Vehicle-mounted sensing data temporary storage processing method, device and vehicle

Abstract

The application provides a vehicle-mounted perception data temporary storage processing method, device and vehicle. The vehicle-mounted perception data temporary storage processing method comprises the following steps: in response to a cache configuration instruction, obtaining cache configuration parameters of a ring storage cache, dividing the ring storage cache into a plurality of independent storage blocks according to the cache configuration parameters, and configuring a state marker of each storage block; collecting vehicle-mounted perception data and caching the vehicle-mounted perception data to the storage blocks whose state markers are in an unlocked state; in response to triggering of a specific scenario, determining a target storage block corresponding to a target time window, setting the state marker of the target storage block to a locked state; processing the vehicle-mounted perception data in the target storage block in the locked state, and setting the state marker of the target storage block to the unlocked state after completing the processing of each target storage block. The above method can continuously and completely save the collected vehicle-mounted perception data.

Description

Technical Field

[0001] This application relates to the field of data storage technology, and more specifically, to a method, device, and vehicle for temporary storage and processing of vehicle-mounted sensing data. Background Technology

[0002] Autonomous driving vehicle perception systems typically employ a ring-shaped storage cache to temporarily store vehicle perception data. When a specific scenario is triggered, the cached data corresponding to the trigger time is retrieved for computation or persistent storage. Traditional ring-shaped storage caches use a unified, holistic management approach, without segmenting the cache or setting independent status markers for each segment. Once a specific scenario is triggered, the entire ring-shaped storage cache immediately enters a locked state and can only be unlocked after all data in the cache has been processed. If specific scenarios are triggered consecutively within a short period, and the vehicle perception data corresponding to the previous scenario has not yet been processed, the entire ring-shaped storage cache will remain locked and cannot be unlocked for reuse. Newly collected vehicle perception data will lack available storage space, leading to data loss. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art or related technologies.

[0004] In view of this, the first aspect of this application provides a method for temporary storage and processing of vehicle-mounted sensing data, applied to a vehicle-mounted sensing system, comprising:

[0005] In response to the cache configuration command, the cache configuration parameters of the ring storage cache are obtained. The ring storage cache is divided into multiple independent storage blocks according to the cache configuration parameters. The status flag of the storage block is configured for each storage block. The status flag of the storage block includes at least a locked state and an unlocked state. The locked state is used to represent the state that writes are prohibited, and the unlocked state is used to represent the state that writes are allowed.

[0006] Collect vehicle-mounted sensing data and cache the vehicle-mounted sensing data to a storage block whose status is marked as unlocked;

[0007] In response to the triggering of a specific scenario, the target time window is determined based on the triggering time of the specific scenario, and the target storage block corresponding to the target time window is determined based on the time information of the vehicle perception data in each storage block, and the status flag of the target storage block is set to the locked state.

[0008] The vehicle perception data in the target storage block that is in a locked state is processed in units of storage block, and after each target storage block is processed, the status flag of the target storage block is set to the unlocked state.

[0009] Among them, the ring-shaped storage cache is a cache space in the vehicle perception system specifically used to temporarily store vehicle perception data; the cache configuration parameters include the total capacity of the ring-shaped storage cache and the capacity of a single storage block, which are configuration values ​​used to divide the cache space; the storage block is an independent storage unit within the ring-shaped storage cache that can be read and written independently; the status flag is the identification information that binds to the corresponding storage block and distinguishes the write permissions; the target time window is based on the trigger time of a specific scenario and includes two intervals: before and after the trigger, used to filter the continuous time period of data to be locked; the target storage block is a storage block whose internal vehicle perception data and the target time window have a time intersection and need to be set to a locked state.

[0010] In the above technical solution, the ring-shaped storage cache responds to cache configuration instructions. Cache configuration parameters are used to divide the ring-shaped storage cache into multiple independent storage blocks. Each storage block is configured with a status flag, including locked and unlocked states. The locked state indicates a write-prohibited state, and the unlocked state indicates a write-enabled state. The vehicle-mounted perception system collects vehicle-mounted perception data, which can be cached in storage blocks marked as unlocked. The vehicle-mounted perception system responds to the triggering of a specific scenario. The triggering time of the specific scenario is used to determine the target time window. The time information of the vehicle-mounted perception data in each storage block is used to determine the target storage block corresponding to the target time window. The status flag of the target storage block can be set to locked. Vehicle-mounted perception data in a locked target storage block is processed on a block-by-block basis. After processing of each target storage block is completed, its status flag can be set to unlocked. The temporary storage and processing method for vehicle perception data provided in this application divides the data into multiple independent storage blocks through a ring-shaped storage cache. Each storage block is configured with a status flag, which enables independent control of the data write permissions for each storage block. By setting the status flag of the target storage block corresponding to the target time window to the locked state, the data write capability of the other storage blocks can be maintained. The vehicle perception data in the target storage block is processed in units of storage blocks, and the status flag setting can be switched after the processing of a single target storage block is completed, which can release the write permissions corresponding to the storage block in stages. The entire operation process is executed in a coordinated manner, which can continuously provide storage space for writing vehicle perception data under the operating conditions of triggering specific scenarios in a short period of time, and can continuously and completely save the collected vehicle perception data.

[0011] For example, the cache configuration parameters can be adjusted online to adapt the data acquisition load according to different vehicle models and different sensor hardware configurations.

[0012] Optionally, in some technical solutions of this application, the storage blocks whose state is marked as unlocked when caching vehicle perception data include:

[0013] The storage blocks to be written are determined according to their order of arrangement in the circular storage cache.

[0014] If the storage block to be written is locked, skip the storage block to be written and determine the next storage block that is unlocked;

[0015] Cache the vehicle perception data to the identified unlocked storage blocks.

[0016] The arrangement order is the order in which all storage blocks are arranged in a fixed manner within the circular storage cache; the storage blocks to be written are the storage blocks that are prioritized for retrieval in the current writing process and are used to carry out the writing operation of vehicle perception data.

