Data processing methods, devices, equipment, vehicles, media, and chips

Abstract

This disclosure relates to a data processing method, apparatus, device, vehicle, medium, and chip, belonging to the fields of data processing and intelligent driving technology. The method includes: receiving a first data packet; determining, from the local storage space of the data receiving end, a second data packet identified by the identifier of the first data packet; determining whether the content verification information of the first data packet is consistent with the content verification information of the second data packet, and determining whether the scene verification information of the first data packet matches the scene verification information of the second data packet; in response to inconsistencies between the content verification information of the first data packet and the content verification information of the second data packet, and / or mismatches between the scene verification information of the first data packet and the scene verification information of the second data packet, updating the data content of the second data packet. Therefore, this disclosure proposes a dual verification mechanism of "content + scene," significantly improving the accuracy and real-time performance of data packets stored at the data receiving end.

Description

Technical Field

[0001] This disclosure relates to the fields of data processing and intelligent driving technology, and in particular to a data processing method, apparatus, electronic device, vehicle, chip, and storage medium. Background Technology

[0002] Currently, with the continuous innovation and vigorous development of big data, artificial intelligence, and the Internet of Things (IoT) technologies, data transmission technology has demonstrated enormous application value in numerous fields. For example, in driving scenarios, data transmission technology facilitates information interaction between various domain controllers within the vehicle, between the vehicle and servers, between the vehicle and terminal devices, and between vehicles, supporting intelligent driving and intelligent traffic management. However, current data transmission methods suffer from inaccuracies in the data packets stored at the receiving end. Summary of the Invention

[0003] This disclosure provides a data processing method, apparatus, electronic device, vehicle, chip, and storage medium to at least solve the problem of poor accuracy in data packets stored at the data receiving end in related data transmission methods. The technical solution of this disclosure is as follows:

[0004] According to a first aspect of the present disclosure, a data processing method is provided, comprising: receiving a first data packet sent by a target data sending end to obtain data content of the first data packet, an identifier of the first data packet, content verification information of the first data packet, and scene verification information of the first data packet; determining, from local storage space of a data receiving end, a second data packet identified by the identifier of the first data packet; determining whether the content verification information of the first data packet is consistent with the content verification information of the second data packet, and determining whether the scene verification information of the first data packet matches the scene verification information of the second data packet; and updating the data content of the second data packet in response to the inconsistency between the content verification information of the first data packet and the content verification information of the second data packet, and / or the mismatch between the scene verification information of the first data packet and the scene verification information of the second data packet.

[0005] According to a second aspect of the present disclosure, another data processing method is provided, comprising: determining scenario verification information of the first data packet based on generation scenario information when the first data packet is generated; determining content verification information of the first data packet based on the data content of the first data packet; adding the identifier of the first data packet, the content verification information of the first data packet, and the scenario verification information of the first data packet to the first data packet; and sending the first data packet to a data receiving end.

[0006] According to a third aspect of the present disclosure, a data processing apparatus is provided, comprising: a receiving module configured to receive a first data packet sent by a target data sending end, to obtain data content of the first data packet, an identifier of the first data packet, content verification information of the first data packet, and scene verification information of the first data packet; a first determining module configured to determine, from local storage space of the data receiving end, a second data packet identified by the identifier of the first data packet; a second determining module configured to determine whether the content verification information of the first data packet is consistent with the content verification information of the second data packet, and to determine whether the scene verification information of the first data packet matches the scene verification information of the second data packet; and a processing module configured to update the data content of the second data packet in response to the inconsistency between the content verification information of the first data packet and the content verification information of the second data packet, and / or the mismatch between the scene verification information of the first data packet and the scene verification information of the second data packet.

[0007] According to a fourth aspect of the present disclosure, another data processing apparatus is provided, comprising: a first determining module configured to determine scene verification information of the first data packet based on generation scene information when the first data packet is generated; a second determining module configured to determine content verification information of the first data packet based on the data content of the first data packet; an adding module configured to add the identifier of the first data packet, the content verification information of the first data packet, and the scene verification information of the first data packet to the first data packet; and a transmission module configured to send the first data packet to a data receiving end.

[0008] According to a fifth aspect of the present disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of the data processing method described in the first aspect of the present disclosure, and / or implements the steps of the data processing method described in the second aspect of the present disclosure.

[0009] According to a sixth aspect of the present disclosure, a vehicle is provided, including a data receiving end and a target data sending end; the data receiving end and the target data sending end communicate via a vehicle communication bus; wherein the data receiving end is used to perform the steps of the data processing method described in the first aspect of the present disclosure; and the target data sending end is used to perform the steps of the data processing method described in the second aspect of the present disclosure.

[0010] According to a seventh aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, having stored thereon computer program instructions that, when executed by a processor, implement the steps of the data processing method described in the first aspect of the present disclosure, and / or implement the steps of the data processing method described in the second aspect of the present disclosure.

[0011] According to an eighth aspect of the present disclosure, a chip is provided, the chip including an interface circuit and a processing circuit coupled to each other, the interface circuit being used to input or output signals, and the processing circuit being configured to implement the steps of the data processing method of the first aspect of the present disclosure, and / or to implement the steps of the data processing method of the second aspect of the present disclosure.

[0012] According to a ninth aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the data processing method described in the first aspect of the present disclosure, and / or implements the steps of the data processing method described in the second aspect of the present disclosure.

[0013] The technical solution provided by the embodiments of this disclosure brings at least the following beneficial effects: Receiving a first data packet sent by a target data sender to obtain the data content, identifier, content verification information, and scene verification information of the first data packet; determining, from the local storage space of the data receiver, a second data packet identified by the identifier of the first data packet; determining whether the content verification information of the first data packet is consistent with the content verification information of the second data packet; and determining whether the scene verification information of the first data packet matches the scene verification information of the second data packet. If the content verification information of the first data packet is inconsistent with the content verification information of the second data packet, and / or the scene verification information of the first data packet does not match the scene verification information of the second data packet. Therefore, this disclosure proposes a "content + scene" dual verification mechanism, which can use content verification information and scene verification information to perform dual verification of the consistency of data content and the consistency of generated scene between the first and second data packets. If the data content of the first data packet is inconsistent with the data content of the second data packet, and / or the generated scene of the first data packet is inconsistent with the generated scene of the second data packet, the data content of the second data packet is updated, significantly improving the accuracy and real-time performance of the data packets stored at the data receiver.

[0014] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0015] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure, and are not intended to unduly limit this disclosure.

[0016] Figure 1 This is a flowchart illustrating a data processing method according to an exemplary embodiment.

[0017] Figure 2 This is a flowchart illustrating a data processing method according to another exemplary embodiment.

[0018] Figure 3 This is a flowchart illustrating a data processing method according to another exemplary embodiment.

[0019] Figure 4 This is a flowchart illustrating a data processing method according to another exemplary embodiment.

[0020] Figure 5 This is a flowchart illustrating a data processing method according to another exemplary embodiment.

[0021] Figure 6 This is a schematic diagram illustrating an in-vehicle intelligent driving system according to an exemplary embodiment.

[0022] Figure 7 This is a schematic diagram of the structure of a data processing apparatus according to an exemplary embodiment.

[0023] Figure 8 This is a schematic diagram of the structure of a data processing apparatus according to another exemplary embodiment.

[0024] Figure 9 This is a schematic diagram of the structure of a vehicle according to an exemplary embodiment.

[0025] Figure 10 This is a schematic diagram of the structure of a chip according to an exemplary embodiment. Detailed Implementation

[0026] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0027] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0028] The following description, with reference to the accompanying drawings, describes data processing methods, apparatus, electronic devices, vehicles, chips, and storage media according to embodiments of the present disclosure.

[0029] Figure 1 This is a flowchart illustrating a data processing method according to an exemplary embodiment, such as... Figure 1 As shown, the data processing method of this disclosure includes the following steps.

[0030] S101, receive the first data packet sent by the target data sender, so as to obtain the data content of the first data packet, the identifier of the first data packet, the content verification information of the first data packet, and the scenario verification information of the first data packet.

[0031] It should be noted that the data processing method in this embodiment is executed by an electronic device, such as a data receiving end. The electronic device includes vehicles, terminal devices, robots, smart home devices, servers, chips, etc. Vehicles include in-vehicle terminals and in-vehicle controllers, terminal devices include mobile phones, wearable devices (such as smartwatches and smart glasses), laptops, etc., robots include industrial robots, service robots, cleaning robots, etc., smart home devices include air conditioning equipment, smart speakers, humidifiers, etc., and servers include cloud servers and distributed servers, etc.

[0032] The data processing method of this disclosure embodiment can be executed by the data processing device of this disclosure embodiment. The data processing device of this disclosure embodiment can be configured in any electronic device to execute the data processing method of this disclosure embodiment.

[0033] The data processing method disclosed herein is applicable to data transmission scenarios such as driving, robot control, smart homes, industrial internet, and wireless communication. It should be noted that driving, robot control, smart homes, industrial internet, and wireless communication are merely examples of data transmission scenarios and should not be considered as limiting the scope of data transmission scenarios.

[0034] Each data packet includes its data content, its identifier, its content verification information, and its scenario verification information. The content verification information of any two data packets is used to verify whether their data content is consistent. The scenario verification information of any two data packets is used to verify whether their generation scenarios are consistent.

[0035] There are no strict restrictions on the identification of any data packet. For example, the identification of any data packet is determined based on the identifier of the data sender of the corresponding data packet, the generation time of the corresponding data packet, and a random number.

[0036] There are no excessive restrictions on the content verification information of any data packet. For example, the content verification information of any data packet is determined based on the data content of the corresponding data packet, or it is determined based on the data content of the corresponding data packet and the scenario verification information of the corresponding data packet.

[0037] The scenario verification information for any given data packet is not subject to numerous restrictions. For example, the scenario verification information for any given data packet is determined based on the scenario information generated when the corresponding data packet was generated. The scenario information for the generation of any given data packet refers to the scenario information at the moment the corresponding data packet was generated.

[0038] For details regarding content verification information and scene verification information, please refer to the following examples, which will not be repeated here.

[0039] The data sender includes the target data sender. There are no strict limitations on either the data sender or the data receiver; for example, the data sender and receiver can be mounted on the same electronic device, or they can belong to different electronic devices. The following examples illustrate the data sender, data receiver, and the data content of the first data packet using several data transmission scenarios.

