Method for storing vehicle theme data, domain controller

Abstract

The application relates to a storage method of vehicle theme data in a shadow mode, a ring storage area, and a domain controller. Vehicle theme data is received in response to a specified trigger event; and the vehicle theme data is cached to a ring cache area, wherein the ring cache area is sequentially marked by N time tags set according to a specified time unit, N is a natural number, and the vehicle theme data is sequentially and circularly written to the ring cache area according to the storage positions of the N time tags. According to the application, the load of IO and CPU can be reduced without additional IO operation and memory copying.

Description

Technical Field

[0001] This invention relates to autonomous driving technology, specifically to a method for storing vehicle subject data in shadow mode, a data processing method in shadow mode, and a domain controller. Background Technology

[0002] In the field of autonomous driving, Shadow Mode refers to a technology where, in a human-driven state, the autonomous driving system continues to operate but does not control the vehicle. Instead, it optimizes its algorithms by simulating decisions and comparing them with the driver's actual actions. It is similar to a virtual co-pilot, constantly observing road conditions and analyzing data, providing valuable support for the advancement of autonomous driving technology.

[0003] Currently in Shadow Mode, when malfunctions occur in systems such as APA (Automatic Parking Assist), HPA (Memory Parking Assist), ViPER (Video Perception), and LiPER (Lidar Perception), a trigger notifies Shadow Mode to record all vehicle-related data in the whitelist. For example, if a trigger in the Shadow Model receives vehicle-related data, it will record this data on the RAM disk approximately 10 seconds before and after the trigger is activated.

[0004] However, this method of storing vehicle topic data generates more than 10,000 topic messages per second, resulting in extremely high IO and CPU loads, almost reaching 100%. Summary of the Invention

[0005] In view of the problems in the prior art, the present invention aims to provide a method for storing vehicle subject data in shadow mode, a data processing method in shadow mode, and a domain controller that can reduce the load on IO and CPU.

[0006] The method for storing vehicle-related data according to one aspect of the present invention includes:

[0007] In response to a specified triggering event, receive vehicle-related data; and

[0008] The vehicle-related data is cached in a circular cache area.

[0009] The circular buffer is sequentially marked by N time tags set according to a specified time unit, where N is a natural number.

[0010] Specifically, the vehicle theme data is sequentially written into the circular cache according to the storage locations marked by the N time tags. Attached Figure Description

[0011] Figure 1 This is a schematic diagram illustrating an example of a circular buffer and time stamp according to an embodiment of the present invention.

[0012] Figure 2 This is a schematic diagram illustrating a circular buffer and time stamp as an example of the present invention.

[0013] Figure 3 This is a schematic diagram illustrating another example of the present invention: a circular buffer and a time stamp. Detailed Implementation

[0014] The following are some of the various embodiments of the present invention, intended to provide a basic understanding of the invention, and not intended to identify key or decisive elements of the invention or to limit the scope of protection.

[0015] First, a method for storing vehicle-related data according to an embodiment of the present invention will be described.

[0016] A method for storing vehicle-related data according to an embodiment of the present invention includes the following steps:

[0017] In response to a specified triggering event, receive vehicle-related data; and

[0018] The vehicle-related data is cached in a circular cache area.

[0019] The circular buffer is sequentially marked by N time tags set according to a specified time unit, where N is a natural number.

[0020] Specifically, the vehicle theme data is sequentially written into the circular cache according to the storage locations marked by the N time tags.

[0021] In shadow mode, the trigger notifies the storage system to record all vehicle topic data in the whitelist. All vehicle topic data before and after the trigger is activated will be stored in the circular cache of this invention. As an example, the circular cache of this invention should have the capacity to store approximately 50MB of vehicle topic data per second. In this embodiment, after receiving and caching the vehicle topic data, the topic data is compressed and then sent to the slave core, and then further sent to the cloud.

[0022] In shadow mode, vehicle-related data primarily involves various data and information generated during vehicle operation. This data and information is used by the autonomous driving system (without participating in actual vehicle control) for simulation decision-making and algorithm verification. Vehicle-related data in shadow mode may include, but is not limited to: sensor data, vehicle status information, driver behavior data, system logs, and error messages, etc. As an example, the specified triggering events include:

[0023] Camera-sensed malfunction events; and

[0024] Fault events detected by lidar.