[0017] In the above technical solution, each storage block has a fixed arrangement order within the circular storage cache. Based on this order, all storage blocks can be traversed sequentially to filter for the block to be written. If a storage block to be written is detected as locked, it is skipped, and the search continues to the next block until an unlocked block is found. The unlocked blocks are used to store vehicle perception data. Searching the storage blocks sequentially along the fixed arrangement order allows for a complete traversal of all storage blocks within the circular storage cache, preventing missed blocks. Skipping locked blocks while continuing the search prevents interruption of the overall data writing process due to a single locked block. Vehicle perception data is written immediately after the search is completed, shortening the data writing waiting time. The entire writing process is executed continuously, ensuring the continuous completion of the vehicle perception data cache and preventing write interruptions caused by a single locked storage block.

[0018] For example, the storage block retrieval logic has a built-in loop judgment mechanism, which runs automatically throughout the process without manual intervention.

[0019] Optionally, in some technical solutions of this application, the storage block whose state is marked as unlocked and which caches vehicle perception data to storage blocks also includes:

[0020] After completing the write to the current storage block, update the write position to the next storage block;

[0021] After the write position reaches the end of the circular storage cache, the write position is updated to the beginning of the circular storage cache to cyclically cache the vehicle perception data.

[0022] Among them, the write position is the identifier for locating the current write storage block; the end of the circular storage cache is the last position of the circular arrangement of storage blocks; and the start of the circular storage cache is the first position of the circular arrangement of storage blocks.

[0023] In the above technical solution, the write position is used to identify the storage block currently performing the data write operation. After the current storage block completes the writing of vehicle perception data, the write position synchronously switches to the next storage block. The circular storage cache is set with a fixed end and a fixed start. When the write position moves to the end of the circular storage cache, it automatically jumps to the start of the circular storage cache, thereby realizing the cyclic reading and writing of vehicle perception data. The write position is updated block by block, which can evenly distribute the vehicle perception data to all storage blocks of the circular storage cache and prevent data accumulation in local storage blocks. The write position jumps to the start after reaching the end of the cache, which can make full use of the entire storage space of the circular storage cache and will not stop data caching when reaching the end of the cache. The two position update logics are executed in conjunction to continuously and cyclically write the uninterrupted vehicle perception data and maximize the utilization of the overall storage capacity of the circular storage cache.

[0024] In some technical solutions of this application, optionally, the unlocked state includes an unwritten state and a written state;

[0025] When a storage block is in an unwritten state, it is permissible to write vehicle perception data directly.

[0026] When a storage block is in a written state, it is allowed to write the original vehicle perception data in the storage block in an overwrite manner;

[0027] When a storage block is locked, writing to vehicle sensing data is prohibited.

[0028] Among them, the "not written" state is a permission identifier that indicates no vehicle perception data and supports direct writing; the "written" state is a permission identifier that indicates the presence of vehicle perception data and supports overwriting.

[0029] In the above technical solution, the unlocked state is divided into two sub-states: unwritten and written. The unwritten state corresponds to blank storage blocks without vehicle perception data, and vehicle perception data can be directly written to these blank storage blocks. The written state corresponds to storage blocks that already contain vehicle perception data, and these storage blocks can support overwriting existing vehicle perception data. The locked state restricts any vehicle perception data from being written to the corresponding storage block. Subdividing the unlocked state into two sub-states distinguishes between blank storage resources and occupied storage resources, enabling differentiated write control. Storage blocks in the unwritten state do not require overwrite operations, improving the data write efficiency of blank storage blocks. Storage blocks in the written state support overwrite rewriting, allowing reuse of processed storage blocks and expanding available cache space. This three-level hierarchical control of read and write permissions effectively improves the resource reuse efficiency of storage blocks within the circular storage cache.

[0030] For example, the status markers of the storage blocks are stored using digital encoding, with different encoding values ​​corresponding to three types of statuses, which facilitates quick identification and reading by in-vehicle electronic devices.

[0031] In some technical solutions of this application, optionally, the target storage block corresponding to the target time window is determined based on the time information of the vehicle perception data in each storage block, including:

[0032] Obtain the timestamps corresponding to the vehicle perception data in each storage block;

[0033] Based on the timestamp, the storage blocks in which at least part of the vehicle perception data is located within the target time window are identified as the target storage blocks.

[0034] Among them, time information refers to time-related information related to the generation of vehicle-mounted sensing data; timestamp is an identifier that accurately records the moment when a single segment of vehicle-mounted sensing data is generated.

[0035] In the above technical solution, the timestamp is used to record the generation time of the vehicle perception data within the storage block. The vehicle perception system can read the timestamps corresponding to all storage blocks. By comparing the timestamps with the target time window, as long as any segment of vehicle perception data within the storage block falls within the target time window interval, this storage block is determined to be the target storage block. Reading the timestamps bound to the vehicle perception data can accurately quantify the time interval corresponding to each segment of perception data, eliminating the problem of time matching ambiguity. Only a portion of the data needs to fall within the target time window to be determined as the target storage block, which can completely lock cross-boundary storage blocks and will not miss vehicle perception data that crosses the target time window. The two-level filtering logic works together to completely lock all vehicle perception data associated with a specific scenario, preventing the loss of scenario-related data.

[0036] For example, the timestamp precision is set to the millisecond level to ensure the accuracy of matching the vehicle perception data with the target time window.

[0037] Optionally, in some technical solutions of this application, the target time window is determined based on the triggering time of a specific scenario, including:

[0038] Based on the trigger time of a specific scenario, determine the first time interval before the trigger time and the second time interval after the trigger time;

[0039] The boundaries of the first time interval and the second time interval are determined based on the pre-configured first duration parameter and second duration parameter, respectively.

[0040] The first time interval is a continuous period of time extending forward from the trigger time; the second time interval is a continuous period of time extending backward from the trigger time; the first duration parameter is a preset value that limits the span of the first time interval; the second duration parameter is a preset value that limits the span of the second time interval; and the boundaries are the start and end times corresponding to each time interval.

[0041] In the above technical solution, the trigger time of a specific scenario is used as the time reference. The reference is extended forward to form a first time interval, and extended backward to form a second time interval. A first duration parameter limits the coverage duration of the first time interval, and a second duration parameter limits the coverage duration of the second time interval. These two sets of parameters jointly define the start and end boundaries of the two time intervals. Dividing the time intervals before and after the scenario trigger time allows for the simultaneous retention of vehicle-mounted perception data before and after the scenario, completely reconstructing the entire process of a specific scenario. Independently setting two sets of duration parameters allows for flexible adjustment of the coverage range of the two intervals, adapting to the data retention needs of different types of specific scenarios. Segmented interval boundaries precisely constrain the coverage range of the target time window, preventing irrelevant time periods from occupying storage blocks.