[0040] In some possible implementations, taking a driving scenario as an example, the data receiver and the target data sender include the following possible implementations: Method 1 involves the data receiver and the target data sender belonging to different functional domains of the vehicle. Therefore, this solution is suitable for cross-domain data transmission scenarios within the vehicle. The functional domains of the vehicle are not overly restricted; for example, they may include the cockpit domain, intelligent driving domain, body domain, powertrain domain, and chassis domain.

[0041] Method 2: The data receiver and the target data sender belong to the same functional domain of the vehicle. Therefore, this solution is suitable for data transmission scenarios within the vehicle domain.

[0042] Method 3: The data receiving end includes vehicles, and the target data sending end includes servers, terminal equipment, and other vehicles besides the vehicles; or, The data receiving end includes vehicles other than servers, terminal equipment, and vehicles.

[0043] For example, the data receiving end includes a navigation module, and the target data sending end includes an intelligent driving module and a driving behavior memory module; or, The data receiving end includes an intelligent driving module, and the target data sending end includes a navigation module and a driving behavior memory module; or, The data receiving end includes a driving behavior memory module, and the target data sending end includes a navigation module and an intelligent driving module.

[0044] It should be noted that the navigation module belongs to the vehicle's cockpit domain, while the intelligent driving module and driving behavior memory module belong to the vehicle's intelligent driving domain. The navigation module provides services such as high-precision maps, route planning, lane guidance, and location search; the intelligent driving module provides services such as intelligent driving decision generation (e.g., adaptive cruise control, lane keeping assist, automatic lane changing); and the driving behavior memory module provides services such as remembering and reproducing driving behavior (e.g., memory parking).

[0045] The first data packet includes vehicle operation data (such as the vehicle's current position and current speed), control command data (such as target speed and target steering angle), status data (such as motion status data, chassis status data, and battery status data), path planning data, environmental data, map data, log and diagnostic data, and configuration parameters.

[0046] For example, the data content of the first data packet is collected by the sensors on the vehicle.

[0047] In some possible implementations, taking a robot control scenario as an example, the data receiver and the target data transmitter include the following possible implementations: Method 1: Both the data receiver and the target data sender are carried by robots.

[0048] Method 2: The data receiving end includes a robot, and the target data sending end includes a server, terminal equipment, and other robots besides the robot itself; or, The data receiving end includes robots other than servers, terminal devices, and robots.

[0049] The first data packet includes robot operation data (such as the robot's current pose and current speed), control command data (such as target speed and target pose), status data (such as motion status data, battery status data, health status data, and safety status data), path planning data, environmental data, map data, task execution data, log and diagnostic data, and configuration parameters (such as control parameters, sensor calibration parameters, and function configuration parameters).

[0050] For example, the data content of the first data packet is collected by the sensors carried by the robot.

[0051] In some possible implementations, taking a smart home scenario as an example, the data receiver and the target data transmitter include the following possible implementations: Method 1: Both the data receiver and the target data sender are equipped with smart home devices.

[0052] Method 2: The data receiving end includes smart home devices, and the target data sending end includes servers, terminal devices, and other smart home devices besides the smart home devices themselves; or, The data receiving end includes smart home devices other than servers, terminal devices, and smart home devices.

[0053] The first data packet includes the following data: smart home device operation data (such as smart home device operation parameters, timing information, etc.), control command data, status data (such as motion status data, battery status data, health status data, safety status data, etc.), path planning data, environmental data, map data, task execution data, log and diagnostic data, configuration parameters (such as control parameters, sensor calibration parameters, function configuration parameters, etc.).

[0054] For example, the data content of the first data packet is collected by the sensors on the smart home device.

[0055] S102, determine the second data packet identified by the identifier of the first data packet from the local storage space of the data receiving end.

[0056] It is understandable that, since the target data sender repeatedly sends data packets with the same identifier, the data receiver's local storage space may contain a second data packet identified by the identifier of the first data packet, that is, the identifier of the first data packet and the identifier of the second data packet are the same.

[0057] For example, the target data receiver may repeatedly send data packets with the same identifier to the data receiver due to network latency, data packet update iterations, or other reasons.

[0058] S103, determine whether the content verification information of the first data packet is consistent with the content verification information of the second data packet, and determine whether the scene verification information of the first data packet matches the scene verification information of the second data packet.

[0059] It should be noted that if the content verification information of any two data packets is the same, it indicates that the data content of the corresponding data packets is the same; conversely, if the content verification information of any two data packets is different, it indicates that the data content of the corresponding data packets is different.

[0060] If the scenario verification information of any two data packets matches, it indicates that the corresponding data packets were generated in the same scenario; conversely, if the scenario verification information of any two data packets does not match, it indicates that the corresponding data packets were generated in different scenarios.

[0061] Optionally, the content verification information of any data packet is determined based on the data content and the scenario verification information of the corresponding data packet. It is understood that in this embodiment, the content verification information of any two data packets is used to verify whether the data content of the corresponding data packets is consistent and whether the generation scenario of the corresponding data packets is consistent. If the content verification information of any two data packets is consistent, it indicates that the data content of the corresponding data packets is consistent and the generation scenario of the corresponding data packets is consistent (i.e., scenario verification information matches). If the content verification information of any two data packets is inconsistent, it indicates that the data content of the corresponding data packets is inconsistent, and / or the generation scenario of the corresponding data packets is inconsistent (i.e., scenario verification information does not match).

[0062] Determine whether the content verification information of the first data packet is consistent with the content verification information of the second data packet, and determine whether the scenario verification information of the first data packet matches the scenario verification information of the second data packet. This includes verifying whether the content verification information of the first data packet is consistent with the content verification information of the second data packet. If the content verification information of the first data packet is consistent with the content verification information of the second data packet, determine whether the scenario verification information of the first data packet matches the scenario verification information of the second data packet. If the content verification information of the first data packet is inconsistent with the content verification information of the second data packet, verify whether the scenario verification information of the first data packet matches the scenario verification information of the second data packet.

[0063] Therefore, we can first verify whether the content verification information of the two data packets is consistent. If the content verification information of the two data packets is consistent, we can directly determine that the scenario verification information of the two data packets matches, without needing to verify whether the scenario verification information of the two data packets matches again, which helps improve verification efficiency. Conversely, if the content verification information of the two data packets is inconsistent, we continue to verify whether the scenario verification information of the two data packets matches.

[0064] Optionally, the content verification information of any data packet is determined based on the data content of the corresponding data packet. Determining whether the content verification information of the first data packet is consistent with the content verification information of the second data packet includes verifying whether the content verification information of the first data packet is consistent with the content verification information of the second data packet. Determining whether the scene verification information of the first data packet matches the scene verification information of the second data packet includes verifying whether the scene verification information of the first data packet matches the scene verification information of the second data packet. It should be noted that verifying whether the content verification information of the first data packet is consistent with the content verification information of the second data packet, and verifying whether the scene verification information of the first data packet matches the scene verification information of the second data packet, can be performed in parallel or sequentially.

[0065] Optionally, determining whether the scenario verification information of the first data packet matches the scenario verification information of the second data packet includes verifying whether the scenario verification information of the first data packet and the scenario verification information of the second data packet are consistent, and in response to the scenario verification information of the first data packet and the scenario verification information of the second data packet being consistent, determining that the scenario verification information of the first data packet and the scenario verification information of the second data packet match.

[0066] S104, in response to the inconsistency between the content verification information of the first data packet and the content verification information of the second data packet, and / or the mismatch between the scene verification information of the first data packet and the scene verification information of the second data packet, the data content of the second data packet is updated.

[0067] Currently, with the continuous innovation and vigorous development of big data, artificial intelligence, and the Internet of Things (IoT) technologies, data transmission technology has demonstrated enormous application value in numerous fields. For example, in driving scenarios, data transmission technology facilitates information interaction between various domain controllers within the vehicle, between the vehicle and servers, between the vehicle and terminal devices, and between vehicles, supporting intelligent driving and intelligent traffic management. However, current data transmission methods suffer from inaccuracies in the data packets stored at the receiving end.

[0068] For example, packet loss can easily occur during data transmission due to network congestion, electromagnetic interference, etc., resulting in incomplete data packets stored at the receiving end. When the data sender updates a data packet locally, the data receiver often cannot detect and synchronize the update in time, resulting in a difference between the data packet stored at the data receiver and the data packet stored at the data sender. In other words, there is a "version inconsistency" problem between the data packet at the data receiver and the data sender.

[0069] To address the aforementioned issues, this disclosure proposes a dual verification mechanism of "content + scenario." It receives a first data packet sent by a target data sender to obtain the data content, identifier, content verification information, and scenario verification information of the first data packet. From the local storage space of the data receiver, it identifies a second data packet identified by the identifier of the first data packet. It then determines whether the content verification information of the first and second data packets is consistent, and whether their scenario verification information matches. If the content verification information of the first and second data packets is inconsistent, and / or their scenario verification information does not match, the mechanism allows for dual verification of the consistency of data content and the consistency of the generated scenario between the first and second data packets. If the data content of the first and second data packets is inconsistent, and / or their generated scenarios are inconsistent, the data content of the second data packet is updated, significantly improving the accuracy and real-time performance of the data packets stored at the data receiver.

[0070] Optionally, the data content of the second data packet may be updated, including updating the data content of the second data packet based on the content verification result and the scenario verification result between the first and second data packets. It should be noted that the content verification result between the first and second data packets refers to the verification result regarding whether the content verification information of the first data packet and the content verification information of the second data packet are consistent, and the scenario verification result between the first and second data packets refers to the verification result regarding whether the scenario verification information of the first data packet and the scenario verification information of the second data packet are consistent.

[0071] Optionally, based on the content verification results and scenario verification results between the first data packet and the second data packet, the data content of the second data packet is updated. This includes determining an update strategy for the second data packet based on the content verification results and scenario verification results between the first and second data packets, and updating the data content of the second data packet according to the update strategy. For example, there is a correspondence between the content verification results and scenario verification results between the first and second data packets and the update strategy for the second data packet.

[0072] Optionally, after updating the data content of the second data packet, the method further includes determining content verification information for the updated second data packet based on the updated data content. Thus, the content verification information of the second data packet is updated along with the data content of the second data packet.

[0073] It should be noted that this disclosure does not impose any restrictions on the execution sequence of steps S101-S104. Figure 1 The example is only executed in the order of steps S101-S104.