[0025] According to an embodiment of the present invention, a method for storing vehicle topic data can cache vehicle topic data in a circular buffer according to time tags. Therefore, no further IO operations are required, and the vehicle topic data can be cached and sent to the cloud without using RAM disks. This is because, in shadow mode, as mentioned above, more than 10,000 topic messages are generated per second. In order to record these topic messages, the system would frequently perform IO operations, such as reading and writing RAM disks, which would lead to an increase in IO load and CPU load. However, with the present invention, since all data is stored in a circular buffer, data can be obtained by time tags (or at a speed of seconds) without scanning the disk to search for recorded data. This avoids the use of IO operations and reduces the IO and CPU load.

[0026] The following provides a detailed description of the circular buffer and time stamp used in the vehicle theme data storage method of the present invention.

[0027] Figure 1 This is a schematic diagram illustrating an example of a circular buffer and time stamp according to an embodiment of the present invention.

[0028] like Figure 1 As shown, 100 represents a circular buffer, where "H" represents the head of the circular buffer and "T" represents the tail of the circular buffer. In the figure, tg0, tg1, tg2...tg8 in 1 represent the nine time stamps in the circular buffer.

[0029] In this embodiment, a time stamp can be defined as including:

[0030] Start and end positions;

[0031] Start and end timestamps;

[0032] Tag status is used to indicate whether the tag buffer is being used by other threads (such as compression or sending threads). When the status is BUSY, data locations should not overlap even if the buffer is full.

[0033] As an example, relevant information for time tags can be pre-defined (e.g., start position, end position, start time, end time, tag status).

[0034] Specifically, the tag status (TIME_TAG_STATE) that serves as the time tag can be set to include, for example, the following three states:

[0035] Free (TAG_FREE, value 0);

[0036] Busy (TAG_BUSY, value 1); and

[0037] Ignore (TAG_IGNORE).

[0038] As a specific example, the relevant information for time tags can be set as follows:

[0039] Starting position (m_start_pos, a 32-bit unsigned integer, default 0);

[0040] End position (m_end_pos, 32-bit unsigned integer, default 0);

[0041] Start time (m_start_time, 64-bit unsigned integer, default 0);

[0042] End time (m_end_time, 64-bit unsigned integer, default 0); and tag status (state, using TIME_TAG_STATE, default TAG_FREE).

[0043] In this invention, we will take the example of accessing the received data in seconds as an example. That is, a time tag is 1 second. In this example, the start position (m_start_time) represents the start time of writing the first data packet in the 1 second of data in the receive buffer, and the end position (m_end_time) represents the time of writing the last data packet in this 1 second of data.

[0044] In this invention, time tags are used cyclically. When the last tag is used, the buffer of the first time tag is released because the trigger only records data within a finite number of seconds (typically 5-10 seconds) before and after the trigger time. Examples of this are provided below. Figure 2 The following example illustrates this.

[0045] Figure 2 This is a schematic diagram illustrating a circular buffer and time stamp as an example of the present invention.

[0046] exist Figure 2 The upper circular buffer 100 is marked sequentially by time tags tg0, tg1, tg2...tg10. The head H of the circular buffer 100 is located at the position of time tag tg0, and the tail T of the circular buffer 100 is located at the position of time tag tg10.

[0047] During data looping, when all timestamps (tg0, tg1, tg2...tg10) in the circular buffer 100 are used, the oldest used timestamp in the circular buffer 100 will be released to make room for new data. For example, in... Figure 2 In the upper circular buffer 100, when the last time stamp tg10 is used, the buffer marked by the first time stamp tg0 will be released. At this time, the head H and tail T of the circular buffer 100 become... Figure 2 As shown below, the header H is located at time tag tg1, and the tail T is located at time tag tg0. This cyclical setting of time tags ensures efficient use of time tags while avoiding unnecessary resource consumption.

[0048] As a preferred approach, the time stamp unit is set to 1 second, i.e., one time stamp per second. This allows for rapid location of the cache corresponding to a specified time using the time stamps of this invention, without having to traverse the entire cache to find the data for that specific time (since the vehicle-related data is massive, nearly 50MB per second, traversal would be extremely time-consuming). Furthermore, using one time stamp per second eliminates the need to record the time for each data packet, requiring only minimal memory overhead for rapid data location.

[0049] To further illustrate the circular buffer and time stamp used in the vehicle subject data storage method of the present invention, the following examples are provided. Figure 3 Please provide an explanation.

[0050] Figure 3 This is a schematic diagram illustrating another example of the present invention: a circular buffer and a time stamp.