[0042] For example, the first duration parameter and the second duration parameter can be customized and modified through the vehicle human-machine interface. The parameter adjustment takes effect immediately without restarting the vehicle perception system.

[0043] Optionally, in some technical solutions of this application, the vehicle perception data in the target storage block is processed in units of storage blocks, including:

[0044] Write the vehicle perception data in the target storage block to a non-volatile storage medium, and / or perform computational processing on the vehicle perception data in the target storage block.

[0045] Among them, the non-volatile storage medium is a hardware storage carrier that can continuously retain data after power failure; the computing processing is the operation of environmental recognition and vehicle condition analysis based on the vehicle perception data.

[0046] In the above technical solution, non-volatile storage media are used for long-term storage of vehicle perception data. Vehicle perception data within the target storage block can be transferred to non-volatile storage media for persistent storage. Computation processing is used to parse and calculate the environmental and vehicle operation information contained in the vehicle perception data. The two processing methods can be executed separately or synchronously. Setting up two independent data processing paths can simultaneously meet the business needs of data archiving and storage and real-time analysis of vehicle algorithms. The two processing methods support synchronous execution without the need for additional relay caches, and data storage and data parsing can be completed in one go. The multi-path parallel processing architecture adapts to the multi-dimensional data usage needs of autonomous driving systems and broadens the application scenarios of vehicle perception data within the ring storage cache.

[0047] For example, in automotive scenarios, industrial-grade solid-state drives are selected as the non-volatile storage medium to adapt to complex operating environments such as vehicle vibration and wide temperature range.

[0048] In some technical solutions of this application, optionally, the cache configuration parameters include the total capacity of the ring storage cache and the capacity of a single storage block;

[0049] The temporary storage and processing methods for vehicle-mounted sensing data also include:

[0050] Adjust the total capacity of the ring storage cache and / or the capacity of a single storage block based on the acquisition rate and / or processing speed of the vehicle-mounted sensing data.

[0051] Among them, the total capacity of the ring storage cache is the total data space that the ring storage cache can carry; the capacity of a single storage block is the total data space that a single independent storage unit can carry; the acquisition rate of vehicle perception data is the volume of vehicle perception data generated by the sensor per unit time; and the processing speed of vehicle perception data is the volume of vehicle perception data that the system can process per unit time.

[0052] In the above technical solution, the cache configuration parameters include two types of parameters: the total capacity of the ring storage cache and the capacity of a single storage block. The acquisition rate of vehicle-mounted sensing data represents the amount of data generated per unit time, and the processing speed of vehicle-mounted sensing data represents the amount of data that can be processed per unit time. Both types of indicators can be used as the basis for capacity adjustment. The temporary storage processing method for vehicle-mounted sensing data can modify the total capacity of the ring storage cache and the capacity of a single storage block individually or simultaneously based on the above indicators. The cache configuration parameters cover both the overall cache and a single storage unit, providing a two-layer capacity adjustment dimension. The capacity is dynamically adjusted based on the real-time running speed of data acquisition and processing, which can match the real-time data throughput pressure. When the amount of acquired data is large, the cache is expanded; when the processing speed is fast, the cache is shrunk, avoiding idle cache resources or cache overflow. The two-layer dynamic capacity adjustment mechanism can adapt to the data load under different vehicle driving conditions and balance storage resource occupation and data cache stability.

[0053] For example, capacity adjustment is automatically performed by the background monitoring module, without requiring maintenance personnel to manually modify parameters.

[0054] In some technical solutions of this application, optionally, multiple storage blocks have the same storage capacity, and the total capacity of the ring storage cache is an integer multiple of the capacity of the storage blocks.

[0055] In the above technical solution, all storage blocks within the ring-shaped storage cache adopt a uniform storage capacity, and the total capacity of the ring-shaped storage cache is divisible by the capacity of each storage block. The uniform capacity of all storage blocks simplifies the read / write scheduling logic of the vehicle perception system, eliminating the need for separate management of storage units of different sizes. The total capacity of the ring-shaped storage cache is an integer multiple of the storage block capacity, allowing for complete and even distribution of the ring-shaped storage cache, eliminating any unallocated fragmented storage space. These two capacity constraints work together to simplify the cache block partitioning logic, reduce the scheduling and computational overhead of vehicle electronic devices, and improve the read / write response speed of the ring-shaped storage cache.

[0056] For example, the capacity of a single storage block is limited to 1MB to 32MB, which is compatible with mainstream automotive memory hardware specifications.

[0057] Optionally, in some technical solutions of this application, each storage block has a unique block identifier, which is used to determine the storage block to be written and the target storage block.

[0058] Among them, the unique block identifier is a unique identification code that is assigned only to a single storage block and is not repeated.

[0059] In the above technical solution, each storage block is assigned a unique block identifier, which serves as an independent identification code for the storage block. This unique block identifier can be used to retrieve and filter storage blocks to be written, and also to locate the target storage block corresponding to a target time window. Each storage block is configured with an independent unique block identifier, eliminating the problem of confusion between different storage blocks. The same set of unique block identifiers is reused in both write retrieval and scene matching processes, eliminating the need for two separate identification codes and simplifying the underlying data structure of the system. Relying on the unique block identifier to accurately locate storage blocks shortens the time spent on storage block retrieval and matching, improving the overall execution efficiency of cache read / write and scene locking.

[0060] For example, the unique block identifier is generated once using a continuous sequence of natural numbers and is fixedly allocated after the storage blocks are divided, so it does not need to be dynamically generated during operation.

[0061] In some technical solutions of this application, optionally, the vehicle perception data includes environmental perception data collected by at least one of vehicle cameras, lidar and millimeter-wave radar, and / or vehicle operation data.

[0062] Among them, vehicle-mounted cameras, lidar, and millimeter-wave radar are environmental perception and acquisition devices installed on the vehicle; environmental perception data is information about the vehicle's surrounding environment acquired by the acquisition devices; and vehicle operation data is parameter information that records the vehicle's driving status.

