Vehicle-mounted ethernet data analysis method and device, vehicle and server

Abstract

This invention discloses a method, apparatus, vehicle, and server for parsing vehicular Ethernet data, relating to the field of automotive technology. One specific embodiment of the method includes: parsing a vehicle communication configuration file to obtain the structural information of protocol data units, and constructing a lightweight description document using the structural information of the protocol data units; parsing the protocol data units of the vehicular Ethernet frame according to the structural information of the protocol data units in the lightweight description document, and obtaining the payload of the protocol data units; extracting the vehicular target perception signal from the payload, and visually displaying the lane corresponding to the vehicular target perception signal, the vehicle corresponding to the vehicular target perception signal, the vehicle's driving parameters corresponding to the vehicular target perception signal, and the road markings corresponding to the vehicular target perception signal. This embodiment can improve the efficiency of parsing protocol data unit data.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and more particularly to an in-vehicle Ethernet data parsing method, apparatus, vehicle, and server. Background Technology

[0002] In vehicular Ethernet communication, the Scalable Service-Oriented Middlewareover IP protocol is widely used for perception data interaction in autonomous driving and intelligent connected vehicles.

[0003] Currently, parsing protocol data units primarily relies on existing software, such as parsing data based on vehicle communication configuration files. However, vehicle communication configuration files contain massive amounts of data, including a large amount of information irrelevant to the current parsing target, resulting in high CPU resource consumption during the parsing process and making it difficult to flexibly customize the visualization interface. Furthermore, while some autonomous driving companies possess internal perception data visualization solutions, they often use proprietary data formats, making it impossible to directly utilize industry-standard data formats for offline or online parsing and display.

[0004] In the process of realizing this invention, the inventors discovered that the prior art has at least the following problems: low parsing efficiency of protocol data unit data. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a method, apparatus, vehicle, and server for parsing in-vehicle Ethernet data, which can improve the efficiency of parsing protocol data unit data.

[0006] A method for parsing vehicular Ethernet data includes: Parse the vehicle communication configuration file to obtain the structural information of the protocol data unit, and use the structural information of the protocol data unit to construct a lightweight description document; Parse the protocol data units of the vehicle Ethernet frame according to the structural information of the protocol data units in the lightweight description document, and obtain the payload of the protocol data units; Extract the vehicle target perception signal from the payload, and visualize the lane corresponding to the vehicle target perception signal, the vehicle of the vehicle target perception signal, the vehicle driving parameters of the vehicle target perception signal, and the road markings of the vehicle target perception signal.

[0007] The extraction of vehicle target perception signals from the payload includes: In response to a user operation instruction, one or more vehicle targets are selected from the signal list of the payload to extract vehicle target sensing signals according to the one or more vehicle targets; On the vehicle terminal or user terminal, adjust the display range of the vehicle-mounted target perception signal according to the vehicle terminal or user terminal.

[0008] After extracting the vehicle target perception signal from the payload, the system visualizes and displays the lane corresponding to the vehicle target perception signal, the vehicle corresponding to the vehicle target perception signal, the vehicle's driving parameters corresponding to the vehicle target perception signal, and the road markings corresponding to the vehicle target perception signal, including: In response to a user operation instruction, one or more vehicle targets are selected from the signal list of the payload to extract vehicle target perception signals according to the vehicles around the one or more vehicle targets; On the server side, the lane corresponding to the vehicle target perception signal, the vehicle of the vehicle target perception signal, the vehicle driving parameters of the vehicle target perception signal, and the road sign of the vehicle target perception signal are displayed visually.

[0009] On the server side, the visualization displays the lane corresponding to the vehicle target perception signal, the vehicle corresponding to the vehicle target perception signal, the vehicle driving parameters corresponding to the vehicle target perception signal, and the road markings corresponding to the vehicle target perception signal, including: On the server side, according to the vehicle identification and time point in the display instructions, the advanced driver assistance system activation status of the vehicle corresponding to the vehicle identification at the time point, the vehicle corresponding to the vehicle target perception signal at the time point, the lane of the vehicle target perception signal, the vehicle driving parameters of the vehicle target perception signal, and the road sign of the vehicle target perception signal are displayed visually.

[0010] In offline mode, the vehicle Ethernet frames are obtained from text files or binary files; In online mode, the vehicle Ethernet frames are acquired in real time through the vehicle Ethernet data acquisition device or application programming interface.

[0011] The step of parsing the protocol data units of the vehicular Ethernet frame according to the structure information of the protocol data units in the lightweight description document, and obtaining the payload of the protocol data units, includes: The protocol data units of the vehicle Ethernet frame are parsed according to the identifier and length of the protocol data units. In the protocol data unit, the payload is obtained by parsing the signal structure of the protocol data unit.