[0074] The data processing method provided in the embodiments of this disclosure receives a first data packet sent by a target data sender to obtain the data content, identifier, content verification information, and scene verification information of the first data packet. From the local storage space of the data receiver, a second data packet identified by the identifier of the first data packet is determined. The method then determines whether the content verification information of the first data packet and the content verification information of the second data packet are consistent, and whether the scene verification information of the first data packet and the scene verification information of the second data packet match. If the content verification information of the first data packet and the content verification information of the second data packet are inconsistent, and / or the scene verification information of the first data packet and the scene verification information of the second data packet do not match, the method proposes a "content + scene" dual verification mechanism. This mechanism utilizes content verification information and scene verification information to perform dual verification of the consistency of data content and the consistency of the generated scene between the first and second data packets. If the data content of the first data packet and the data content of the second data packet are inconsistent, and / or the generated scene of the first data packet and the generated scene of the second data packet are inconsistent, the data content of the second data packet is updated. This significantly improves the accuracy and real-time performance of the data packets stored at the data receiver.

[0075] Figure 2 This is a flowchart illustrating a data processing method according to another exemplary embodiment, such as... Figure 2 As shown, the data processing method of this disclosure includes the following steps.

[0076] S201, receive the first data packet sent by the target data sender, so as to obtain the data content of the first data packet, the identifier of the first data packet, the content verification information of the first data packet, and the scenario verification information of the first data packet.

[0077] S202, determine the second data packet identified by the identifier of the first data packet from the local storage space of the data receiving end.

[0078] S203, determine whether the content verification information of the first data packet is consistent with the content verification information of the second data packet, and determine whether the scene verification information of the first data packet matches the scene verification information of the second data packet.

[0079] The details of steps S201-S203 can be found in the above embodiments and will not be repeated here.

[0080] S204, in response to the inconsistency between the content verification information of the first data packet and the content verification information of the second data packet, and the matching of the scene verification information of the first data packet and the scene verification information of the second data packet, the data content of the second data packet is updated based on the data content of the first data packet.

[0081] In this embodiment, if the data content of the first data packet is inconsistent with the data content of the second data packet, and the generation scenario of the first data packet is consistent with the generation scenario of the second data packet, it indicates that the target data sending end has updated the content of the data packet. Then, the data content of the second data packet can be updated according to the data content of the newly received first data packet. This can realize the synchronous update of the data content of data packets with the same identifier and the same generation scenario between the target data sending end and the data receiving end, which significantly improves the accuracy and real-time performance of the data packets stored by the data receiving end.

[0082] Optionally, based on the data content of the first data packet, the data content of the second data packet is updated. This includes determining the fields corresponding to the differences between the data content of the first and second data packets, using these fields as target fields, sending the target fields to the target data sender, receiving the target content of the target fields sent by the target data sender, and updating the content of the target fields in the second data packet to the corresponding target content. Thus, it is possible to determine the fields corresponding to the differences between the data content of the first and second data packets, using these fields as target fields, and to obtain the target content of the target fields from the target data sender to update the content of the corresponding fields in the second data packet. This enables incremental updates of the data content of the second data packet, improving data update efficiency.

[0083] In addition, the target content of the target field can be retrieved again from the target data sender. That is, the content of the corresponding field in the second data packet can be updated according to the target content of the target field in the latest version, which helps to improve the accuracy of data updates.

[0084] Optionally, based on the data content of the first data packet, the data content of the second data packet is updated, including determining the field corresponding to the difference data between the data content of the first data packet and the data content of the second data packet, using it as the target field, and updating the content of the target field in the second data packet to the content of the corresponding field in the first data packet.

[0085] Optionally, the data content of the second data packet is updated based on the data content of the first data packet, including replacing the data content of the second data packet with the data content of the first data packet.

[0086] Optionally, after updating the data content of the second data packet based on the data content of the first data packet, the method further includes discarding the first data packet.

[0087] S205, use the scenario verification information of the second data packet as the scenario verification information of the updated second data packet.

[0088] S206, determine the content verification information of the updated second data packet based on the data content of the updated second data packet; or, determine the content verification information of the updated second data packet based on the data content of the updated second data packet and the scenario verification information of the second data packet.

[0089] In this embodiment, after updating the data content of the second data packet based on the data content of the first data packet, the scene verification information of the second data packet can be used as the scene verification information of the updated second data packet. The content verification information of the second data packet is updated along with the data content of the second data packet, or the content verification information of the second data packet is updated along with the data content of the second data packet and the scene verification information of the second data packet.

[0090] Optionally, based on the updated data content of the second data packet and the scenario verification information of the second data packet, the content verification information of the updated second data packet is determined. This includes concatenating the updated data content of the second data packet and the scenario verification information of the second data packet to obtain first concatenated information, performing a hash operation on the first concatenated information to determine the content verification information of the updated second data packet, or determining the content verification information of the updated second data packet based on the CRC (Cyclic Redundancy Check) code of the first concatenated information.

[0091] S207, in response to the mismatch between the scenario verification information of the first data packet and the scenario verification information of the second data packet, a reference data packet originating from a data provider other than the target data sender is determined from the local storage space, and the data content of the second data packet is updated based on the reference data packet.

[0092] In this embodiment, if the generation scenario of the first data packet is inconsistent with that of the second data packet, it indicates that there is a scenario misalignment between the first data packet and the second data packet. In this case, a reference data packet from a data provider other than the target data sender is determined from the local storage space, and the data content of the second data packet is updated based on the reference data packet, which significantly improves the accuracy and real-time performance of the data packets stored by the data receiver.

[0093] Optionally, the data content of the second data packet can be updated based on the reference data packet. This includes updating the data content of the second data packet based on the data content of the reference data packet; or, based on the scenario verification information of the reference data packet, a third data packet whose scenario verification information matches the scenario verification information of the reference data packet can be determined from the original data packets originating from the target data sender in the local storage space, and the data content of the second data packet can be updated based on the data content of the third data packet. Thus, the data content of the second data packet can be updated according to the data content of the reference data packet; or, a third data packet whose scenario verification information matches the scenario verification information of the reference data packet can be determined from the original data packets originating from the target data sender in the local storage space, and the data content of the second data packet can be updated based on the data content of the third data packet.

[0094] Optionally, updating the data content of the second data packet based on the data content of the reference data packet includes updating the data content of the second data packet based on the data content of the reference data packet in response to the reference data packet being generated later than the second data packet being generated. Therefore, if the reference data packet is generated later than the second data packet, the data content of the second data packet is updated according to the data content of the reference data packet.

[0095] Optionally, updating the data content of the second data packet based on the data content of the third data packet includes updating the data content of the second data packet based on the data content of the third data packet in response to the fact that the generation time of the reference data packet is earlier than the generation time of the second data packet. Therefore, if the generation time of the reference data packet is earlier than the generation time of the second data packet, the data content of the second data packet is updated according to the data content of the third data packet.

[0096] The following describes several ways to update the data content of the second data packet.

[0097] Optionally, the data content of the second data packet is updated based on the data content of the reference data packet. This includes updating the data content in the second data packet that is associated with the generated scenario based on the data content in the reference data packet, while maintaining the data content in the second data packet that is not associated with the generated scenario. This enables incremental updates to the second data packet, helping to improve data update efficiency.

[0098] Optionally, the data content of the second data packet is updated based on the data content of the reference data packet, including determining data content in the second data packet that does not match the data content of the reference data packet as content to be updated, and updating the content to be updated in the second data packet based on the data content of the reference data packet.

[0099] Optionally, the data content of the second data packet is updated based on the data content of the reference data packet, including replacing the data content of the second data packet with the data content of the reference data packet.

[0100] It should be noted that the relevant content on updating the data content of the second data packet based on the data content of the third data packet can be found in the relevant content on updating the data content of the second data packet based on the data content of the reference data packet, and will not be repeated here.

[0101] It should be noted that there are no excessive restrictions on the reference data packet.

[0102] Optionally, in response to a mismatch between the scenario verification information in the first data packet and the scenario verification information in the second data packet, the reference data packet is determined as follows: the target data sender is filtered out from all data providers, and a reference data provider is determined from the filtered data providers. The latest-generated original data packet from the original data packets originating from the reference data provider is then selected as the reference data packet. Thus, the reference data packet can be determined by considering both the data provider from which the data packet originates and the generation time of the original data packets.

[0103] Optionally, a reference data provider may be determined from the filtered data providers, including determining the data provider with the highest weight from the filtered data providers as the reference data provider, or determining the data provider with the highest priority from the filtered data providers as the reference data provider.

[0104] It is understandable that weights or priorities can be set for each data provider in advance. For example, a mapping relationship between data providers and weights (such as a mapping table) can be established in advance, or a mapping relationship between data providers and priorities (such as a mapping table) can be established in advance. The above mapping relationship can be stored in the local storage space of the data receiver in advance.

[0105] For example, taking a driving scenario, the data provider includes a navigation module, an intelligent driving module, and a driving behavior memory module. The intelligent driving module has a higher priority than the driving behavior memory module, which in turn has a higher priority than the navigation module.

[0106] If the target data sender is the navigation module and the data receiver is the intelligent driving module, the intelligent driving module can be identified as the reference data provider. The original data packet with the latest generation time can be determined from the original data packets originating from the intelligent driving module in the local storage space and used as the reference data packet.

[0107] If the target data sender is an intelligent driving module and the data receiver is a navigation module, the driving behavior memory module can be identified as the reference data provider. The latest original data packet generated can be determined from the original data packets originating from the driving behavior memory module in the local storage space and used as the reference data packet.

[0108] Optionally, in response to a mismatch between the scenario verification information of the first data packet and the scenario verification information of the second data packet, the reference data packet is determined in the following way: from the original data packets originating from a data provider other than the target data sender in the local storage space, the original data packet with the latest generation time is determined as the reference data packet.

[0109] Optionally, in response to a mismatch between the scenario verification information in the first data packet and the scenario verification information in the second data packet, the method may also include discarding the first data packet.

[0110] S208, Based on the scenario verification information of the reference data packet, determine the updated scenario verification information of the second data packet.

[0111] S209, determine the content verification information of the updated second data packet based on the data content of the updated second data packet; or, determine the content verification information of the updated second data packet based on the data content of the updated second data packet and the scenario verification information of the updated second data packet.

[0112] In this embodiment, after updating the data content of the second data packet based on the reference data packet, the scene verification information of the updated second data packet can be determined based on the scene verification information of the reference data packet. The content verification information of the second data packet is updated along with the data content of the second data packet, or the content verification information of the second data packet is updated along with the data content of the second data packet and the scene verification information of the second data packet.