[0063] In the above technical solution, vehicle-mounted cameras, LiDAR, and millimeter-wave radar can all collect environmental perception data around the vehicle. These three types of acquisition devices can be used individually or in combination. Vehicle operation data records the vehicle's own driving state parameters. Environmental perception data and vehicle operation data are uniformly aggregated into vehicle-mounted perception data and stored in a circular storage cache. It is compatible with multiple mainstream vehicle-mounted perception acquisition hardware, fully covering the data sources for autonomous driving environmental perception; it synchronously caches two core types of information—environmental perception data and vehicle operation data—achieving unified storage of external environment and vehicle data; and it synchronously caches multi-source data, providing comprehensive data support for complete scenario review and avoiding the impact of missing data of a single type on scenario analysis.

[0064] For example, the vehicle operation data includes vehicle control parameters such as real-time vehicle speed, braking signals, and wheel steering angles.

[0065] In some technical solutions of this application, the specific scenario may optionally include at least one of the following: obstacle detection scenario, vehicle braking scenario, and road condition change scenario.

[0066] Among them, the obstacle detection scenario is the vehicle operation condition in which the system identifies obstacles around the vehicle; the vehicle braking scenario is the vehicle operation condition in which the vehicle performs braking operations; and the road condition change scenario is the operation condition in which the vehicle travels on the road surface and the traffic flow changes.

[0067] In the above technical solution, obstacle detection, vehicle braking, and road condition change scenarios are high-frequency safety-related scenarios for autonomous vehicles. The system can identify any one of these scenarios individually or simultaneously. Once any scenario is triggered, the system initiates a complete processing flow, including target time window calculation and target storage block locking. This covers three core vehicle safety scenarios, automatically initiating a data locking and retention mechanism for high-frequency risk scenarios. It supports simultaneous identification of single or multiple scenarios, adapting to complex and changing road conditions. A dedicated scenario caching and locking mechanism retains complete onboard perception data, facilitating later operational review, fault tracing, and algorithm iteration optimization.

[0068] For example, the vehicle perception system is equipped with a dedicated scene recognition algorithm to monitor the vehicle's operating status around the clock and capture various specific scene trigger signals in real time.

[0069] The second aspect of this application provides a temporary storage and processing device for vehicle-mounted sensing data, comprising: a memory for storing programs or instructions; and a processor for executing programs or instructions to implement the steps of the temporary storage and processing method for vehicle-mounted sensing data provided in any of the above technical solutions, thus achieving all the same technical effects. To avoid repetition, further details are omitted here.

[0070] The third aspect of this application provides a vehicle that includes the on-board perception data temporary storage and processing device provided in any of the above technical solutions, and thus can achieve all the same technical effects. To avoid duplication, it will not be described again here.

[0071] A fourth aspect of this application provides a temporary storage and processing device for vehicle-mounted sensing data, comprising:

[0072] The acquisition module is used to obtain the cache configuration parameters of the ring storage cache in response to the cache configuration command, divide the ring storage cache into multiple independent storage blocks according to the cache configuration parameters, and configure the status flag of the storage block for each storage block. The status flag of the storage block includes at least a locked state and an unlocked state. The locked state is used to represent the state that writes are prohibited, and the unlocked state is used to represent the state that writes are allowed.

[0073] The caching module is used to collect vehicle perception data and cache the vehicle perception data to the storage blocks whose status is marked as unlocked.

[0074] The determination module is used to respond to the triggering of a specific scenario, determine the target time window based on the triggering time of the specific scenario, and determine the target storage block corresponding to the target time window based on the time information of the vehicle perception data in each storage block, and set the status flag of the target storage block to the locked state.

[0075] The processing module is used to process the vehicle perception data in the target storage blocks that are in a locked state, on a block-by-block basis, and after processing each target storage block, set the status flag of the target storage block to an unlocked state.

[0076] In the above technical solution, the ring-shaped storage cache responds to cache configuration instructions. Cache configuration parameters are used to divide the ring-shaped storage cache into multiple independent storage blocks. Each storage block is configured with a status flag, including locked and unlocked states. The locked state indicates a write-prohibited state, and the unlocked state indicates a write-enabled state. The vehicle-mounted perception system collects vehicle-mounted perception data, which can be cached in storage blocks marked as unlocked. The vehicle-mounted perception system responds to the triggering of a specific scenario. The triggering time of the specific scenario is used to determine the target time window. The time information of the vehicle-mounted perception data in each storage block is used to determine the target storage block corresponding to the target time window. The status flag of the target storage block can be set to locked. Vehicle-mounted perception data in a locked target storage block is processed on a block-by-block basis. After processing of each target storage block is completed, its status flag can be set to unlocked. Based on the above settings, by dividing the storage into multiple independent storage blocks through a ring-shaped storage cache and configuring status flags for each storage block, the data write permissions of each storage block can be independently controlled. By setting the status flag of the target storage block corresponding to the target time window to the locked state, the data write capability of the other storage blocks can be maintained. By processing the vehicle perception data in the target storage block in units of storage blocks and switching the status flag settings after processing a single target storage block, the write permissions corresponding to the storage blocks can be released in stages. The entire operation process is executed in a coordinated manner, which can continuously provide storage space for writing vehicle perception data under the operating conditions of triggering specific scenarios in a short period of time, and can continuously and completely save the collected vehicle perception data.

[0077] The fifth aspect of this application provides a readable storage medium having a program or instructions stored thereon. When the program or instructions are executed by a processor, they implement the steps of the temporary storage and processing method for vehicle perception data provided in any of the above technical solutions. Therefore, all the same technical effects can be achieved. To avoid repetition, further details are omitted here.

[0078] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0079] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0080] Figure 1 A flowchart illustrating the temporary storage and processing method for vehicle-mounted sensing data provided in an embodiment of this application;

[0081] Figure 2 A structural block diagram of the temporary storage and processing device for vehicle-mounted sensing data provided in the embodiments of this application;

[0082] Figure 3 This is a structural block diagram of a vehicle provided in an embodiment of this application. Detailed Implementation

[0083] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0084] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0085] The following describes, with reference to the accompanying drawings, a method, apparatus, and vehicle for temporary storage and processing of vehicle-mounted sensing data according to some embodiments of this application.