[0012] The lightweight description document includes one or more of the following: JSON document, YAML document, and TOML document.

[0013] According to a second aspect of the present invention, an in-vehicle Ethernet data parsing device is provided, comprising: A construction module is used to parse the vehicle communication configuration file to obtain the structural information of the protocol data unit, and to construct a lightweight description document using the structural information of the protocol data unit; The acquisition module is used to parse the protocol data units of the vehicle Ethernet frame according to the structural information of the protocol data units in the lightweight description document, and to acquire the payload of the protocol data units. The display module is used to extract the vehicle target perception signal from the payload and visually display the lane corresponding to the vehicle target perception signal, the vehicle of the vehicle target perception signal, the vehicle driving parameters of the vehicle target perception signal, and the road markings of the vehicle target perception signal.

[0014] According to a third aspect of the present invention, a vehicle is provided, including the in-vehicle Ethernet data parsing device as described above.

[0015] According to a fourth aspect of the present invention, a server is provided, including the vehicle-mounted Ethernet data parsing device as described above.

[0016] According to a fifth aspect of the present invention, an in-vehicle Ethernet data parsing electronic device is provided, comprising: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors perform the methods described above.

[0017] According to a sixth aspect of the present invention, a computer-readable medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method as described above.

[0018] One embodiment of the above invention has the following advantages or beneficial effects: It parses vehicle communication configuration files to construct a lightweight description document. Protocol data units are identified through the lightweight description document to extract onboard target perception signals from the payload. The lanes, vehicles, vehicle driving parameters, and road markings of the onboard target perception signals are then visualized. Compared to vehicle communication configuration files, the lightweight description document is smaller in size and consumes fewer resources, thus improving the efficiency of parsing protocol data unit data.

[0019] The further effects of the aforementioned unconventional alternative methods will be explained below in conjunction with specific implementation methods. Attached Figure Description

[0020] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein: Figure 1This is a schematic diagram of the main process of the vehicle Ethernet data parsing method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of acquiring vehicle Ethernet frames in offline mode according to an embodiment of the present invention; Figure 3 This is a schematic diagram of acquiring vehicle Ethernet frames in online mode according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the load extraction process according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a signal list according to an embodiment of the present invention; Figure 6 This is a schematic diagram of a visualized vehicle-mounted target perception signal according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the main structure of the vehicle-mounted Ethernet data parsing device according to an embodiment of the present invention; Figure 8 This is an exemplary system architecture diagram in which embodiments of the present invention can be applied; Figure 9 This is a schematic diagram of the structure of a computer system suitable for implementing terminal devices or servers of the present invention. Detailed Implementation

[0021] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of the present invention, including various details to aid understanding. These details should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0022] To improve the efficiency of parsing protocol data unit data, the following technical solutions from the embodiments of the present invention can be adopted.

[0023] See Figure 1 , Figure 1 This is a schematic diagram of the main process of the vehicle-mounted Ethernet data parsing method according to an embodiment of the present invention. Specifically, it includes the following steps: S101. Parse the vehicle communication configuration file to obtain the structural information of the protocol data unit, and use the structural information of the protocol data unit to construct a lightweight description document.

[0024] Vehicle communication configuration files comprehensively describe the identifiers, lengths, signal start bits, signal lengths, byte order, scaling factors, offsets, and other information of all Protocol Data Units (PDUs) in the protocol. However, they are enormous, typically including service interface definitions for all Electronic Control Units (ECUs) in the vehicle, as well as a large number of signals unrelated to the current parsing target. Directly parsing data using vehicle communication configuration files in real time would consume excessive CPU and memory resources, resulting in low parsing efficiency. For example, vehicle communication configuration files may include AUTOSAR XML.

[0025] The structural information of PDUs related to onboard target perception signals is extracted only from the vehicle communication configuration file, and this structural information is reconstructed into a lightweight description document. As an example, the lightweight description document includes one or more of the following: JSON document, YAML document, and TOML document. This embodiment of the invention uses JSON format as an example for illustration.

[0026] Specifically, the onboard target perception signals to be parsed are specified through a graphical interface or configuration file. For example, onboard target perception signals may include: distance to the vehicle ahead, lane curvature, or Advanced Driver Assistance Systems (ADAS) status. Based on the onboard target perception signals, the corresponding PDU in the vehicle communication configuration file is located.

[0027] Read the PDU's identifier, total length, name of each internal signal, start bit, bit length, byte order, data type, scaling factor, and offset. Write this data into a JSON file as key-value pairs to build a lightweight description document.