[0113] Optionally, based on the scenario verification information of the reference data packet, the scenario verification information of the updated second data packet is determined, including using the scenario verification information of the reference data packet as the scenario verification information of the updated second data packet.

[0114] Optionally, based on the updated second data packet's data content and the updated second data packet's scenario verification information, the updated second data packet's content verification information is determined. This includes concatenating the updated second data packet's data content and the updated second data packet's scenario verification information to obtain second concatenated information, performing a hash operation on the second concatenated information to determine the updated second data packet's content verification information, or determining the updated second data packet's content verification information based on the CRC code of the second concatenated information.

[0115] It should be noted that this disclosure does not limit the execution sequence of steps S201-S209. For example, steps S201-S204 can be implemented as an independent embodiment, steps S201-S206 can be implemented as an independent embodiment, steps S201-S203 and S207 can be implemented as independent embodiments, and steps S201-S203 and S207-S209 can be implemented as independent embodiments.

[0116] The data processing method provided in the embodiments of this disclosure, if the data content of the first data packet is inconsistent with the data content of the second data packet, and the generation scenario of the first data packet is consistent with the generation scenario of the second data packet, it indicates that the target data sending end has updated the content of the data packet. Then, the data content of the second data packet can be updated according to the data content of the newly received first data packet. This can realize the synchronous update of the data content of data packets with the same identifier and the same generation scenario between the target data sending end and the data receiving end, which significantly improves the accuracy and real-time performance of the data packets stored at the data receiving end.

[0117] If the generation scenario of the first data packet is inconsistent with that of the second data packet, it indicates that there is a scenario misalignment between the first and second data packets. In this case, a reference data packet from a data provider other than the target data sender is determined from the local storage space, and the data content of the second data packet is updated based on the reference data packet, which significantly improves the accuracy and real-time performance of the data packets stored by the data receiver.

[0118] Figure 3 This is a flowchart illustrating a data processing method according to another exemplary embodiment, such as... Figure 3 As shown, the data processing method of this disclosure includes the following steps.

[0119] S301, receive the first data packet sent by the target data sender, so as to obtain the data content of the first data packet, the identifier of the first data packet, the content verification information of the first data packet, and the scenario verification information of the first data packet.

[0120] S302, determine the second data packet identified by the identifier of the first data packet from the local storage space of the data receiving end.

[0121] S303, determine whether the content verification information of the first data packet is consistent with the content verification information of the second data packet, and determine whether the scene verification information of the first data packet matches the scene verification information of the second data packet.

[0122] S304, in response to the mismatch between the scenario verification information of the first data packet and the scenario verification information of the second data packet, a reference data packet originating from a data provider other than the target data sender is determined from the local storage space.

[0123] The relevant content of steps S301-S304 can be found in the above embodiments, and will not be repeated here.

[0124] S305, determine whether the scenario verification information of the reference data packet matches the scenario verification information of the second data packet.

[0125] S306, in response to the mismatch between the scenario verification information in the reference data packet and the scenario verification information in the second data packet, the data content of the second data packet is updated based on the reference data packet.

[0126] S307, in response to the scenario verification information of the reference data packet matching the scenario verification information of the second data packet, the second data packet is maintained and the first data packet is discarded.

[0127] In this embodiment, if the generation scenario of the reference data packet is inconsistent with that of the second data packet, it indicates a scenario misalignment between the reference data packet and the second data packet, and the data content of the second data packet can be updated based on the reference data packet. Conversely, if the generation scenario of the reference data packet is consistent with that of the second data packet, the second data packet is maintained, and the first data packet is discarded.

[0128] For example, in a driving scenario, the intelligent driving module receives data packet A sent by the navigation module to obtain the data content of data packet A, the identifier of data packet A, the content verification information of data packet A, and the scenario verification information of data packet A.

[0129] The intelligent driving module determines the data packet B identified by the identifier of data packet A from the local storage space.

[0130] The intelligent driving module determines whether the content verification information of data packet A is consistent with the content verification information of data packet B, and whether the scene verification information of data packet A matches the scene verification information of data packet B.

[0131] In the first scenario, the intelligent driving module responds to the discrepancy between the content verification information of data packet A and the content verification information of data packet B, but the scene verification information of data packet A matches the scene verification information of data packet B. Based on the data content of data packet A, the module updates the data content of data packet B. Once the data content of data packet B has been updated, data packet A is discarded.

[0132] In the second scenario, the intelligent driving module responds to the mismatch between the scene verification information of data packet A and the scene verification information of data packet B by determining data packet C, which originates from a data sender outside the navigation module, from the local storage space as a reference data packet, and discarding data packet A.

[0133] The intelligent driving module determines whether the scene verification information in data packet C matches the scene verification information in data packet B.

[0134] The intelligent driving module responds to the mismatch between the scene verification information in data packet C and the scene verification information in data packet B by updating the data content of data packet B based on data packet C.

[0135] The intelligent driving module responds to the scene verification information in data packet C matching the scene verification information in data packet B, and maintains data packet B.

[0136] In this embodiment, the target data sending end includes a navigation module, the data receiving end includes an intelligent driving module, the first data packet includes data packet A, and the second data packet includes data packet B.

[0137] It should be noted that this disclosure does not limit the execution sequence of steps S301-S307. For example, steps S301-S306 can be implemented as independent embodiments, and steps S301-S305 and S307 can be implemented as independent embodiments.

[0138] The data processing method provided in the embodiments of this disclosure allows for updating the data content of the second data packet based on the reference data packet if the generation scenario of the reference data packet is inconsistent with that of the second data packet, indicating a scenario misalignment between them. Conversely, if the generation scenario of the reference data packet is consistent with that of the second data packet, the second data packet is maintained, and the first data packet is discarded.

[0139] Figure 4 This is a flowchart illustrating a data processing method according to another exemplary embodiment, such as... Figure 4 As shown, the data processing method of this disclosure includes the following steps.

[0140] S401, receive the first data packet sent by the target data sender to obtain the data content of the first data packet, the identifier of the first data packet, the content verification information of the first data packet, and the scenario verification information of the first data packet.

[0141] S402, determine whether the second data packet identified by the identifier of the first data packet exists in the local storage space of the data receiving end.

[0142] S403, in response to the existence of a second data packet in the local storage space, determine whether the content verification information of the first data packet is consistent with the content verification information of the second data packet, and determine whether the scene verification information of the first data packet matches the scene verification information of the second data packet.

[0143] S404, in response to the inconsistency between the content verification information of the first data packet and the content verification information of the second data packet, and / or the mismatch between the scene verification information of the first data packet and the scene verification information of the second data packet, the data content of the second data packet is updated.

[0144] The relevant content of steps S401-S404 can be found in the above embodiments, and will not be repeated here.

[0145] S405, in response to the fact that the content verification information of the first data packet is consistent with the content verification information of the second data packet, and the scene verification information of the first data packet matches the scene verification information of the second data packet, the second data packet is maintained and the first data packet is discarded.

[0146] S406, in response to the absence of a second data packet in the local storage space, the first data packet is stored in the local storage space.

[0147] In this embodiment, if the data content of the first data packet is the same as the data content of the second data packet, and the generation scenario of the first data packet is the same as the generation scenario of the second data packet, then the second data packet is maintained and the first data packet is discarded.

[0148] If there is no second data packet in the local storage space whose identifier matches that of the first data packet, then the first data packet is directly stored in the local storage space.

[0149] For example, in a driving scenario, the intelligent driving module receives data packet A sent by the navigation module to obtain the data content of data packet A, the identifier of data packet A, the content verification information of data packet A, and the scenario verification information of data packet A.

[0150] The intelligent driving module determines whether data packet B, identified by the identifier of data packet A, exists in the local storage space.

[0151] In the first scenario, the intelligent driving module responds to the presence of data packet B in the local storage space by determining whether the content verification information of data packet A is consistent with the content verification information of data packet B, and whether the scene verification information of data packet A matches the scene verification information of data packet B.

[0152] The intelligent driving module responds when the content verification information of data packet A is consistent with the content verification information of data packet B, and the scene verification information of data packet A matches the scene verification information of data packet B, by maintaining data packet B and discarding data packet A.

[0153] The intelligent driving module updates the data content of data packet B in response to the inconsistency between the content verification information of data packet A and the content verification information of data packet B, and / or the mismatch between the scene verification information of data packet A and the scene verification information of data packet B.

[0154] In the second scenario, the intelligent driving module, upon realizing that data packet B does not exist in the local storage space, stores data packet A in the local storage space.

[0155] It should be noted that this disclosure does not limit the execution sequence of steps S401-S406. For example, steps S401-S404 can be implemented as independent embodiments, steps S401-S403 and S405 can be implemented as independent embodiments, and steps S401-S402 and S406 can be implemented as independent embodiments.

[0156] The data processing method provided in the embodiments of this disclosure states that if the data content of the first data packet is consistent with the data content of the second data packet, and the generation scenario of the first data packet is consistent with the generation scenario of the second data packet, then the second data packet is maintained and the first data packet is discarded. If there is no second data packet in the local storage space with an identifier consistent with the identifier of the first data packet, then the first data packet is directly stored in the local storage space.

[0157] Based on any of the above embodiments, the scene verification information of the first data packet includes the first state information of the first sensor at the time of generation of the first data packet, and the scene verification information of the second data packet includes the second state information of the second sensor at the time of generation of the second data packet.

[0158] It should be noted that the sensor's status information is not subject to many restrictions, such as including the data collected by the sensor (e.g., acceleration, position, etc.), the index information of the data collected by the sensor (e.g., camera frame sequence number, radar point cloud index, etc.), and the cumulative working time.

[0159] Determining whether the first state information matches the second state information includes verifying the consistency between the first and second state information in response to the first sensor and the second sensor being consistent; determining that the first and second state information match in response to the first and second state information being consistent; and determining that the first and second state information do not match in response to the first and second state information not matching. Therefore, if the first sensor and the second sensor are consistent, the consistency between the first and second state information is verified to determine whether the first and second state information match.

[0160] Determining whether the first state information matches the second state information further includes, in response to inconsistency between the first and second sensors, determining a first global spatiotemporal identifier associated with the first state information and a second global spatiotemporal identifier associated with the second state information; verifying whether the first and second global spatiotemporal identifiers are consistent; if they are consistent, the first and second state information are determined to match; if they are inconsistent, they are determined not to match. Therefore, if the first and second sensors are inconsistent, the consistency of the first and second global spatiotemporal identifiers is verified to determine whether the first and second state information match.