[0086] like Figure 1 As shown, this application provides a method for temporary storage and processing of vehicle-mounted sensing data, applied to a vehicle-mounted sensing system, including:

[0087] S100: In response to the cache configuration command, obtain the cache configuration parameters of the ring storage cache, divide the ring storage cache into multiple independent storage blocks according to the cache configuration parameters, configure the status flag of the storage block for each storage block, and the status flag of the storage block includes at least a locked state and an unlocked state. The locked state is used to represent the state of prohibiting writing, and the unlocked state is used to represent the state of allowing writing.

[0088] S200: Collects vehicle-mounted sensing data and caches the vehicle-mounted sensing data to a storage block whose status is marked as unlocked;

[0089] S300: In response to the triggering of a specific scenario, the target time window is determined according to the triggering time of the specific scenario, and the target storage block corresponding to the target time window is determined according to the time information of the vehicle perception data in each storage block, and the status flag of the target storage block is set to the locked state.

[0090] S400: Process the vehicle perception data in the target storage block that is in a locked state on a storage block-by-storage basis, and set the status flag of the target storage block to the unlocked state after each target storage block is processed.

[0091] Among them, the ring-shaped storage cache is a cache space in the vehicle perception system specifically used to temporarily store vehicle perception data; the cache configuration parameters include the total capacity of the ring-shaped storage cache and the capacity of a single storage block, which are configuration values ​​used to divide the cache space; the storage block is an independent storage unit within the ring-shaped storage cache that can be read and written independently; the status flag is the identification information that binds to the corresponding storage block and distinguishes the write permissions; the target time window is based on the trigger time of a specific scenario and includes two intervals: before and after the trigger, used to filter the continuous time period of data to be locked; the target storage block is a storage block whose internal vehicle perception data and the target time window have a time intersection and need to be set to a locked state.

[0092] In the above embodiments, the ring-shaped storage cache responds to cache configuration instructions. Cache configuration parameters are used to divide the ring-shaped storage cache into multiple independent storage blocks. Each storage block is configured with a status flag, including locked and unlocked states. The locked state indicates a write-prohibited state, and the unlocked state indicates a write-allowed state. The vehicle-mounted perception system collects vehicle-mounted perception data, which can be cached in storage blocks with the unlocked status flag. The vehicle-mounted perception system responds to the triggering of a specific scenario. The triggering time of the specific scenario is used to determine the target time window. The time information of the vehicle-mounted perception data in each storage block is used to determine the target storage block corresponding to the target time window. The status flag of the target storage block can be set to the locked state. The vehicle-mounted perception data in the locked target storage block is processed on a block-by-block basis. After processing of each target storage block is completed, the status flag of the target storage block can be set to the unlocked state. The temporary storage processing method for vehicle perception data provided in this application divides the data into multiple independent storage blocks through a ring-shaped storage cache, and configures a status flag for each storage block, enabling independent control of the data write permissions for each storage block. By setting the status flag of the target storage block corresponding to the target time window to a locked state, the data write capability of the other storage blocks can be maintained. The method processes the vehicle perception data in the target storage block on a block-by-block basis, and switches the status flag setting after the processing of a single target storage block is completed, which can release the write permissions corresponding to the storage block in stages. The entire process is executed in a coordinated manner, which can continuously provide storage space for writing vehicle perception data under the operating conditions of triggering specific scenarios in a short period of time, and can continuously and completely save the collected vehicle perception data.

[0093] For example, the cache configuration parameters can be adjusted online to adapt the data acquisition load according to different vehicle models and different sensor hardware configurations.

[0094] Optionally, in some embodiments of this application, the storage blocks whose state is marked as unlocked when caching vehicle perception data to storage blocks include:

[0095] The storage blocks to be written are determined according to their order of arrangement in the circular storage cache.

[0096] If the storage block to be written is locked, skip the storage block to be written and determine the next storage block that is unlocked;

[0097] Cache the vehicle perception data to the identified unlocked storage blocks.

[0098] The arrangement order is the order in which all storage blocks are arranged in a fixed manner within the circular storage cache; the storage blocks to be written are the storage blocks that are prioritized for retrieval in the current writing process and are used to carry out the writing operation of vehicle perception data.

[0099] In the above embodiments, each storage block has a fixed arrangement order within the circular storage cache. Based on this order, all storage blocks can be traversed sequentially to filter for the block to be written. If a storage block to be written is identified as locked, it is skipped, and the search continues to the next block until an unlocked block is found. The unlocked blocks are used to store vehicle perception data. By sequentially searching the storage blocks according to the fixed arrangement order, all storage blocks within the circular storage cache can be completely traversed, avoiding missed blocks. Skipping locked blocks while continuing the search prevents interruption of the overall data writing process due to a single locked block. Vehicle perception data is written immediately after the search is completed, shortening the data writing waiting time. The entire writing process is executed continuously, ensuring the continuous completion of the vehicle perception data cache and preventing write interruptions caused by a single locked storage block.

[0100] For example, the storage block retrieval logic has a built-in loop judgment mechanism, which runs automatically throughout the process without manual intervention.

[0101] Optionally, in some embodiments of this application, the storage block whose state is marked as unlocked after caching vehicle perception data to a storage block further includes:

[0102] After completing the write to the current storage block, update the write position to the next storage block;

[0103] After the write position reaches the end of the circular storage cache, the write position is updated to the beginning of the circular storage cache to cyclically cache the vehicle perception data.

[0104] Among them, the write position is the identifier for locating the current write storage block; the end of the circular storage cache is the last position of the circular arrangement of storage blocks; and the start of the circular storage cache is the first position of the circular arrangement of storage blocks.

[0105] In the above embodiments, the write position is used to identify the storage block currently performing the data write operation. After the current storage block completes the writing of vehicle perception data, the write position synchronously switches to the next storage block. The circular storage cache is set with a fixed end and a fixed start. When the write position moves to the end of the circular storage cache, it automatically jumps to the start of the circular storage cache, thereby realizing the cyclic reading and writing of vehicle perception data. The write position is updated block by block, which can evenly distribute the vehicle perception data to all storage blocks of the circular storage cache and prevent data accumulation in local storage blocks. The write position jumps to the start after reaching the end of the cache, which can make full use of the entire storage space of the circular storage cache and will not stop data caching when reaching the end of the cache. The two position update logics are executed in conjunction to continuously and cyclically write the uninterrupted vehicle perception data and maximize the use of the overall storage capacity of the circular storage cache.