[0028] The lightweight description document is only a few hundred bytes in size, which is a significant advantage compared to the tens of megabytes of vehicle communication configuration files. Moreover, the lightweight description document does not include any data that is not related to the target signal, so there is no need to traverse or skip irrelevant data, further improving parsing speed.

[0029] S102. Parse the protocol data units of the vehicle Ethernet frame according to the structural information of the protocol data units in the lightweight description document, and obtain the payload of the protocol data units.

[0030] After acquiring the vehicle Ethernet frame, the received Ethernet frames are first filtered based on the source MAC address, destination MAC address, source IP address, destination IP address, and UDP / TCP port number corresponding to the PDU recorded in the lightweight description document, retaining only the data frames that may carry the PDU.

[0031] For each filtered frame, the protocol header of the protocol data unit is further parsed to extract the MessageID field. The Message ID is compared with the ID of the target PDU recorded in the lightweight description document. If the IDs match, it is determined that the current frame contains the required protocol data unit.

[0032] Subsequently, the first byte after the protocol header of the protocol data unit is located, and a data block with a length equal to the total length of the PDUs recorded in the lightweight description document is extracted from that position as the payload of the protocol data unit. Since the lightweight description document only includes the definition of a small number of target PDUs and does not require parsing a large vehicle communication configuration file, the above matching and extraction process can be completed in a very short time, significantly reducing CPU and memory overhead.

[0033] S103. Extract the vehicle target perception signal from the payload and visualize the lane, vehicle, vehicle driving parameters, and road markings corresponding to the vehicle target perception signal.

[0034] After resolving the vehicle-mounted target perception signal from the payload, the signal is graphically presented using visualization tools. The visualization includes the following: The system displays the lanes corresponding to the vehicle's target perception signals. Based on the parsed lane line information, such as the curvature of the left and right lane lines, lane width, and lane offset, multiple curves or straight lines are drawn on the visualization interface to simulate lane lines. Lane lines can be distinguished by different line types or colors. Lane line types include: solid lines, dashed lines, and double solid lines.

[0035] The system displays vehicles that use onboard target perception signals. Based on the parsed target vehicle information, corresponding rectangles are drawn on the lane background to represent the vehicles. Target vehicle information includes the position, distance, and relative speed of the vehicle in front and in adjacent lanes. Each vehicle is labeled for easy identification.

[0036] Displays vehicle driving parameters from onboard target perception signals. The parsed parameters related to vehicle motion are displayed in real-time as numerical values, on the dashboard, or as graphs. For example, the current vehicle speed is displayed numerically, while parameters such as acceleration, steering angle, and yaw rate are presented in auxiliary graphs. Furthermore, for target vehicles ahead, parameters such as relative speed and distance can be displayed.

[0037] Road signs that display vehicle-mounted target perception signals. Road signs are displayed as icons or text in the visual interface.

[0038] Since the embodiments of the present invention use the vehicle target perception signal parsed from the lightweight description document for direct display without the need for additional intermediate conversion, it can achieve smooth and low-latency graphical display in both offline playback and online monitoring scenarios, thereby improving the efficiency of parsing protocol data unit data.

[0039] See Figure 2 , Figure 2 This is a schematic diagram of acquiring vehicle Ethernet frames in offline mode according to an embodiment of the present invention.

[0040] In embodiments of the present invention, there are two methods for acquiring vehicle-mounted Ethernet frames: offline mode and online mode. In offline mode, vehicle-mounted Ethernet frames are acquired from text files or binary files. The text files or binary files store offline vehicle-mounted Ethernet frames, including link layer, network layer, transport layer, and application layer data. The text files or binary files are... Figure 2 The "W" in the text. For example, text files include ASCII files, and binary files include BLF files.

[0041] Figure 2 In this diagram, A is the payload extractor, B is the perceptual data parser, C is the perceptual data plotter, and J is the lightweight description document.

[0042] The payload extractor reads the vehicle Ethernet frames in text / binary format, parses the protocol data units of the vehicle Ethernet frames according to the structural information of the protocol data units, and obtains the payload from the protocol data units.

[0043] The perception data analyzer receives the payload and extracts the vehicle-mounted target perception signals from the payload.

[0044] The perception data plotter displays the vehicle-mounted target perception signals in a visual format. Users can interact with it through a visual interface.

[0045] See Figure 3 , Figure 3 This is a schematic diagram of acquiring vehicle Ethernet frames in online mode according to an embodiment of the present invention. Figure 3 and Figure 2 The difference lies in acquiring in-vehicle Ethernet frames in real time through in-vehicle Ethernet data acquisition devices or application programming interfaces. Figure 3 "G" refers to the vehicle-mounted Ethernet data acquisition device or application programming interface. That is, in online mode, vehicle-mounted Ethernet frames are acquired in real time through the vehicle-mounted Ethernet data acquisition device or application programming interface.

