of this disclosure described above.
[0163] In one example, the electronic device 11 may also include an input device 113 and an output device 114, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).
[0164] The input device 113 may also include, for example, a keyboard, a mouse, etc.
[0165] The output device 114 can output various information to the outside, including, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.
[0166] Of course, for the sake of simplicity, Figure 11 Only some of the components of the electronic device 11 relevant to this disclosure are shown, omitting components such as buses, input / output interfaces, etc. In addition, the electronic device 11 may include any other suitable components depending on the specific application.
[0167] Exemplary computer program products and computer-readable storage media
[0168] In addition to the methods and apparatus described above, embodiments of this disclosure may also provide a computer program product, including computer program instructions that, when executed by a processor, cause the processor to perform steps in the data processing methods of the various embodiments of this disclosure described in the "Exemplary Methods" section above.
[0169] Computer program products can be written in any combination of one or more programming languages to perform the operations of embodiments of this disclosure. These programming languages include object-oriented programming languages such as Java and C++, as well as conventional procedural programming languages such as C or similar languages. The program code can be executed entirely on a user's computing device, partially on a user's computing device, as a standalone software package, partially on a user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.
[0170] Furthermore, embodiments of this disclosure may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform steps in the data processing methods of the various embodiments of this disclosure described in the "Exemplary Methods" section above.
[0171] Computer-readable storage media may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, but is not limited to, systems, apparatuses, or devices that are electrical, magnetic, optical, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.
[0172] The basic principles of this disclosure have been described above with reference to specific embodiments. However, the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the necessity of employing the aforementioned specific details for implementation.
[0173] Various modifications and variations can be made to this disclosure without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, this disclosure is also intended to include such modifications and variations.
Claims
1. An apparatus for supporting data processing, comprising a processor, the processor being configured to: In response to the fact that the first data frame received by the device is the current data frame to be transmitted as indicated by a preset data processing order, the first data frame is transmitted to the first storage unit for storage, wherein, The first data frame is a data frame transmitted by any one of the multiple sensors in the mobile device; The first data frame stored in the first storage unit is processed.
2. The apparatus according to claim 1, wherein, The processor is also configured to: In response to the fact that the first data frame received by the device is not the data frame to be transmitted as indicated by the preset data processing order, the first data frame is stored as the target data frame in the second storage unit; The second storage unit is used to store the target data frame that is in a suspended state transmitted by the multiple sensors. The suspended state indicates that the target data frame has been received by the device but does not belong to the currently to be transmitted data frame indicated by the preset data processing order.
3. The apparatus according to claim 2, wherein, The processor is also configured to: In response to determining that the target data frame stored in the second storage unit is the data frame to be transmitted as indicated by the preset data processing order, the target data frame is transmitted to the first storage unit for storage; In response to determining that the target data frame stored in the second storage unit is not the currently to be transmitted data frame indicated by the preset data processing order, the currently to be transmitted data frame indicated by the preset data processing order is determined from the first data frame received by the device.
4. The apparatus according to claim 3, wherein, The processor is also configured to: When the first data frame is stored as the target data frame in the second storage unit, the storage duration of the target data frame is timed. In response to the fact that the currently to be transmitted data frame indicated by the preset data processing order has been transmitted to the first storage unit for storage, the currently to be transmitted data frame indicated by the preset data processing order is updated to the next data frame indicated by the preset data processing order. In response to the updated current data frame to be transmitted being the target data frame and the target data frame having been transmitted to the first storage unit for storage before the storage duration reaches the preset duration, the timing of the storage duration of the first data frame is cancelled. In response to the storage duration reaching the preset duration, the current data frame to be transmitted indicated by the preset data processing order is updated to the next data frame indicated by the preset data processing order.
5. The apparatus according to claim 4, wherein, The preset data processing order represents a channel sequence consisting of multiple channels, each channel corresponding to a multi-channel sensor, and the data frames corresponding to each of the multi-channel sensors are transmitted to the device through the multiple channels respectively. The channel sequence is arranged according to the processing order of the data frames transmitted by the processor through the multiple channels; The step of updating the currently to-be-transmitted data frame indicated by the preset data processing order to the next data frame indicated by the preset data processing order includes: In response to the preset data processing order indicating that the data frame to be transmitted is the data frame transmitted by the last channel in the channel sequence, the data frame transmitted by the first channel in the channel sequence is determined as the next data frame; In response to the preset data processing order indicating that the current data frame to be transmitted is not the data frame transmitted by the last channel, the data frame transmitted by the next channel adjacent to the current channel in the channel sequence is determined as the next data frame.
6. The apparatus according to claim 5, wherein, The processor is also configured to: Based on the received configuration information, the processor is configured to process the data frames transmitted through the multiple channels in the order of the preset data processing order.
7. The apparatus according to claim 5, wherein, The step of responding to the fact that the first data frame received by the device is not the currently to be transmitted data frame indicated by the preset data processing order, and storing the first data frame as the target data frame in the second storage unit, includes: In response to the fact that the first data frame received by the device is not the data frame to be transmitted as indicated by the preset data processing order, the first data frame is stored in the storage space in the second storage unit corresponding to the current transmission channel. The current transmission channel is one of the multiple channels used to transmit the first data frame. The second storage unit includes multiple storage spaces that correspond one-to-one with the multiple channels.
8. The apparatus according to any one of claims 1-7, wherein, The processing of the first data frame stored in the first storage unit includes: The first data frame currently being transmitted to the first storage unit for storage is merged with the data frame associated with the first data frame that has already been transmitted to the first storage unit for storage.
9. A method for supporting data processing, wherein, The method is applied to a device supporting data processing, and the method includes: In response to the fact that the first data frame received by the device is the current data frame to be transmitted as indicated by a preset data processing order, the first data frame is transmitted to the first storage unit for storage, wherein the first data frame is a data frame transmitted by any one of the multiple sensors of the mobile device. The first data frame stored in the first storage unit is processed.
10. The method according to claim 9, wherein, The method further includes: In response to the fact that the first data frame received by the device is not the data frame to be transmitted as indicated by the preset data processing order, the first data frame is stored as the target data frame in the second storage unit; The second storage unit is used to store the target data frame that is in a suspended state transmitted by the multiple sensors. The suspended state indicates that the target data frame has been received by the device but does not belong to the currently to be transmitted data frame indicated by the preset data processing order.
11. The method according to claim 10, wherein, The method further includes: In response to determining that the target data frame stored in the second storage unit is the data frame to be transmitted as indicated by the preset data processing order, the target data frame is transmitted to the first storage unit for storage; In response to determining that the target data frame stored in the second storage unit is not the currently to be transmitted data frame indicated by the preset data processing order, the currently to be transmitted data frame indicated by the preset data processing order is determined from the first data frame received by the device.
12. A computer-readable storage medium storing a computer program that is executed by a processor to implement the data processing method according to any one of claims 9-11.
13. An electronic device, the electronic device comprising: processor; Memory used to store the processor's executable instructions; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the data processing method according to any one of claims 9-11.