[0106] For example, the write position is recorded by a separate pointer variable, and read and write operations can complete the storage block location by simply reading this variable.

[0107] Optionally, in some embodiments of this application, the unlocked state includes an unwritten state and a written state;

[0108] When a storage block is in an unwritten state, it is permissible to write vehicle perception data directly.

[0109] When a storage block is in a written state, it is allowed to write the original vehicle perception data in the storage block in an overwrite manner;

[0110] When a storage block is locked, writing to vehicle sensing data is prohibited.

[0111] Among them, the "not written" state is a permission identifier that indicates no vehicle perception data and supports direct writing; the "written" state is a permission identifier that indicates the presence of vehicle perception data and supports overwriting.

[0112] In the above embodiments, the unlocked state is divided into two sub-states: unwritten and written. The unwritten state corresponds to blank storage blocks without vehicle perception data, and vehicle perception data can be directly written to these blank storage blocks. The written state corresponds to storage blocks that already contain vehicle perception data, and these storage blocks can support overwriting existing vehicle perception data. The locked state restricts any vehicle perception data from being written to the corresponding storage block. By subdividing the unlocked state into two sub-states, blank storage resources and occupied storage resources can be distinguished, enabling differentiated write control. Storage blocks in the unwritten state do not need to undergo overwrite operations, which can improve the data writing efficiency of blank storage blocks. Storage blocks in the written state support overwrite rewriting, allowing reuse of processed storage blocks and expanding available cache space. The three-level state hierarchical control of read and write permissions effectively improves the resource reuse efficiency of storage blocks within the circular storage cache.

[0113] For example, the status markers of the storage blocks are stored using digital encoding, with different encoding values ​​corresponding to three types of statuses, which facilitates quick identification and reading by in-vehicle electronic devices.

[0114] In some embodiments of this application, optionally, the target storage block corresponding to the target time window is determined based on the time information of the vehicle perception data in each storage block, including:

[0115] Obtain the timestamps corresponding to the vehicle perception data in each storage block;

[0116] Based on the timestamp, the storage blocks in which at least part of the vehicle perception data is located within the target time window are identified as the target storage blocks.

[0117] Among them, time information refers to time-related information related to the generation of vehicle-mounted sensing data; timestamp is an identifier that accurately records the moment when a single segment of vehicle-mounted sensing data is generated.

[0118] In the above embodiments, the timestamp is used to record the generation time of the vehicle perception data within the storage block. The vehicle perception system can read the timestamps corresponding to all storage blocks. By comparing the timestamps with the target time window, as long as any segment of vehicle perception data within the storage block falls within the target time window interval, this storage block is determined to be the target storage block. Reading the timestamps bound to the vehicle perception data can accurately quantify the time interval corresponding to each segment of perception data, eliminating the problem of time matching ambiguity. Only a portion of the data needs to fall within the target time window to be determined as the target storage block, which can completely lock cross-boundary storage blocks and will not miss vehicle perception data that crosses the target time window. The two-level filtering logic works together to completely lock all vehicle perception data associated with a specific scenario, preventing the loss of scenario-related data.

[0119] For example, the timestamp precision is set to the millisecond level to ensure the accuracy of matching the vehicle perception data with the target time window.

[0120] In some embodiments of this application, optionally, the target time window is determined based on the triggering time of a specific scenario, including:

[0121] Based on the trigger time of a specific scenario, determine the first time interval before the trigger time and the second time interval after the trigger time;

[0122] The boundaries of the first time interval and the second time interval are determined based on the pre-configured first duration parameter and second duration parameter, respectively.

[0123] The first time interval is a continuous period of time extending forward from the trigger time; the second time interval is a continuous period of time extending backward from the trigger time; the first duration parameter is a preset value that limits the span of the first time interval; the second duration parameter is a preset value that limits the span of the second time interval; and the boundaries are the start and end times corresponding to each time interval.

[0124] In the above embodiments, the trigger time of a specific scenario is used as the time reference. The reference is extended forward to form a first time interval, and extended backward to form a second time interval. A first duration parameter limits the coverage duration of the first time interval, and a second duration parameter limits the coverage duration of the second time interval. The two sets of parameters jointly define the start and end boundaries of the two time intervals. Dividing the time intervals before and after the scenario trigger time as the center can simultaneously retain vehicle perception data before and after the scenario occurs, completely restoring the entire process of a specific scenario. Setting two sets of duration parameters independently allows for flexible adjustment of the coverage range of the two intervals, adapting to the data retention needs of different types of specific scenarios. Segmenting the interval boundaries can accurately constrain the coverage range of the target time window, avoiding data from irrelevant time periods from occupying storage block resources.

[0125] For example, the first duration parameter and the second duration parameter can be customized and modified through the vehicle human-machine interface. The parameter adjustment takes effect immediately without restarting the vehicle perception system.

[0126] Optionally, in some embodiments of this application, the vehicle perception data in the target storage block is processed on a storage block basis, including:

[0127] Write the vehicle perception data in the target storage block to a non-volatile storage medium, and / or perform computational processing on the vehicle perception data in the target storage block.

[0128] Among them, the non-volatile storage medium is a hardware storage carrier that can continuously retain data after power failure; the computing processing is the operation of environmental recognition and vehicle condition analysis based on the vehicle perception data.

[0129] In the above embodiments, non-volatile storage media are used for long-term storage of vehicle perception data. Vehicle perception data within the target storage block can be transferred to non-volatile storage media for persistent storage. Computation processing is used to parse and calculate the environmental information and vehicle operation information contained in the vehicle perception data. The two processing methods can be executed separately or synchronously. Setting up two independent data processing paths can simultaneously meet the business needs of data archiving and storage and real-time analysis of vehicle algorithms. The two processing methods support synchronous execution without the need for additional relay caches, and data storage and data parsing can be completed in one go. The multi-path parallel processing architecture adapts to the multi-dimensional data usage needs of autonomous driving systems and broadens the application scenarios of vehicle perception data within the ring storage cache.

[0130] For example, in automotive scenarios, industrial-grade solid-state drives are selected as the non-volatile storage medium to adapt to complex operating environments such as vehicle vibration and wide temperature range.