[0046] The vehicle Ethernet test tool establishes a communication connection with the vehicle under test, captures the vehicle Ethernet frames emitted by the vehicle in real time, and sends them to the load extractor through the application programming interface.

[0047] SeeFigure 4 , Figure 4 This is a schematic diagram of the payload extraction process according to an embodiment of the present invention. Specifically, it includes the following steps: S401. Parse the protocol data units of the vehicle Ethernet frame according to the identifier and length of the protocol data unit.

[0048] Parse the Protocol Data Unit (PDU) header in the vehicular Ethernet frame. The PDU header is located at the beginning of the User Datagram Protocol (UDP) or Transmission Control Protocol (TCP) payload. As an example, the structure includes the following in sequence: Message ID (32 bits), Length (32 bits), Request ID (32 bits), Protocol Version (8 bits), Interface Version (8 bits), Message Type (8 bits), and Return Code (8 bits). The high 16 bits of the Message ID represent the Service ID, and the low 16 bits represent the Method ID, together forming a unique identifier for the PDU. The Length field indicates the total number of bytes from the Request ID to the end of the PDU payload.

[0049] The protocol data unit (ARD) ID, i.e., the expected Message ID, and the ARID length, i.e., the expected Length value, are obtained from the lightweight description document. Then, the ARID and Length are extracted from the ARID message header and compared with the values ​​recorded in the lightweight description document. If the Message ID matches and the Length is consistent with the lightweight description document, then the current message is determined to be the target protocol data unit; If the Message ID matches and the Length is different from the lightweight description document, skip the automotive Ethernet frame and continue to check the next frame.

[0050] By employing a dual matching mechanism based on the identifier and length of the protocol data unit, the required protocol data unit can be located quickly and accurately without parsing the complete vehicle communication configuration file.

[0051] S402. In the protocol data unit, the payload is obtained by parsing the signal structure of the protocol data unit.

[0052] After identifying the protocol data unit, the signal structure of the protocol data unit recorded in the lightweight description document is obtained. For example, the signal structure includes the following information: name, start bit, bit length, byte order, data type, scaling factor, and offset for each signal. The payload is then parsed according to the above signal structure.

[0053] exist Figure 4 In this embodiment, since the lightweight description document only includes the definition of protocol data units and their internal signals, there is no need to traverse a large number of irrelevant signals, thereby achieving extremely low parsing latency and resource consumption.

[0054] In one embodiment of the present invention, the visual display can be implemented in a vehicle terminal or a user terminal. For example, the vehicle terminal includes a central control display. The user terminal includes a mobile application (APP).

[0055] See Figure 5 The sidebar or drop-down menu of the visualization interface displays all vehicle targets that the current payload can resolve in a list format. Figure 5 It includes 5 vehicle-mounted targets: a set of moving objects T1, a set of static objects T2, a trajectory T3, a set of lanes T4, and a traffic light T5.

[0056] Since users may focus on different information in different commissioning scenarios, in response to user operation instructions, one or more vehicle targets are selected from the load's signal list to extract vehicle target perception signals according to one or more vehicle targets.

[0057] During payload parsing, based on one or more vehicle-mounted targets, only the vehicle-mounted target perception signals corresponding to the user's selection are extracted from the payload, while unselected signals are ignored. This further reduces the amount of data processing and improves parsing efficiency and interface response speed.

[0058] The resolved vehicle target perception signals can be visualized on different types of terminal devices, such as vehicle terminals or user terminals. The screen size, resolution, and aspect ratio of these different terminals may vary significantly.

[0059] At the vehicle terminal or user terminal, the screen parameters of the vehicle terminal or user terminal are first detected, such as resolution, pixel density, and screen orientation (portrait or landscape). Then, the display range of the onboard target perception signal is adjusted according to the vehicle terminal or user terminal. The display range includes the lane view range, fonts, and icons.

[0060] Lane view range: When drawing lane lines and vehicle icons, adjust the viewing distance according to the terminal screen size.

[0061] Font and icon size: Adjust the text size and icon dimensions in the interface to ensure good readability and ease of use on different devices.

[0062] With the above adjustments, users can obtain a clear and suitable visual effect whether they use the in-vehicle terminal or the user terminal.

[0063] In one embodiment of the present invention, the visualization can be implemented on the server side. For example, the server side can be a cloud server, an enterprise local server, or an edge computing node.

[0064] In response to user instructions, select one or more vehicle-mounted targets from the load's signal list. The signal list is as follows: Figure 5 As shown.