[0161] It should be noted that the global spatiotemporal identifier associated with any state information is used to indicate the time when the corresponding state information was generated, as well as the position of the electronic device equipped with the corresponding sensor at the corresponding time of generation.

[0162] For example, the global spatiotemporal identifier associated with any state information is determined based on the generation time of the corresponding state information and the position of the electronic device equipped with the corresponding sensor at the corresponding generation time.

[0163] Figure 5 This is a flowchart illustrating a data processing method according to another exemplary embodiment, such as... Figure 5 As shown, the data processing method of this disclosure includes the following steps.

[0164] S501, Based on the generation scenario information when the first data packet was generated, determine the scenario verification information of the first data packet.

[0165] It should be noted that the data processing method in this embodiment is executed by an electronic device, such as a target data sending end. The electronic device includes vehicles, terminal devices, robots, smart home devices, servers, chips, etc. Vehicles include in-vehicle terminals and in-vehicle controllers, terminal devices include mobile phones, wearable devices (such as smartwatches and smart glasses), laptops, etc., robots include industrial robots, service robots, cleaning robots, etc., smart home devices include air conditioning equipment, smart speakers, humidifiers, etc., and servers include cloud servers and distributed servers, etc.

[0166] The data processing method of this disclosure embodiment can be executed by the data processing device of this disclosure embodiment. The data processing device of this disclosure embodiment can be configured in any electronic device to execute the data processing method of this disclosure embodiment.

[0167] It should be noted that there are no excessive restrictions on the generated scene information, such as sensor status information, environmental information, the generation time of the first data packet, and location information (such as the location of the target data transmitter, the location of the electronic device carrying the target data transmitter, etc.).

[0168] Optionally, based on the generation scenario information when the first data packet is generated, the scenario verification information of the first data packet is determined, including using the generation scenario information when the first data packet is generated as the scenario verification information of the first data packet, or performing a hash operation on the generation scenario information when the first data packet is generated to determine the scenario verification information of the first data packet, or determining the scenario verification information of the first data packet based on the CRC code of the generation scenario information when the first data packet is generated, or determining a global spatiotemporal identifier associated with the generation scenario information when the first data packet is generated as the scenario verification information of the first data packet.

[0169] S502, Based on the data content of the first data packet, determine the content verification information of the first data packet.

[0170] Optionally, based on the data content of the first data packet, content verification information of the first data packet is determined, including determining the content verification information of the first data packet based on the data content of the first data packet and the scenario verification information of the first data packet. Therefore, the content verification information of the first data packet can be determined by comprehensively considering the data content of the first data packet and the scenario verification information of the first data packet.

[0171] Optionally, the content verification information of the first data packet is determined based on the data content and the scenario verification information of the first data packet. This includes concatenating the data content and the scenario verification information of the first data packet to obtain third concatenated information, performing a hash operation on the third concatenated information to determine the content verification information of the first data packet, or determining the content verification information of the first data packet based on the CRC code of the third concatenated information.

[0172] Optionally, determining the content verification information of the first data packet based on its data content includes performing a hash operation on the data content of the first data packet to determine the content verification information of the first data packet, or determining the content verification information of the first data packet based on the CRC code of its data content.

[0173] S503, add the identifier of the first data packet, the content verification information of the first data packet, and the scenario verification information of the first data packet to the first data packet.

[0174] S504, send the first data packet to the data receiving end.

[0175] In this disclosure, each data packet includes the data content of the corresponding data packet, the identifier of the corresponding data packet, the content verification information of the corresponding data packet, and the scenario verification information of the corresponding data packet.

[0176] Based on the generation scenario information when the first data packet is generated, scenario verification information for the first data packet is determined. Based on the data content of the first data packet, content verification information for the first data packet is determined. The identifier, content verification information, and scenario verification information of the first data packet are added to the first data packet, and the first data packet is sent to the data receiving end. Therefore, this disclosure proposes a dual verification mechanism of "content + scenario." The first data packet includes its data content, identifier, content verification information, and scenario verification information. The content verification information and scenario verification information are used by the data receiving end to perform dual verification of the consistency of data content and generation scenario between the first and second data packets, significantly improving the accuracy and real-time performance of the data packets stored by the data receiving end.

[0177] Optionally, after sending the first data packet to the data receiving end, the method further includes receiving the target field sent by the data receiving end; wherein, the target field is the field corresponding to the difference between the data content of the first data packet and the data content of the second data packet; the identifier of the first data packet is consistent with the identifier of the second data packet in the local storage space of the data receiving end, the target content of the target field is determined, and the target content of the target field is sent to the data receiving end; wherein, the target content of the target field is used to update the content of the corresponding field in the second data packet. Thus, by receiving the target field sent by the data receiving end and sending the target content of the target field to the data receiving end to update the content of the corresponding field in the second data packet, incremental updates of the data content of the second data packet can be achieved, which helps to improve data update efficiency.

[0178] In addition, the target data sender can reacquire and resend the target content of the target field, so that the data receiver can update the content of the corresponding field in the second data packet according to the target content of the latest version of the target field, which helps to improve the accuracy of data updates.

[0179] It should be noted that this disclosure does not impose any restrictions on the execution sequence of steps S501-S504. Figure 5 The example only demonstrates the execution of steps S501-S504 in sequence.

[0180] The data processing method provided in the embodiments of this disclosure determines scenario verification information for the first data packet based on the generation scenario information when the first data packet is generated, determines content verification information for the first data packet based on the data content of the first data packet, adds the identifier of the first data packet, the content verification information of the first data packet, and the scenario verification information of the first data packet to the first data packet, and sends the first data packet to the data receiving end. Thus, this disclosure proposes a dual verification mechanism of "content + scenario". The first data packet includes the data content of the first data packet, the identifier of the first data packet, the content verification information of the first data packet, and the scenario verification information of the first data packet. The content verification information and the scenario verification information are used by the data receiving end to perform dual verification of the consistency of data content and generation scenario between the first data packet and the second data packet, significantly improving the accuracy and real-time performance of the data packets stored by the data receiving end.

[0181] For ease of understanding, an exemplary embodiment of data is provided. like Figure 6 As shown, the in-vehicle intelligent driving system includes a data generation and fingerprint encapsulation subsystem, a cross-domain data verification subsystem, a self-healing synchronization subsystem, a global data interaction bus, and a local cache module. Each subsystem achieves data interaction and collaboration through the bus. The specific architecture is as follows: 1. The data generation and fingerprint encapsulation subsystem includes the following units: navigation map module - data generation, navigation map - fingerprint encapsulation, intelligent driving module - data generation, intelligent driving module - fingerprint encapsulation, driving behavior memory module - data generation, and driving behavior memory module - fingerprint encapsulation. Specifically, the navigation map module - data generation and navigation map - fingerprint encapsulation units are deployed within the navigation map module; the intelligent driving module - data generation and intelligent driving module - fingerprint encapsulation units are deployed within the intelligent driving module; and the driving behavior memory module - data generation and driving behavior memory module - fingerprint encapsulation units are deployed within the driving behavior memory module.

[0182] Each unit in the data generation and fingerprint encapsulation subsystem is responsible for automatically collecting the sensor status (such as acceleration, camera frame sequence number, and LiDAR point cloud index) at the time of data generation when generating data packets, and generating a unique hash fingerprint by combining the data content. At the same time, it assigns a globally unique ID (composed of module identifier + timestamp + random sequence) to the data packet, and finally outputs a complete data packet of "globally unique ID + hash fingerprint + sensor status + data content".

[0183] 2. The cross-domain data verification subsystem includes units for dual verification of the navigation map module receiver, dual verification of the intelligent driving module receiver, and dual verification of the driving behavior memory module receiver. Specifically, the dual verification unit for the navigation map module receiver is deployed within the navigation map module, the dual verification unit for the intelligent driving module receiver is deployed within the intelligent driving module, and the dual verification unit for the driving behavior memory module receiver is deployed within the driving behavior memory module.

[0184] Each unit in the cross-domain data verification subsystem is responsible for receiving data packets sent by other modules, extracting the globally unique ID, hash fingerprint, and sensor status from the data packets, and performing dual verification with locally cached data packets of the same ID (or data packets related to the scene)—first verifying whether the hash fingerprint is consistent (verifying the integrity of the data content), and then verifying whether the sensor status matches (verifying scene consistency), and outputting three types of results: "no difference in content", "difference in content", and "misalignment of scene".

[0185] 3. The self-repairing synchronization subsystem includes units for navigation map module self-repair, intelligent driving module self-repair, and driving behavior memory module self-repair. Specifically, the navigation map module self-repair unit is deployed within the navigation map module, the intelligent driving module self-repair unit is deployed within the intelligent driving module, and the driving behavior memory module self-repair unit is deployed within the driving behavior memory module.

[0186] The self-healing synchronization subsystem works in conjunction with the cross-domain data verification subsystem to perform corresponding operations based on the verification results: if there are no differences in content, the local cache is updated; if there are differences in content, incremental synchronization is triggered (only the difference data segments are transmitted); if there is a mismatch in the scenario, a conflict rollback is triggered (prioritizing the use of real-time perception data from the intelligent driving module to correct data from other modules).

[0187] 4. The global data interaction bus, including data forwarding / command transmission / result synchronization units, serves as the communication carrier for each subsystem. It is responsible for forwarding data packets, synchronizing and verifying results, and transmitting synchronization / rollback commands to ensure the real-time performance and reliability of data interaction.

[0188] 5. Local caching module, including local cache units for navigation map module, intelligent driving module, and driving behavior memory module. Specifically, the local cache unit for navigation map module is deployed within the navigation map module, the local cache unit for intelligent driving module is deployed within the intelligent driving module, and the local cache unit for driving behavior memory module is deployed within the driving behavior memory module.

[0189] The functions of each subsystem are explained in detail below.

[0190] First point: Data generation and fingerprint encapsulation subsystem.