[0051] exist Figure 3 In the upper circular buffer 100, the head H of the circular buffer 100 is located at the time tag tg3, and the tail T of the circular buffer 100 is located at the time tag tg2. When Figure 3 When the last time stamp tg2 of the upper circular buffer 100 is used, the buffer marked by the first time stamp tg3 will be released. At this time, the head H and tail T of the circular buffer 100 will become as follows. Figure 3 As shown below, the header H is located at time tag tg4, and the tail T is located at time tag tg3. Figure 3As shown, the timestamps are used cyclically. When the circular buffer reaches the end T, new data is stored starting from the free space at the beginning H. This ensures that the buffer can be used continuously without interrupting data recording. In this way, limited storage space can be used efficiently while maintaining data continuity and integrity.

[0052] As described above, according to the vehicle theme data storage method of the present invention, all vehicle theme data before and after the triggering event will be stored in the circular buffer of the present invention. Utilizing the structure and time stamp of the circular buffer of the present invention, theme data per second can be accurately recorded and located. For example, based on the time stamp, the storage location of data for a specific number of seconds in the buffer can be quickly located, thereby enabling the orderly storage of received vehicle theme data and ensuring data integrity and traceability. Moreover, according to the vehicle theme data storage method of the present invention, because all data is stored in the circular buffer, data can be retrieved by time stamp (or at a speed of seconds) without scanning the disk to search for recorded data, and without performing additional I / O operations.

[0053] Moreover, according to the vehicle theme data storage method of the present invention, the theme data per second is directly compressed in the circular buffer and then sent to the slave core, and then transmitted to the cloud. In this process, there is no need to copy memory, which reduces the intermediate links in data processing and improves transmission efficiency.

[0054] Furthermore, assuming that topical data within a specific time range needs to be obtained, the data can be quickly located and retrieved based on the time tag. Since all data is stored in a circular cache, there is no need to scan the disk as in the traditional method, which greatly shortens the data retrieval time and improves the system response speed.

[0055] In summary, the vehicle theme data storage method and the timestamped circular buffer of the present invention provide an efficient and low-load storage method for processing vehicle theme data in shadow mode, which can avoid the use of IO operations and reduce the load of IO and CPU. After testing, the IO and CPU load of the vehicle theme data storage method of the present invention is reduced by more than 50% compared with the prior art.

[0056] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Those skilled in the art can conceive of other feasible variations or substitutions based on the technical scope disclosed in this application, and such variations or substitutions are all covered within the scope of protection of this application. Where there is no conflict, the embodiments and features described in the embodiments of this application can also be combined with each other. The scope of protection of this application is determined by the claims.

Claims

1. A method for storing vehicle-related data, characterized in that, The method includes: In response to a specified triggering event, receive vehicle-related data; and The vehicle-related data is cached in a circular cache area. The circular buffer is sequentially marked by N time tags set according to a specified time unit, where N is a natural number. Specifically, the vehicle theme data is sequentially written into the circular cache according to the storage locations marked by the N time tags.

2. The method for storing vehicle-related data as described in claim 1, characterized in that, The method further includes: Compress the vehicle topic data cached in the circular cache area; and Send compressed vehicle subject data.

3. The method for storing vehicle-related data as described in claim 1, characterized in that, Writing the vehicle topic data into the circular buffer sequentially according to the storage locations marked by the N time tags includes: When the circular buffer marked by the last of the N time tags is used, the circular buffer marked by the earliest of the N time tags is released for subsequent vehicle subject data writing.

4. The method for storing vehicle-related data as described in claim 1, characterized in that, The time stamps include: The start and end positions of the circular buffer area; The start and end times for writing the vehicle topic data; and This indicates whether the corresponding storage location in the circular buffer is in a busy or idle tag state.

5. The method for storing vehicle-related data as described in claim 1, characterized in that, The specified time unit is seconds.

6. The method for storing vehicle-related data as claimed in claim 1, characterized in that, The N is set to be less than or equal to 20.

7. A data processing method in shadow mode, characterized in that, The data processing method includes: In response to a specified triggering event, receive vehicle-related data; and The vehicle-related data is cached in a circular cache area. The circular buffer is sequentially marked by N time tags set according to a specified time unit, where N is a natural number. Specifically, the vehicle theme data is sequentially written into the circular cache according to the storage locations marked by the N time tags.

8. The data processing method in shadow mode as described in claim 7, characterized in that, The specified triggering events include: Camera-sensed malfunction events; and Fault events detected by lidar.

9. A domain controller, comprising a storage module, a processor, and a computer program stored on the storage module and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for storing vehicle subject data as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the method for storing vehicle subject data as described in any one of claims 1 to 6.

11. A computer-readable medium having a computer program stored thereon, wherein, When the computer program is executed by the processor, it implements the method for storing vehicle subject data as described in any one of claims 1 to 6.

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