[0065] Considering that the server needs to comprehensively consider the driving status of multiple vehicles, it can extract vehicle target perception signals based on vehicles surrounding one or more vehicle targets. Vehicles surrounding a vehicle target are other vehicles within a certain spatial radius or topological relationship, with one or more vehicle targets selected by the user as the reference center. The topological relationship includes adjacent vehicles in front of and behind the target vehicle in its lane, and neighboring vehicles in the lanes on either side of the target vehicle.

[0066] Based on the user-selected vehicle target, the range of its surrounding area is calculated, and the vehicle target perception signals of all vehicles within that area are extracted from the payload. For example, if the user selects their own vehicle as the vehicle target, the signals of all vehicles surrounding the current vehicle are extracted. If the user selects the second vehicle ahead as the vehicle target, the vehicle target perception signals surrounding that vehicle are extracted.

[0067] The extracted vehicle target perception signals include the vehicle target perception signals of the selected vehicle target itself and the vehicle target perception signals of the surrounding vehicles. These vehicle target perception signals together constitute the dataset required for visualization.

[0068] The extracted vehicle target perception signals are sent to the server. The server centrally processes vehicle target perception signals uploaded from multiple vehicles, supporting the storage and playback of large-scale data.

[0069] See Figure 6 , Figure 6 The system displays lanes and vehicles, with lanes numbered 1 to 6 corresponding to vehicles. The server draws multiple lane lines based on the parsed lane line parameters to simulate the road environment for vehicle movement. For multi-lane scenarios, the system distinguishes between the current lane, the left lane, and the right lane, using different colors or line types for identification. All extracted vehicles are displayed as rectangles at their corresponding positions within the lanes. Each vehicle can be labeled with its identifier.

[0070] The server displays vehicle driving parameters numerically, such as speed, acceleration, steering angle, and yaw rate. Based on the parsed road markings, such as traffic sign recognition signals, lane line types, and road boundaries, the server displays corresponding icons or text descriptions on the visualization interface.

[0071] The above technical solutions allow for flexible selection of onboard targets based on requirements, and the server can obtain visualized information including lanes, vehicles, vehicle driving parameters, and road signs, greatly enhancing remote analysis for autonomous driving.

[0072] In one embodiment of the present invention, the server receives vehicle target perception signals from one or more vehicles and supports users to perform precise historical or real-time data playback and visualization through display instructions.

[0073] The server provides a graphical user interface, allowing users to select vehicle identifiers and timestamps. For example, vehicle identifiers include the license plate number, and timestamps include 2024-01-01-10:12:10. Upon receiving the display instruction including the vehicle identifier and timetamp, the server retrieves vehicle target sensing signals from the database that are near that timetamp.

[0074] The server renders the driving scene view. The driving scene view includes: the activation status of the vehicle's Advanced Driver Assistance System (ADAS) corresponding to the vehicle identifier at a given time, the vehicle corresponding to the onboard target perception signal at that time, the lane of the onboard target perception signal, the vehicle's driving parameters, and the road markings of the onboard target perception signal.

[0075] The status bar at the top of the interface displays the on / off status of the vehicle's advanced driver assistance systems at a given time, as well as the status of available main sub-functions, through text, icons, or indicator lights. For example, it shows whether adaptive cruise control is activated, lane keeping assist is enabled, and automatic emergency braking is ready.

[0076] When vehicle identification or time points are changed, the server retrieves the corresponding data again and refreshes the visualization interface to ensure that all displayed content is updated synchronously. Users can continuously browse data from different time points using the previous / next frame buttons, enabling frame-by-frame playback analysis of historical data.

[0077] The server can store massive amounts of historical data, supporting fast retrieval and playback of any vehicle and any point in time.

[0078] See Figure 7 , Figure 7 This is a schematic diagram of the main structure of an in-vehicle Ethernet data parsing device according to an embodiment of the present invention. The in-vehicle Ethernet data parsing device can implement an in-vehicle Ethernet data parsing method. The in-vehicle Ethernet data parsing device specifically includes: The construction module 701 is used to parse the vehicle communication configuration file to obtain the structural information of the protocol data unit, and to construct a lightweight description document using the structural information of the protocol data unit; The acquisition module 702 is used to parse the protocol data unit of the vehicle Ethernet frame according to the structural information of the protocol data unit in the lightweight description document, and acquire the payload of the protocol data unit. Display module 703 is used to extract the vehicle target perception signal from the load and visually display the lane corresponding to the vehicle target perception signal, the vehicle of the vehicle target perception signal, the vehicle driving parameters of the vehicle target perception signal, and the road markings of the vehicle target perception signal.

[0079] In one embodiment of the present invention, the display module 703 is configured to select one or more vehicle targets from the signal list of the load in response to a user operation instruction, so as to extract vehicle target sensing signals according to the one or more vehicle targets; On the vehicle terminal or user terminal, adjust the display range of the vehicle-mounted target perception signal according to the vehicle terminal or user terminal.