[0131] In some embodiments of this application, optionally, the cache configuration parameters include the total capacity of the circular storage cache and the capacity of a single storage block;

[0132] The temporary storage and processing methods for vehicle-mounted sensing data also include:

[0133] Adjust the total capacity of the ring storage cache and / or the capacity of a single storage block based on the acquisition rate and / or processing speed of the vehicle-mounted sensing data.

[0134] Among them, the total capacity of the ring storage cache is the total data space that the ring storage cache can carry; the capacity of a single storage block is the total data space that a single independent storage unit can carry; the acquisition rate of vehicle perception data is the volume of vehicle perception data generated by the sensor per unit time; and the processing speed of vehicle perception data is the volume of vehicle perception data that the system can process per unit time.

[0135] In the above embodiments, the cache configuration parameters include two types of parameters: the total capacity of the ring storage cache and the capacity of a single storage block. The acquisition rate of vehicle-mounted sensing data represents the amount of data generated per unit time, and the processing speed of vehicle-mounted sensing data represents the amount of data that can be processed per unit time. Both types of indicators can be used as the basis for capacity adjustment. The temporary storage processing method for vehicle-mounted sensing data can modify the total capacity of the ring storage cache and the capacity of a single storage block individually or simultaneously based on the above indicators. The cache configuration parameters cover both the overall cache and a single storage unit, providing a two-layer capacity adjustment dimension. The capacity is dynamically adjusted based on the real-time running speed of data acquisition and data processing, which can match the real-time data throughput pressure. When the amount of acquired data is large, the cache is expanded; when the processing speed is fast, the cache is shrunk, avoiding idle cache resources or cache overflow. The two-layer dynamic capacity adjustment mechanism can adapt to the data load under different vehicle driving conditions and balance storage resource occupation and data cache stability.

[0136] For example, capacity adjustment is automatically performed by the background monitoring module, without requiring maintenance personnel to manually modify parameters.

[0137] In some embodiments of this application, optionally, multiple storage blocks have the same storage capacity, and the total capacity of the ring storage cache is an integer multiple of the capacity of the storage blocks.

[0138] In the above embodiments, all storage blocks within the ring-shaped storage cache adopt a uniform storage capacity, and the total capacity of the ring-shaped storage cache is divisible by the capacity of each storage block. The uniform capacity of all storage blocks simplifies the read / write scheduling logic of the vehicle perception system, eliminating the need for separate management of storage units of different sizes. The total capacity of the ring-shaped storage cache is an integer multiple of the storage block capacity, allowing for complete and even distribution of the ring-shaped storage cache, eliminating any unallocated fragmented storage space. These two capacity constraints work together to simplify the cache block partitioning logic, reduce the scheduling and computational overhead of vehicle electronic devices, and improve the read / write response speed of the ring-shaped storage cache.

[0139] For example, the capacity of a single storage block is limited to 1MB to 32MB, which is compatible with mainstream automotive memory hardware specifications.

[0140] In some embodiments of this application, optionally, each storage block has a unique block identifier, which is used to determine the storage block to be written and the target storage block.

[0141] Among them, the unique block identifier is a unique identification code that is assigned only to a single storage block and is not repeated.

[0142] In the above embodiments, each storage block is assigned a unique block identifier, which serves as an independent identification code for the storage block. This unique block identifier can be used to retrieve and filter storage blocks to be written, and also to locate the target storage block corresponding to a target time window. Each storage block is configured with an independent unique block identifier, eliminating the problem of confusion between different storage blocks. The same set of unique block identifiers is reused in both write retrieval and scene matching processes, eliminating the need for two separate identification codes and simplifying the underlying data structure of the system. Relying on the unique block identifier to accurately locate storage blocks shortens the storage block retrieval and matching time, improving the overall execution efficiency of cache read / write and scene locking.

[0143] For example, the unique block identifier is generated once using a continuous sequence of natural numbers and is fixedly allocated after the storage blocks are divided, so it does not need to be dynamically generated during operation.

[0144] In some embodiments of this application, the vehicle perception data may optionally include environmental perception data collected by at least one of vehicle cameras, lidar, and millimeter-wave radar, and / or vehicle operation data.

[0145] Among them, vehicle-mounted cameras, lidar, and millimeter-wave radar are environmental perception and acquisition devices installed on the vehicle; environmental perception data is information about the vehicle's surrounding environment acquired by the acquisition devices; and vehicle operation data is parameter information that records the vehicle's driving status.

[0146] In the above embodiments, vehicle-mounted cameras, LiDAR, and millimeter-wave radar can all collect environmental perception data around the vehicle. These three types of devices can be used individually or in combination. Vehicle operation data records the vehicle's own driving state parameters. Environmental perception data and vehicle operation data are uniformly aggregated into vehicle-mounted perception data and stored in a circular storage cache. This system is compatible with multiple mainstream vehicle-mounted perception acquisition hardware, fully covering the data sources for autonomous driving environmental perception. It synchronously caches both environmental perception data and vehicle operation data, achieving unified storage of external environment and vehicle data. The synchronous caching of multi-source data provides comprehensive data support for complete scenario review, avoiding the impact of missing data of a single type on scenario analysis.

[0147] For example, the vehicle operation data includes vehicle control parameters such as real-time vehicle speed, braking signals, and wheel steering angles.

[0148] In some embodiments of this application, the specific scenario may optionally include at least one of the following: obstacle detection scenario, vehicle braking scenario, and road condition change scenario.

[0149] Among them, the obstacle detection scenario is the vehicle operation condition in which the system identifies obstacles around the vehicle; the vehicle braking scenario is the vehicle operation condition in which the vehicle performs braking operations; and the road condition change scenario is the operation condition in which the vehicle travels on the road surface and the traffic flow changes.

[0150] In the above embodiments, obstacle detection scenarios, vehicle braking scenarios, and road condition change scenarios are high-frequency safety-related scenarios for autonomous vehicles. The system can identify any one of these scenarios individually or simultaneously. Once any scenario is triggered, the system initiates a complete processing flow, including target time window calculation and target storage block locking. This covers three core vehicle safety scenarios, automatically initiating a data locking and retention mechanism for high-frequency risk scenarios. It supports simultaneous identification of single or multiple scenarios, adapting to complex and changing road conditions. A dedicated scenario cache locking mechanism retains complete onboard perception data, facilitating subsequent operational review, fault tracing, and algorithm iteration optimization.