[0191] The core function of this subsystem is to "attach a unique identifier and scenario credential" to each generated data packet. The specific process is as follows: 1. Data generation trigger: The data generation event is triggered when the navigation map updates the lane-level path, the intelligent driving module outputs the planned path, and the driving behavior memory module stores the location points; 2. Sensor Status Acquisition: Synchronously acquire the status of associated sensors at the moment of data generation—the navigation map is associated with the IMU acceleration (to determine the vehicle's driving posture), the intelligent driving module is associated with the camera frame sequence number (to match real-time road condition images), and the driving behavior memory module is associated with the LiDAR point cloud index (to match high-precision positioning scenarios); 3. Hash fingerprint generation: A hash algorithm is used to perform hash calculations on "data content + sensor status" to generate a unique hash fingerprint (ensuring the consistency between data content and scene binding). 4. Globally Unique ID Allocation: A globally unique ID is generated according to the rule of "module identifier + local timestamp (millisecond level) + 8-bit random sequence" to ensure that the IDs of data packets generated by different modules and at different times are not duplicated; 5. Data packet encapsulation: Encapsulate "globally unique ID + hash fingerprint + sensor status + raw data content" into a standard format data packet and send it to the global data interaction bus.

[0192] Secondly, the cross-domain data verification subsystem.

[0193] This subsystem is deployed at the receiving end of each module. Its core function is to determine the consistency between the received data and the local data through "double verification". The specific process is as follows: 1. Data packet reception and parsing: Receive data packets from the global data interaction bus and parse out the globally unique ID, hash fingerprint, sensor status, and raw data content; 2. Local cache query: Query the local cache based on the globally unique ID to determine if a data packet with the same ID exists. If not, proceed directly to the "New Data Cache" process; if it exists, perform double verification. 3. First verification (content consistency): Calculate the hash fingerprint of "data content + sensor status" of the locally cached data packet with the same ID, and compare it with the hash fingerprint of the received data packet. If they match, it is determined that "there is no difference in content"; if they do not match, proceed to the second verification. 4. Second layer of verification (scene consistency): Extract the sensor status (such as IMU acceleration range, camera frame sequence continuity) of the local cached data packet and the received data packet to determine whether they belong to the same driving scene (such as whether the vehicle is in the same driving posture, whether the road conditions are continuously collected) - if the scene matches, determine "content difference (incremental synchronization required)"; if the scene does not match, determine "scene misalignment (conflict rollback required)". 5. Verification result output: Send the four types of results, namely "New data cache", "No content difference", "Content difference" and "Scene misalignment", to the self-healing synchronization subsystem.

[0194] Thirdly, the self-healing synchronization subsystem Based on the cross-domain data verification results, this subsystem automatically performs data repair operations. The core logic is as follows: 1. Result Reception and Classification: Receive four types of results output by the cross-domain data verification subsystem and perform corresponding operations according to the result type; 2. New data caching operation: The received new data packets (no local data with the same ID) are directly written to the local cache, and the cache index is updated; 3. Operations with no content discrepancies: Confirm that the local cached data is valid; no additional operations are required, only verification logs are recorded. 4. Content difference operations (incremental synchronization): Compare the differences between local data packets and received data packets (such as differences in lane numbers in the navigation path, and coordinate deviations of positioning points). Request the difference data segment (instead of the complete data packet) from the data sender, receive it, merge it into the local data, update the cache, and generate a new hash fingerprint; 5. Scene misalignment operation (conflict rollback): Prioritize the use of real-time perception data from the intelligent driving module (because the intelligent driving module is directly related to driving safety, and its data has the highest real-time performance) as the scenario benchmark; Extract sensor status data from the intelligent driving module and correct local cached data of the navigation map and driving behavior memory module (e.g., use real-time lane lines identified by the intelligent driving module to correct outdated lane paths in the navigation map). Roll back the local cache to a version consistent with the data scenario of the intelligent driving module, update the hash fingerprint and record the rollback log; 6. Operation result feedback: The synchronization / rollback results are fed back to the global data interaction bus for reference by other modules.

[0195] For example, taking "the navigation map sends lane-level path data to the intelligent driving module, and the intelligent driving module completes verification and synchronization" as an example, the overall interaction sequence is as follows: 1. Data generation and encapsulation (0-10ms): The navigation map module generates lane-level path data, synchronously collects IMU acceleration (sensor status), generates hash fingerprints and globally unique IDs, encapsulates data packets, and sends them to the global data interaction bus; 2. Data forwarding and reception (10-20ms): The global data interaction bus forwards the navigation map data packets to the receiving end of the intelligent driving module; 3. Cross-domain verification (20-40ms): The intelligent driving module parses the data packet, queries the local cache (assuming there is old data with the same ID), first compares the hash fingerprint (if inconsistency is found), then compares the sensor status (it is determined to be the same scene, i.e. "content difference"), and outputs the verification result; 4. Self-repair synchronization (40-60ms): The self-repair subsystem of the intelligent driving module receives the "content difference" result, compares the difference segments between the local data and the navigation data (such as the lane number changing from "L2" to "L3"), and requests the difference data segments from the navigation map. 5. Data transmission and merging of differential data (60-70ms): The navigation map sends differential data segments to the intelligent driving module, which merges the data, updates the local cache, and generates a new hash fingerprint; 6. Result feedback (70-80ms): The intelligent driving module will send the "synchronization completed" result back to the global bus. After receiving the feedback, the navigation map will record the log, completing one interaction loop.

[0196] Figure 7 This is a schematic diagram illustrating the structure of a data processing apparatus according to an exemplary embodiment. (Refer to...) Figure 7 The data processing apparatus 700 of this embodiment includes: a receiving module 701, a first determining module 702, a second determining module 703, and a processing module 704.

[0197] The receiving module 701 is configured to receive a first data packet sent by the target data sending end, so as to obtain the data content of the first data packet, the identifier of the first data packet, the content verification information of the first data packet, and the scenario verification information of the first data packet. The first determining module 702 is configured to determine, from the local storage space of the data receiving end, the second data packet identified by the identifier of the first data packet; The second determining module 703 is configured to determine whether the content verification information of the first data packet is consistent with the content verification information of the second data packet, and to determine whether the scene verification information of the first data packet matches the scene verification information of the second data packet. The processing module 704 is configured to update the data content of the second data packet in response to a discrepancy between the content verification information of the first data packet and the content verification information of the second data packet, and / or a mismatch between the scene verification information of the first data packet and the scene verification information of the second data packet.

[0198] In some possible implementations, the processing module 704 is further configured to: in response to a discrepancy between the content verification information of the first data packet and the content verification information of the second data packet, and a match between the scene verification information of the first data packet and the scene verification information of the second data packet, update the data content of the second data packet based on the data content of the first data packet; in response to a mismatch between the scene verification information of the first data packet and the scene verification information of the second data packet, determine a reference data packet from the local storage space originating from a data provider other than the target data sender, and update the data content of the second data packet based on the reference data packet.

[0199] In some possible implementations, the processing module 704 is further configured to: update the data content of the second data packet based on the reference data packet in response to a mismatch between the scene verification information of the reference data packet and the scene verification information of the second data packet.

[0200] In some possible implementations, after determining a reference data packet originating from a data provider other than the target data sender from the local storage space in response to a mismatch between the scenario verification information of the first data packet and the scenario verification information of the second data packet, the processing module 704 is further configured to: maintain the second data packet and discard the first data packet in response to a mismatch between the scenario verification information of the reference data packet and the scenario verification information of the second data packet.

[0201] In some possible implementations, the processing module 704 is further configured to: update the data content of the second data packet based on the data content of the reference data packet; or, Based on the scenario verification information of the reference data packet, a third data packet whose scenario verification information matches the scenario verification information of the reference data packet is determined from the original data packets originating from the target data sender in the local storage space; based on the data content of the third data packet, the data content of the second data packet is updated.

[0202] In some possible implementations, the processing module 704 is further configured to: update the data content of the second data packet based on the data content of the reference data packet in response to the generation time of the reference data packet being later than the generation time of the second data packet; and update the data content of the second data packet based on the data content of the third data packet in response to the generation time of the reference data packet being earlier than the generation time of the second data packet.

[0203] In some possible implementations, in response to a mismatch between the scenario verification information of the first data packet and the scenario verification information of the second data packet, the processing module 704 is further configured to: filter out the target data sender from each data provider and determine a reference data provider from the filtered data providers; and determine the original data packet with the latest generation time from the original data packets originating from the reference data provider in the local storage space as the reference data packet.

[0204] In some possible implementations, the processing module 704 is further configured to: determine the field corresponding to the difference data between the data content of the first data packet and the data content of the second data packet, as the target field; send the target field to the target data sending end; receive the target content of the target field sent by the target data sending end, and update the content of the target field in the second data packet to the target content of the corresponding field.

[0205] In some possible implementations, after updating the data content of the second data packet based on the data content of the first data packet, the processing module 704 is further configured to: use the scene verification information of the second data packet as the scene verification information of the updated second data packet; determine the content verification information of the updated second data packet based on the updated data content of the second data packet; or, determine the content verification information of the updated second data packet based on the updated data content of the second data packet and the scene verification information of the second data packet.

[0206] In some possible implementations, after updating the data content of the second data packet based on the reference data packet, the processing module 704 is further configured to: determine the scene verification information of the updated second data packet based on the scene verification information of the reference data packet; determine the content verification information of the updated second data packet based on the data content of the updated second data packet; or, determine the content verification information of the updated second data packet based on the data content of the updated second data packet and the scene verification information of the updated second data packet.

[0207] In some possible implementations, after determining whether the content verification information of the first data packet is consistent with the content verification information of the second data packet, and determining whether the scene verification information of the first data packet matches the scene verification information of the second data packet, the processing module 704 is further configured to: in response to the content verification information of the first data packet being consistent with the content verification information of the second data packet, and the scene verification information of the first data packet matching the scene verification information of the second data packet, maintain the second data packet and discard the first data packet.

[0208] In some possible implementations, after receiving the first data packet sent by the target data sender, the processing module 704 is further configured to: in response to the absence of the second data packet in the local storage space, store the first data packet in the local storage space.

[0209] In some possible implementations, the content verification information of any data packet is determined based on the data content of the corresponding data packet and the scenario verification information of the corresponding data packet; The second determining module 703 is further configured to: verify whether the content verification information of the first data packet is consistent with the content verification information of the second data packet; in response to the content verification information of the first data packet being consistent with the content verification information of the second data packet, determine that the scene verification information of the first data packet matches the scene verification information of the second data packet; in response to the content verification information of the first data packet being inconsistent with the content verification information of the second data packet, verify whether the scene verification information of the first data packet matches the scene verification information of the second data packet.

[0210] In some possible implementations, the scene verification information of the first data packet includes the first state information of the first sensor at the time the first data packet is generated, and the scene verification information of the second data packet includes the second state information of the second sensor at the time the second data packet is generated. The second determining module 703 is further configured to: verify whether the first state information and the second state information are consistent in response to the first sensor and the second sensor being consistent; determine that the first state information and the second state information match in response to the first state information and the second state information being consistent; and determine that the first state information and the second state information do not match in response to the first state information and the second state information being inconsistent.