[0080] In one embodiment of the present invention, the display module 703 is configured to select one or more vehicle targets from the signal list of the load in response to a user operation instruction, so as to extract vehicle target perception signals according to the vehicles surrounding the one or more vehicle targets; On the server side, the lane corresponding to the vehicle target perception signal, the vehicle of the vehicle target perception signal, the vehicle driving parameters of the vehicle target perception signal, and the road sign of the vehicle target perception signal are displayed visually.

[0081] In one embodiment of the present invention, the display module 703 is used on the server side to visually display, according to the vehicle identifier and time point in the display instruction, the vehicle advanced driver assistance system activation status corresponding to the vehicle identifier at the time point, the vehicle corresponding to the vehicle target perception signal at the time point, the lane of the vehicle target perception signal, the vehicle driving parameters of the vehicle target perception signal, and the road sign of the vehicle target perception signal.

[0082] In one embodiment of the present invention, in offline mode, the vehicle Ethernet frame is obtained from a text file or a binary file; In online mode, the vehicle Ethernet frames are acquired in real time through the vehicle Ethernet data acquisition device or application programming interface.

[0083] In one embodiment of the present invention, the acquisition module 702 is used to parse the protocol data unit of the vehicle Ethernet frame according to the identifier of the protocol data unit and the length of the protocol data unit; In the protocol data unit, the payload is obtained by parsing the signal structure of the protocol data unit.

[0084] In one embodiment of the present invention, the lightweight description document includes one or more of the following: JSON document, YAML document, and TOML document.

[0085] The vehicle-mounted Ethernet data parsing device in this embodiment of the invention can be applied to vehicles and / or servers.

[0086] Figure 8 An exemplary system architecture 800 is shown that can be applied to the vehicle Ethernet data parsing method or vehicle Ethernet data parsing device according to embodiments of the present invention.

[0087] like Figure 8 As shown, the vehicle system architecture 800 may include various systems, such as a driving control system 801, a power system 802, a sensor system 803, a control system 804, a lane change assist system 805, one or more peripheral devices 806, a power supply 807, a computer system 808, and a user interface 809. The in-vehicle Ethernet data parsing method provided in this embodiment can be implemented through interaction with the aforementioned systems, or through control of the systems by external devices, or through operation of the systems by a robot driving the vehicle. Optionally, the vehicle system architecture 800 may include more or fewer systems, and each system may include multiple components. Furthermore, each system and component of the vehicle system architecture 800 may be interconnected via wired or wireless means.

[0088] The vehicle system architecture 800 includes a driving control system 801, which can be in a fully or partially automated driving mode. For example, the driving control system 801 can automatically control the vehicle's movement based on control signals or control commands without interaction with a human, external devices, or a robot driving the vehicle.

[0089] The powertrain 802 may include components that provide power to the vehicle. For example, the powertrain 802 may include an engine, an energy source, a transmission, wheels, tires, etc. The engine may be an internal combustion engine, an electric motor, an air-compressed engine, or a combination of other types of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air-compressed engine. The engine converts the energy source into mechanical energy to supply the transmission. Examples of energy sources may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other electrical sources. The energy source may also provide energy to other systems in the vehicle. Furthermore, the transmission may include a gearbox, a differential, a drive shaft, and a clutch, etc.

[0090] The sensor system 803 may include sensors for sensing the vehicle's surrounding environment (such as sensors for detecting the presence of obstacles) and pressure sensors for sensing the presence of passengers in the seats. Examples include a positioning system (which may be a Global Positioning System (GPS), BeiDou Navigation Satellite System, or other positioning systems), radar, a laser rangefinder, an inertial measurement unit (IMU), and cameras. The positioning system can be used to determine the vehicle's geographical location. The IMU is used to sense changes in the vehicle's position and orientation based on inertial acceleration. In one embodiment, the IMU may be a combination of an accelerometer and a gyroscope. The radar can use radio signals to sense objects in the vehicle's surrounding environment. In some embodiments, in addition to sensing objects, the radar can also be used to sense the speed and / or direction of travel of objects.

[0091] To detect environmental information and objects outside the vehicle, cameras can be configured at appropriate locations on the vehicle's exterior. For example, to acquire environmental images of the vehicle's sides, a camera can be mounted on the side mirror. The camera can be a still or video camera.

[0092] The control system 804 may include software systems for implementing vehicle driving control, such as systems for analyzing the vehicle's surrounding environment, pretensioning seat belts, route planning, obstacle avoidance, and image analysis. The control system 804 may also include hardware systems such as an accelerator, steering wheel system, seat belt system, airbag system, and peripheral devices (such as projection equipment and displays). Furthermore, the control system 804 may add or replace components other than those shown and described. Alternatively, some of the components shown above may be reduced.