[0151] For example, the vehicle perception system is equipped with a dedicated scene recognition algorithm to monitor the vehicle's operating status around the clock and capture various specific scene trigger signals in real time.

[0152] like Figure 2 As shown, this application provides a vehicle-mounted perception data temporary storage and processing device 400, including: a memory 402 for storing programs or instructions; and a processor 404 for executing programs or instructions to implement the steps of the vehicle-mounted perception data temporary storage and processing method provided in any of the above embodiments, thus achieving all the same technical effects. To avoid repetition, it will not be described again here.

[0153] like Figure 3 As shown, this application provides a vehicle 100, including the vehicle-mounted perception data temporary storage and processing device 400 provided in any of the above embodiments, and thus can achieve all the same technical effects. To avoid repetition, it will not be described again here.

[0154] The methods described above can be implemented in various ways depending on specific features and / or example applications. For example, these methods can be implemented through a combination of hardware, firmware, and / or software. For instance, in a hardware implementation, the processor can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, electronic devices, other device units for performing the functions described above, and / or combinations thereof.

[0155] A computer-readable storage medium can be a tangible device that holds and stores instructions for use by an instruction execution device. A computer-readable storage medium can be an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing, but is not limited thereto. A non-exhaustive list of more specific examples of computer-readable storage media includes: portable computer floppy disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory, static random-access memory (SRAM), portable optical disc read-only memory (CD-ROM), digital video disc (DVD), memory cards, floppy disks, encoding mechanical devices (e.g., punched cards or grooves with raised structures for recording instructions), and any suitable combination of the foregoing. The computer-readable storage medium used herein should not be construed as the transmission signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media, or electrical signals transmitted through wires.

[0156] In the claims, description, and accompanying drawings of this application, the term "plural" refers to two or more objects. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing this application and simplifying the descriptive process, and are not intended to indicate or imply that the device or element referred to must have the described specific orientation, or be constructed and operated in a specific orientation. Therefore, these descriptions should not be construed as limitations on this application. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection between multiple objects, a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects or an indirect connection between multiple objects through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this application can be understood based on the specific circumstances described above.

[0157] In the claims, description, and accompanying drawings of this application, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In the claims, description, and accompanying drawings of this application, 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.

[0158] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for temporary storage and processing of vehicle-mounted sensing data, applied to a vehicle-mounted sensing system, characterized in that, include: In response to a cache configuration command, the cache configuration parameters of the ring storage cache are obtained. The ring storage cache is divided into multiple independent storage blocks according to the cache configuration parameters. A status flag is configured for each storage block. The status flag of the storage block includes at least a locked state and an unlocked state. The locked state is used to represent a state where writing is prohibited, and the unlocked state is used to represent a state where writing is allowed. Collect vehicle-mounted sensing data, and cache the vehicle-mounted sensing data in the storage block, marking the storage block in the unlocked state. In response to the triggering of a specific scenario, a target time window is determined based on the triggering time of the specific scenario, and the target storage block corresponding to the target time window is determined based on the time information of the vehicle perception data in each storage block, and the status flag of the target storage block is set to the locked state. The vehicle perception data in the target storage block that is in the locked state is processed in units of storage blocks, and after each target storage block is processed, the status flag of the target storage block is set to the unlocked state.

2. The temporary storage and processing method for vehicle-mounted sensing data according to claim 1, characterized in that, The storage blocks whose status is marked as unlocked when caching the vehicle perception data to the storage blocks include: The storage blocks to be written are determined according to the order in which the storage blocks are arranged in the circular storage cache. If the storage block to be written is in the locked state, skip the storage block to be written and determine the next storage block in the unlocked state; The vehicle perception data is cached to the determined storage block that is in the unlocked state.

3. The temporary storage and processing method for vehicle-mounted sensing data according to claim 2, characterized in that, The storage block whose state is marked as the unlocked state after caching the vehicle perception data to the storage block also includes: After completing the write to the current storage block, update the write position to the next storage block; After the write position reaches the end of the circular storage cache, the write position is updated to the beginning of the circular storage cache to cyclically cache the vehicle perception data.

4. The temporary storage and processing method for vehicle-mounted sensing data according to claim 1, characterized in that, The unlocked state includes an unwritten state and a written state; When the storage block is in the non-write state, the vehicle perception data can be written directly. When the storage block is in the written state, it is allowed to write the original vehicle perception data in the storage block in an overwrite manner; When the storage block is in the locked state, writing vehicle sensing data is prohibited.

5. The temporary storage and processing method for vehicle-mounted sensing data according to claim 1, characterized in that, The step of determining the target storage block corresponding to the target time window based on the time information of the vehicle perception data in each of the storage blocks includes: Obtain the timestamps corresponding to the vehicle perception data in each of the storage blocks; Based on the timestamp, a storage block containing at least a portion of the vehicle perception data within the target time window is determined as the target storage block.

6. The temporary storage and processing method for vehicle-mounted sensing data according to claim 5, characterized in that, Determining the target time window based on the trigger time of the specific scenario includes: Based on the triggering time of the specific scenario, a first time interval before the triggering time and a second time interval after the triggering time are determined; The boundaries of the first time interval and the second time interval are determined based on the pre-configured first duration parameter and second duration parameter, respectively.

7. The temporary storage and processing method for vehicle-mounted sensing data according to claim 1, characterized in that, The vehicle perception data in the target storage block is processed in units of storage blocks, including: Write the vehicle perception data in the target storage block to a non-volatile storage medium, and / or perform calculations on the vehicle perception data in the target storage block.

8. The temporary storage and processing method for vehicle-mounted sensing data according to claim 1, characterized in that, Each of the storage blocks has a unique block identifier, which is used to identify the storage block to be written and the target storage block.

9. A temporary storage and processing device for vehicle-mounted sensing data, characterized in that, include: Memory, used to store programs or instructions; A processor for executing a program or instructions to implement the steps of the temporary storage and processing method for vehicle-mounted perception data as described in any one of claims 1 to 8.

10. A vehicle, characterized in that, include: The on-board perception data temporary storage and processing device as described in claim 9.

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