[0211] In some possible implementations, the second determining module 703 is further configured to: in response to the inconsistency between the first sensor and the second sensor, determine a first global spatiotemporal identifier associated with the first state information and determine a second global spatiotemporal identifier associated with the second state information; verify whether the first global spatiotemporal identifier and the second global spatiotemporal identifier are consistent; in response to the consistency between the first global spatiotemporal identifier and the second global spatiotemporal identifier, determine that the first state information and the second state information match; in response to the inconsistency between the first global spatiotemporal identifier and the second global spatiotemporal identifier, determine that the first state information and the second state information do not match.

[0212] In some possible implementations, the data receiving end and the target data sending end belong to different functional domains of the vehicle.

[0213] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0214] The data processing apparatus provided in the embodiments of this disclosure receives a first data packet sent by a target data sender to obtain the data content, identifier, content verification information, and scene verification information of the first data packet. From the local storage space of the data receiver, it determines a second data packet identified by the identifier of the first data packet, determines whether the content verification information of the first data packet is consistent with the content verification information of the second data packet, and determines whether the scene verification information of the first data packet matches the scene verification information of the second data packet. If the content verification information of the first data packet is inconsistent with the content verification information of the second data packet, and / or the scene verification information of the first data packet does not match the scene verification information of the second data packet, this disclosure proposes a "content + scene" dual verification mechanism. This mechanism utilizes content verification information and scene verification information to perform dual verification of the consistency of data content and the consistency of the generated scene between the first and second data packets. If the data content of the first data packet is inconsistent with the data content of the second data packet, and / or the generated scene of the first data packet is inconsistent with the generated scene of the second data packet, the data content of the second data packet is updated, significantly improving the accuracy and real-time performance of the data packets stored at the data receiver.

[0215] Figure 8 This is a schematic diagram illustrating the structure of a data processing apparatus according to another exemplary embodiment. (Refer to...) Figure 8 The data processing apparatus 800 of this embodiment includes: a first determining module 801, a second determining module 802, an adding module 803, and a transmission module 804.

[0216] The first determining module 801 is configured to determine the scenario verification information of the first data packet based on the generation scenario information when the first data packet is generated; The second determining module 802 is configured to determine the content verification information of the first data packet based on the data content of the first data packet. Adding module 803 is configured to add the identifier of the first data packet, the content verification information of the first data packet, and the scene verification information of the first data packet to the first data packet; The transmission module 804 is configured to send the first data packet to the data receiving end.

[0217] In some possible implementations, the second determining module 802 is further configured to: determine the content verification information of the first data packet based on the data content of the first data packet and the scene verification information of the first data packet.

[0218] In some possible implementations, after sending the first data packet to the data receiving end, the transmission module 804 is further configured to: receive a target field sent by the data receiving end; wherein the target field is a field corresponding to the difference data between the data content of the first data packet and the data content of the second data packet; the identifier of the first data packet is consistent with the identifier of the second data packet in the local storage space of the data receiving end; determine the target content of the target field, and send the target content of the target field to the data receiving end; wherein the target content of the target field is used to update the content of the corresponding field in the second data packet.

[0219] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0220] The data processing apparatus provided in the embodiments of this disclosure determines scene verification information of the first data packet based on the generation scene information when the first data packet is generated, determines content verification information of the first data packet based on the data content of the first data packet, adds the identifier of the first data packet, the content verification information of the first data packet, and the scene verification information of the first data packet to the first data packet, and sends the first data packet to the data receiving end. Thus, this disclosure proposes a dual verification mechanism of "content + scene". The first data packet includes the data content of the first data packet, the identifier of the first data packet, the content verification information of the first data packet, and the scene verification information of the first data packet. The content verification information and the scene verification information are used by the data receiving end to perform dual verification of the consistency of data content and generation scene between the first data packet and the second data packet, significantly improving the accuracy and real-time performance of the data packets stored by the data receiving end.

[0221] To implement the above embodiments, this disclosure also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the steps of the data processing method provided in this disclosure.

[0222] To implement the above embodiments, this disclosure also proposes a vehicle, including: a data receiving end and a target data sending end; the data receiving end and the target data sending end communicate via a vehicle communication bus; The data receiving end is used to execute embodiments of this disclosure. Figure 1-4 The steps of the data processing method shown; The target data sending end is used to execute embodiments of this disclosure. Figure 5 The steps of the data processing method shown are as follows.

[0223] In some possible implementations, the data receiving end and the target data sending end belong to different functional domains of the vehicle.

[0224] In some possible implementations, the data receiving end includes a navigation module, and the target data sending end includes an intelligent driving module and a driving behavior memory module; or, The data receiving end includes the intelligent driving module, and the target data sending end includes the navigation module and the driving behavior memory module; or... The data receiving end includes the driving behavior memory module, and the target data sending end includes the navigation module and the intelligent driving module.

[0225] To implement the above embodiments, this disclosure also proposes a vehicle, including a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the embodiments of this disclosure. Figure 1-5 The steps of the data processing method shown are as follows.

[0226] Figure 9 This is a schematic diagram illustrating the structure of a vehicle according to an exemplary embodiment. For example, vehicle 900 can be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 900 can be an intelligent driving vehicle, a semi-intelligent driving vehicle, or a non-intelligent driving vehicle.

[0227] Reference Figure 9The vehicle 900 may include various subsystems, such as an infotainment system 910, a perception system 920, a decision control system 930, a drive system 940, and a computing platform 950. The vehicle 900 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of the vehicle 900 can be interconnected via wired or wireless means.

[0228] In some embodiments, the infotainment system 910 may include a communication system, an entertainment system, and a navigation system, etc.

[0229] The perception system 920 may include several sensors for sensing information about the environment surrounding the vehicle 900. For example, the perception system 920 may include a global positioning system (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0230] The decision control system 930 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0231] The drive system 940 may include components that provide powered motion to the vehicle 900. In one embodiment, the drive system 940 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0232] Some or all of the functions of the vehicle 900 are controlled by a computing platform 950. The computing platform 950 may include at least one processor 951 and a memory 952, the processor 951 being able to execute instructions 953 stored in the memory 952.

[0233] The processor 951 can be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0234] The memory 952 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0235] In addition to instruction 953, memory 952 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 952 can be used by computing platform 950.

[0236] In this embodiment of the disclosure, the processor 951 may execute instructions 953 to implement all or part of the steps of the data processing method provided in this disclosure.

[0237] In this embodiment of the vehicle, a first data packet sent by a target data sender is received to obtain the data content, identifier, content verification information, and scene verification information of the first data packet. From the local storage space of the data receiver, a second data packet identified by the identifier of the first data packet is determined. It is then determined whether the content verification information of the first and second data packets is consistent, and whether the scene verification information of the first and second data packets matches. If the content verification information of the first and second data packets is inconsistent, and / or the scene verification information of the first and second data packets does not match, this disclosure proposes a dual verification mechanism of "content + scene." This mechanism utilizes content verification information and scene verification information to perform dual verification of the consistency of data content and the consistency of the generated scene between the first and second data packets. If the data content of the first and second data packets is inconsistent, and / or the generated scene of the first and second data packets is inconsistent, the data content of the second data packet is updated, significantly improving the accuracy and real-time performance of the data packets stored at the data receiver.

[0238] To implement the above embodiments, this disclosure also proposes a non-transitory computer-readable storage medium storing computer program instructions thereon, which, when executed by a processor, implement the steps of the data processing method provided in this disclosure.

[0239] Alternatively, non-transitory computer-readable storage media may be ROM, CD-ROM, magnetic tape, floppy disk, and optical data storage devices, etc.

[0240] To implement the above embodiments, this disclosure also proposes a chip including an interface circuit and a processing circuit coupled to each other, wherein the interface circuit is used to input or output signals, and the processing circuit is configured to implement the steps of the data processing method provided in this disclosure.

[0241] Figure 10 This is a schematic diagram illustrating the structure of a chip according to an exemplary embodiment. See also... Figure 10 The diagram shown is a schematic representation of the structure of chip 300, but is not limited thereto.

[0242] Chip 1000 includes processing circuit 1001, which is configured to perform any of the above data processing methods.

[0243] In some embodiments, chip 1000 further includes one or more interface circuits 1002. In some possible embodiments, interface circuit 1002 is connected to memory 1003, and interface circuit 1002 can be used to receive signals from memory 360 or other devices, and interface circuit 1002 can be used to send signals to memory 360 or other devices. For example, interface circuit 1002 can read instructions stored in memory 1003 and send the instructions to processing circuit 1001.

[0244] In some embodiments, the interface circuit 1002 performs at least one of the communication steps such as sending and / or receiving in the above method, and the processing circuit 1001 performs other steps.

[0245] In some embodiments, the terms interface circuit, interface, transceiver pin, transceiver, etc., can be used interchangeably.

[0246] In some embodiments, chip 1000 further includes one or more memories 1003 for storing instructions. In some possible implementations, all or part of the memories 1003 may be located outside of chip 1000.

[0247] To implement the above embodiments, this disclosure also proposes a computer program product, including a computer program that, when executed by a processor, implements the steps of the data processing method provided in this disclosure.

[0248] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0249] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0250] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0251] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-including system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and compact disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0252] It should be understood that various parts of this disclosure can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0253] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0254] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0255] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A data processing method, characterized in that, include: Receive the first data packet sent by the target data sender to obtain the data content of the first data packet, the identifier of the first data packet, the content verification information of the first data packet, and the scenario verification information of the first data packet; From the local storage space of the data receiving end, determine the second data packet identified by the identifier of the first data packet; Determine whether the content verification information of the first data packet is consistent with the content verification information of the second data packet, and determine whether the scene verification information of the first data packet matches the scene verification information of the second data packet; In response to the inconsistency between the content verification information of the first data packet and the content verification information of the second data packet, and / or the mismatch between the scene verification information of the first data packet and the scene verification information of the second data packet, the data content of the second data packet is updated.