[0093] In addition, the control system 804 can also interact with external sensors, other autonomous driving devices, other computer systems, or users via peripheral devices 806. Peripheral devices 806 may include wireless communication systems, on-board computers, microphones and / or speakers, cameras, and projectors, etc.

[0094] In some embodiments, peripheral device 806 provides a means for user interaction with the control system 804 via a user interface. For example, an onboard computer may provide information to a user of the vehicle. The user interface may also operate the onboard computer to receive user input. The onboard computer may be operated via a touchscreen. In other cases, peripheral device may provide a means for communicating with other devices located within the vehicle. For example, a microphone may receive audio (e.g., voice commands or other audio input) from a user of the control system. Similarly, a speaker may output audio to a user of the control system.

[0095] Wireless communication systems can communicate wirelessly with one or more devices, either directly or via a communication network. For example, wireless communication systems can use networks such as cellular networks, WiFi, and wireless local area networks (WLANs), or they can use infrared links, Bluetooth, or ZigBee to communicate directly with devices. Other wireless protocols include those used in various autonomous driving communication systems.

[0096] The power source 807 can provide power to various components of the vehicle. The power source 807 can be a rechargeable lithium-ion battery or a lead-acid battery.

[0097] The computer system 808 may include at least one processor that executes instructions stored in a non-transitory computer-readable medium such as memory. The computer system 808 provides the aforementioned control system with execution code that implements vehicle control for a ramp entry scenario.

[0098] The processor can be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor can be a special-purpose device such as an application-specific integrated circuit (ASIC) or other hardware-based processor. Those skilled in the art will understand that the processor, computer, or memory can actually include multiple processors, computers, or memories that may or may not be stored in the same physical housing. For example, memory can be a hard disk drive or other storage media located in a housing different from that of a computer. Therefore, references to processors or computers will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Unlike using a single processor to perform the steps described herein, some components, such as steering and deceleration components, may each have their own processor that performs only determinations related to the component's specific function.

[0099] User interface 809 is used to provide information to or receive information from users of the vehicle. Optionally, user interface 809 may include one or more input / output devices within a set of peripheral devices 806, such as wireless communication systems, on-board computers, microphones, and speakers.

[0100] It should be understood that the components described above are merely an example. In actual applications, components in the various modules or systems mentioned above may be added or removed as needed. Figure 8 This should not be construed as a limitation on the embodiments of this application.

[0101] The following is for reference. Figure 9 It shows a schematic diagram of the structure of a computer system 900 suitable for implementing a terminal device of the present invention. Figure 9 The terminal device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0102] like Figure 9 As shown, the computer system 900 includes a central processing unit (CPU) 901, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 902 or programs loaded from storage section 908 into random access memory (RAM) 903. The RAM 903 also stores various programs and data required for the operation of the system 900. The CPU 901, ROM 902, and RAM 903 are interconnected via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0103] The following components are connected to I / O interface 905: an input section 906 including a keyboard, mouse, etc.; an output section 907 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card such as a LAN card, modem, etc. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to I / O interface 905 as needed. A removable medium 911, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 910 as needed so that computer programs read from it can be installed into storage section 908 as needed.

[0104] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 909, and / or installed from removable medium 911. When the computer program is executed by central processing unit (CPU) 901, it performs the functions defined above in the system of this invention.

[0105] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0106] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0107] The modules described in the embodiments of the present invention can be implemented in software or hardware. The described modules can also be housed in a processor; for example, a processor may be described as including a construction module, an acquisition module, and a display module. The names of these modules do not necessarily limit the module itself; for example, the construction module may also be described as "used to parse a vehicle communication configuration file to obtain the structural information of protocol data units, and to construct a lightweight description document using the structural information of the protocol data units."

[0108] In another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist independently and not assembled into the device. The computer-readable medium carries one or more programs, which, when executed by the device, cause the device to include: Parse the vehicle communication configuration file to obtain the structural information of the protocol data unit, and use the structural information of the protocol data unit to construct a lightweight description document; Parse the protocol data units of the vehicle Ethernet frame according to the structural information of the protocol data units in the lightweight description document, and obtain the payload of the protocol data units; Extract the vehicle target perception signal from the payload, and visualize the lane corresponding to the vehicle target perception signal, the vehicle of the vehicle target perception signal, the vehicle driving parameters of the vehicle target perception signal, and the road markings of the vehicle target perception signal.

[0109] According to the technical solution of this invention, a vehicle communication configuration file is parsed to construct a lightweight description document. Protocol data units are identified through the lightweight description document to extract onboard target perception signals from the payload. The lanes, vehicles, vehicle driving parameters, and road markings of the onboard target perception signals are then visualized. Compared to the vehicle communication configuration file, the lightweight description document is smaller in size and consumes fewer resources, thus improving the efficiency of parsing protocol data unit data.

[0110] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention. It should be noted that the acquisition, storage, and application of user personal information involved in the technical solutions of this disclosure comply with relevant laws and regulations and do not violate public order and good morals.

Claims

1. A method for parsing vehicle-mounted Ethernet data, characterized in that, include: Parse the vehicle communication configuration file to obtain the structural information of the protocol data unit, and use the structural information of the protocol data unit to construct a lightweight description document; Based on the structural information of the protocol data unit in the lightweight description document, the protocol data unit of the vehicle Ethernet frame is parsed, and the payload of the protocol data unit is obtained. Extract the vehicle target perception signal from the payload, and visualize the lane corresponding to the vehicle target perception signal, the vehicle of the vehicle target perception signal, the vehicle driving parameters of the vehicle target perception signal, and the road markings of the vehicle target perception signal.

2. The vehicle-mounted Ethernet data parsing method according to claim 1, characterized in that, The extraction of vehicle target perception signals from the payload includes: In response to a user operation instruction, one or more vehicle targets are selected from the signal list of the payload to extract vehicle target sensing signals according to the one or more vehicle targets; On the vehicle terminal or user terminal, adjust the display range of the vehicle-mounted target perception signal according to the vehicle terminal or user terminal.

3. The in-vehicle Ethernet data parsing method according to claim 1, characterized in that, After extracting the vehicle target perception signal from the payload, the system visualizes and displays the lane corresponding to the vehicle target perception signal, the vehicle corresponding to the vehicle target perception signal, the vehicle's driving parameters corresponding to the vehicle target perception signal, and the road markings corresponding to the vehicle target perception signal, including: In response to a user operation instruction, one or more vehicle targets are selected from the signal list of the payload to extract vehicle target perception signals according to the vehicles around the one or more vehicle targets; On the server side, the lane corresponding to the vehicle target perception signal, the vehicle of the vehicle target perception signal, the vehicle driving parameters of the vehicle target perception signal, and the road sign of the vehicle target perception signal are displayed visually.

4. The vehicle-mounted Ethernet data parsing method according to claim 3, characterized in that, On the server side, the visualization displays the lane corresponding to the vehicle target perception signal, the vehicle corresponding to the vehicle target perception signal, the vehicle driving parameters corresponding to the vehicle target perception signal, and the road markings corresponding to the vehicle target perception signal, including: On the server side, according to the vehicle identification and time point in the display instructions, the advanced driver assistance system activation status of the vehicle corresponding to the vehicle identification at the time point, the vehicle corresponding to the vehicle target perception signal at the time point, the lane of the vehicle target perception signal, the vehicle driving parameters of the vehicle target perception signal, and the road sign of the vehicle target perception signal are displayed visually.

5. The in-vehicle Ethernet data parsing method according to claim 1, characterized in that, In offline mode, the vehicle Ethernet frames are obtained from text files or binary files; In online mode, the vehicle Ethernet frames are acquired in real time through the vehicle Ethernet data acquisition device or application programming interface.

6. The vehicle-mounted Ethernet data parsing method according to claim 1, characterized in that, The step of parsing the protocol data units of the vehicular Ethernet frame according to the structure information of the protocol data units in the lightweight description document, and obtaining the payload of the protocol data units, includes: The protocol data units of the vehicle Ethernet frame are parsed according to the identifier and length of the protocol data units. In the protocol data unit, the payload is obtained by parsing the signal structure of the protocol data unit.

7. The in-vehicle Ethernet data parsing method according to claim 1, characterized in that, The lightweight description document includes one or more of the following: JSON document, YAML document, and TOML document.

8. A vehicle-mounted Ethernet data parsing device, characterized in that, include: A construction module is used to parse the vehicle communication configuration file to obtain the structural information of the protocol data unit, and to construct a lightweight description document using the structural information of the protocol data unit; The acquisition module is used to parse the protocol data units of the vehicle Ethernet frame according to the structural information of the protocol data units in the lightweight description document, and to acquire the payload of the protocol data units. The display module is used to extract the vehicle target perception signal from the payload and visually display the lane corresponding to the vehicle target perception signal, the vehicle of the vehicle target perception signal, the vehicle driving parameters of the vehicle target perception signal, and the road markings of the vehicle target perception signal.

9. A vehicle, characterized in that, Includes the vehicle-mounted Ethernet data parsing device as described in claim 8.

10. A server, characterized in that, Includes the vehicle-mounted Ethernet data parsing device as described in claim 8.

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