2. The method according to claim 1, characterized in that, The step of updating the data content of the second data packet in response to a discrepancy between the content verification information of the first data packet and the content verification information of the second data packet, and / or a mismatch between the scene verification information of the first data packet and the scene verification information of the second data packet, includes: In response to the inconsistency between the content verification information of the first data packet and the content verification information of the second data packet, and the matching of the scene verification information of the first data packet and the scene verification information of the second data packet, the data content of the second data packet is updated based on the data content of the first data packet; In response to a mismatch between the scenario verification information of the first data packet and the scenario verification information of the second data packet, a reference data packet originating from a data provider other than the target data sender is determined from the local storage space, and the data content of the second data packet is updated based on the reference data packet.

3. The method according to claim 2, characterized in that, The step of updating the data content of the second data packet based on the reference data packet includes: In response to a mismatch between the scenario verification information in the reference data packet and the scenario verification information in the second data packet, the data content of the second data packet is updated based on the reference data packet.

4. The method according to claim 3, characterized in that, After determining a reference data packet originating from a data provider other than the target data sender from the local storage space in response to a mismatch between the scenario verification information of the first data packet and the scenario verification information of the second data packet, the method further includes: In response to a match between the scenario verification information of the reference data packet and the scenario verification information of the second data packet, the second data packet is maintained and the first data packet is discarded.

5. The method according to claim 2, characterized in that, The step of updating the data content of the second data packet based on the reference data packet includes: Based on the data content of the reference data packet, update the data content of the second data packet; or... Based on the scenario verification information of the reference data packet, a third data packet whose scenario verification information matches the scenario verification information of the reference data packet is determined from the original data packets originating from the target data sender in the local storage space; Based on the data content of the third data packet, the data content of the second data packet is updated.

6. The method according to claim 2, characterized in that, In response to a mismatch between the scenario verification information in the first data packet and the scenario verification information in the second data packet, the reference data packet is determined in the following manner: The target data sender is filtered out from all data providers, and a reference data provider is determined from the filtered data providers. From the existing data packets originating from the reference data provider in the local storage space, determine the original data packet with the latest generation time, and use it as the reference data packet.

7. The method according to claim 2, characterized in that, The step of updating the data content of the second data packet based on the data content of the first data packet includes: Determine the field corresponding to the difference between the data content of the first data packet and the data content of the second data packet, and use it as the target field; Send the target field to the target data sending end; The system receives the target content of the target field sent by the target data sender and updates the content of the target field in the second data packet to the target content of the corresponding field.

8. The method according to claim 2, characterized in that, After updating the data content of the second data packet based on the data content of the first data packet, the method further includes: The scenario verification information of the second data packet is used as the scenario verification information of the updated second data packet; Based on the updated data content of the second data packet, determine the content verification information of the updated second data packet; or, based on the updated data content of the second data packet and the scenario verification information of the second data packet, determine the content verification information of the updated second data packet.

9. The method according to claim 2, characterized in that, After updating the data content of the second data packet based on the reference data packet, the process further includes: Based on the scenario verification information of the reference data packet, the updated scenario verification information of the second data packet is determined; Based on the updated data content of the second data packet, determine the content verification information of the updated second data packet; or, based on the updated data content of the second data packet and the scenario verification information of the updated second data packet, determine the content verification information of the updated second data packet.

10. The method according to claim 1, characterized in that, After determining whether the content verification information of the first data packet is consistent with the content verification information of the second data packet, and determining whether the scene verification information of the first data packet matches the scene verification information of the second data packet, the method further includes: In response to the fact that the content verification information of the first data packet is consistent with the content verification information of the second data packet, and the scene verification information of the first data packet matches the scene verification information of the second data packet, the second data packet is maintained and the first data packet is discarded.

11. The method according to claim 1, characterized in that, After receiving the first data packet sent by the target data sender, the method further includes: In response to the absence of the second data packet in the local storage space, the first data packet is stored in the local storage space.

12. The method according to any one of claims 1-11, characterized in that, The content verification information of any data packet is determined based on the data content of the corresponding data packet and the scenario verification information of the corresponding data packet; The step of determining whether the content verification information of the first data packet is consistent with the content verification information of the second data packet, and determining whether the scene verification information of the first data packet matches the scene verification information of the second data packet, includes: Verify whether the content verification information of the first data packet is consistent with the content verification information of the second data packet; In response to the fact that the content verification information of the first data packet is consistent with the content verification information of the second data packet, it is determined that the scene verification information of the first data packet matches the scene verification information of the second data packet; In response to the inconsistency between the content verification information of the first data packet and the content verification information of the second data packet, the system verifies whether the scene verification information of the first data packet matches the scene verification information of the second data packet.

13. The method according to any one of claims 1-11, characterized in that, The scene verification information of the first data packet includes the first state information of the first sensor at the time the first data packet is generated, and the scene verification information of the second data packet includes the second state information of the second sensor at the time the second data packet is generated. Determining whether the first state information matches the second state information includes: In response to the first sensor and the second sensor being consistent, verify whether the first state information and the second state information are consistent; In response to the first state information being consistent with the second state information, it is determined that the first state information and the second state information match. In response to the inconsistency between the first state information and the second state information, it is determined that the first state information and the second state information do not match.

14. The method according to claim 13, characterized in that, Determining whether the first state information matches the second state information further includes: In response to the inconsistency between the first sensor and the second sensor, a first global spatiotemporal identifier associated with the first state information is determined, and a second global spatiotemporal identifier associated with the second state information is determined; Verify whether the first global spatiotemporal identifier and the second global spatiotemporal identifier are consistent; In response to the first global spatiotemporal identifier being consistent with the second global spatiotemporal identifier, it is determined that the first state information matches the second state information; In response to the inconsistency between the first global spatiotemporal identifier and the second global spatiotemporal identifier, it is determined that the first state information and the second state information do not match.

15. The method according to any one of claims 1-11, characterized in that, The data receiving end and the target data sending end belong to different functional domains of the vehicle.

16. A data processing method, characterized in that, include: Based on the generation scenario information when the first data packet was generated, the scenario verification information of the first data packet is determined; Based on the data content of the first data packet, determine the content verification information of the first data packet; Add the identifier of the first data packet, the content verification information of the first data packet, and the scenario verification information of the first data packet to the first data packet; The first data packet is sent to the data receiving end.

17. The method according to claim 16, characterized in that, The step of determining the content verification information of the first data packet based on its data content includes: Based on the data content of the first data packet and the scenario verification information of the first data packet, the content verification information of the first data packet is determined.

18. The method according to claim 16, characterized in that, After sending the first data packet to the data receiving end, the method further includes: The system receives a target field sent by the data receiving end; wherein the target field is a field corresponding to the difference data between the data content of the first data packet and the data content of the second data packet; and the identifier of the first data packet is consistent with the identifier of the second data packet in the local storage space of the data receiving end. The target content of the target field is determined and sent to the data receiving end; wherein the target content of the target field is used to update the content of the corresponding field in the second data packet.

19. A data processing apparatus, characterized in that, include: The receiving module is configured to receive a first data packet sent by the target data sending end, so as to obtain the data content of the first data packet, the identifier of the first data packet, the content verification information of the first data packet, and the scenario verification information of the first data packet; The first determining module is configured to determine, from the local storage space of the data receiving end, the second data packet identified by the identifier of the first data packet; The second determining module is configured to determine whether the content verification information of the first data packet is consistent with the content verification information of the second data packet, and to determine whether the scene verification information of the first data packet matches the scene verification information of the second data packet. The processing module is configured to update the data content of the second data packet in response to a discrepancy between the content verification information of the first data packet and the content verification information of the second data packet, and / or a mismatch between the scene verification information of the first data packet and the scene verification information of the second data packet.

20. The apparatus according to claim 19, characterized in that, The processing module is further configured to: In response to the inconsistency between the content verification information of the first data packet and the content verification information of the second data packet, and the matching of the scene verification information of the first data packet and the scene verification information of the second data packet, the data content of the second data packet is updated based on the data content of the first data packet; In response to a mismatch between the scenario verification information of the first data packet and the scenario verification information of the second data packet, a reference data packet originating from a data provider other than the target data sender is determined from the local storage space, and the data content of the second data packet is updated based on the reference data packet.

21. The apparatus according to claim 20, characterized in that, The processing module is further configured to: In response to a mismatch between the scenario verification information in the reference data packet and the scenario verification information in the second data packet, the data content of the second data packet is updated based on the reference data packet.

22. A data processing apparatus, characterized in that, include: The first determining module is configured to determine the scenario verification information of the first data packet based on the generation scenario information when the first data packet is generated; The second determining module is configured to determine the content verification information of the first data packet based on the data content of the first data packet. The module is configured to add the identifier of the first data packet, the content verification information of the first data packet, and the scene verification information of the first data packet to the first data packet; The transmission module is configured to send the first data packet to the data receiving end.

23. The apparatus according to claim 22, characterized in that, The second determining module is further configured to: Based on the data content of the first data packet and the scenario verification information of the first data packet, the content verification information of the first data packet is determined.

24. The apparatus according to claim 22, characterized in that, After sending the first data packet to the data receiving end, the transmission module is further configured to: The system receives a target field sent by the data receiving end; wherein the target field is a field corresponding to the difference data between the data content of the first data packet and the data content of the second data packet; and the identifier of the first data packet is consistent with the identifier of the second data packet in the local storage space of the data receiving end. The target content of the target field is determined and sent to the data receiving end; wherein the target content of the target field is used to update the content of the corresponding field in the second data packet.

25. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the steps of the method according to any one of claims 1-18.

26. A vehicle, characterized in that, include: A data receiver and a target data transmitter; the data receiver and the target data transmitter communicate via a vehicle communication bus; The data receiving end is used to perform the steps of the method according to any one of claims 1-15; The target data sending end is used to perform the steps of the method according to any one of claims 16-18.

27. The vehicle according to claim 26, characterized in that, The data receiving end and the target data sending end belong to different functional domains of the vehicle.

28. The vehicle according to claim 26, characterized in that, The data receiving end includes a navigation module, and the target data sending end includes an intelligent driving module and a driving behavior memory module; or... The data receiving end includes the intelligent driving module, and the target data sending end includes the navigation module and the driving behavior memory module; or... The data receiving end includes the driving behavior memory module, and the target data sending end includes the navigation module and the intelligent driving module.

29. A non-transitory computer-readable storage medium having computer program instructions stored thereon, characterized in that, When executed by a processor, the program instructions implement the steps of the method described in any one of claims 1-18.

30. A chip, characterized in that, The chip includes an interface circuit and a processing circuit coupled to each other. The interface circuit is used to input or output signals, and the processing circuit is configured to implement the steps of the method according to any one of claims 1-18.

31. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1-18.

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