Methods for storing vehicle-related topic data and domain controllers

Abstract

The present invention relates to a method for storing vehicle-related topic data in shadow mode, a ring buffer, and a domain controller. The method comprises: receiving vehicle-related topic data in response to a predetermined trigger event; and temporarily storing the vehicle-related topic data in a ring buffer, wherein the ring buffer is sequentially marked by N timestamps, which are set according to a predetermined time unit, where N is a natural number, and wherein the vehicle-related topic data is cyclically written to the ring buffer sequentially according to the memory positions marked by the N timestamps. According to the present invention, no additional I / O and memory operations are required, thus reducing the I / O and CPU load.

Description

Technical field

[0001] The present invention relates to autonomous driving technology, in particular a method for storing vehicle-related topic data in shadow mode, a data processing method in shadow mode, and a domain controller. State of the art

[0002] In the field of autonomous driving, shadow mode refers to a technique where, even when the vehicle is manned, an autonomous driving system remains active but does not control the vehicle. Instead, it makes virtual decisions and compares these with the driver's actual maneuvers to optimize its own algorithms. It functions as a kind of virtual co-driver, continuously monitoring road conditions, analyzing data, and thus making a significant contribution to the further development of autonomous driving technology.

[0003] Currently, in shadow mode, it works as follows: When error events occur with APA (Automatic Parking Assist), HPA (Home Zone Parking Assist), ViPER (Video Perception), LiPER (Lidar Perception), etc., a trigger instructs shadow mode to record vehicle-related topic data in all whitelists. For example, when the trigger in shadow mode receives vehicle-related topic data, this data is recorded to a RAM disk for approximately 10 seconds before and after the trigger is activated.

[0004] However, due to the fact that more than ten thousand topic messages are generated per second, this type of storage of vehicle-related topic data leads to an extremely high IO and CPU load, reaching almost 100%. Disclosure of the invention

[0005] Due to the aforementioned problems in the prior art, the present invention aims to provide a method for storing vehicle-related topic data in shadow mode, a data processing method in shadow mode, and a domain controller with which the IO and CPU load can be reduced. In one aspect of the present invention, a method for storing vehicle-related topic data is provided, comprising: receiving vehicle-related topic data in response to a predetermined trigger event; and Temporarily storing vehicle-related topic data in a ring buffer, wherein the ring buffer is sequentially marked by N time markers set according to a predetermined time unit, where N is a natural number. and wherein the vehicle-related topic data are cyclically written to the ring buffer one after the other according to the memory positions marked by the N timestamps. Brief description of the characters Fig. Figure 1 shows an exemplary schematic representation of a ring buffer with time markers according to an embodiment of the present invention; Fig. Figure 2 shows a schematic representation of the ring buffer with time markers according to an example of the present invention; and Fig. Figure 3 shows a schematic representation of the ring buffer with time markers according to another example of the present invention. Detailed descriptions

[0006] The following are some of the various embodiments of the present invention. These are intended to provide a basic understanding of the present invention and do not aim to confirm critical or decisive elements of the present invention or to limit its scope of protection.

[0007] First, a method for storing vehicle-related topic data according to an embodiment of the present invention is described. The method for storing vehicle-related topic data according to an embodiment of the present invention comprises the following steps: receiving vehicle-related topic data in response to a predetermined trigger event; and

[0008] Temporarily storing vehicle-related topic data in a ring buffer, wherein the ring buffer is sequentially marked by N time markers set according to a predetermined time unit, where N is a natural number. and wherein the vehicle-related topic data are cyclically written to the ring buffer one after the other according to the memory positions marked by the N timestamps.

[0009] In this process, a trigger in shadow mode instructs the system to store and record vehicle-related topic data in all whitelists. All vehicle-related topic data, both before and after the trigger is activated, is stored in the ring buffer according to the invention. By way of example, the ring buffer according to the invention should be capable of storing approximately 50 MB of vehicle-related topic data per second. In the present embodiment, the vehicle-related topic data is compressed after being received and temporarily stored, and then sent to a slave core and subsequently to the cloud.

[0010] In shadow mode, vehicle-related topic data primarily refers to various data and information generated during vehicle operation. This data and information is used by an autonomous driving system (without participating in actual vehicle control) to make virtual decisions and validate algorithms. The vehicle-related topic data in shadow mode can include, but is not limited to, the following: sensor data, vehicle status information, driver behavior data, system logs, and error messages, etc. The predefined trigger event includes, for example: an error event captured by video perception; and a fault event detected by Lidar Perception.

[0011] By temporarily storing vehicle-related topic data in the ring buffer according to the timestamps in one embodiment of the present invention, the vehicle-related topic data can be sent to the cloud after temporary storage without performing further I / O operations and without having to use a RAM disk. This is because, as described above, more than ten thousand topic messages can be generated per second in shadow mode, and the prior art system frequently has to perform I / O operations, such as reading and writing to a RAM disk, to record these topic messages, which would lead to an increased I / O load and an increased CPU load. With the present invention, however, all data is stored in the ring buffer, so that the data can be accessed based on the timestamps (or...Data can be retrieved at a speed on the order of seconds without having to search the disk for the recorded data. This avoids I / O operations and reduces I / O and CPU load.

[0012] The following section describes in detail the ring buffer and the timestamps used in the method for storing vehicle-related topic data of the present invention.

[0013] Fig. Figure 1 shows an exemplary schematic representation of a ring buffer with time markers according to an embodiment of the present invention.

[0014] As in Fig. As shown in Figure 1, 100 denotes a ring buffer, where "H" indicates a head part of the ring buffer and "T" a tail part of the ring buffer. Fig. 1 tg0, tg1, tg2 ... tg8 successively mark nine time markers within the ring buffer.

[0015] In the present embodiment, a time stamp can be defined such that it includes the following: a start and end position; a start and end timestamp; and A marker state indicates whether the memory area defined by the timestamp is being used by other threads (e.g., compression or send threads). If the state is BUSY (occupied), the data positions must not overlap, even if the memory area is full.

[0016] For example, the relevant information of the timestamp (e.g. start position, end position, start time, end time, marker status) can be predefined.

[0017] Specifically, the marker state (TIME_TAG_STATE) of a timestamp can be set, for example, to include the following three states: unoccupied (TAG_FREE, value 0); occupied (TAG_BUSY, value 1); and ignored (TAG_IGNORE).

[0018] As a concrete example, the relevant information of the timestamp can be defined as follows: Start position (m_start_pos, 32-bit unsigned integer, default value 0); End position (m_end_pos, 32-bit unsigned integer, default value 0); Start time (m_start_time, 64-bit unsigned integer, default value 0); End time (m_end_time, 64-bit unsigned integer, default value 0); and tag state (using TIME_TAG_STATE, default value TAG_FREE).

[0019] The present invention describes, as an example, accessing the received data in a unit of seconds. That is, each timestamp corresponds to one second. Therefore, in this example, the start position (m_start_time) denotes a start time at which the first data packet is written within the received, buffered 1-second data, while the end position (m_end_time) denotes a time at which the last data packet is written within this 1-second data.

[0020] In the present invention, the time markers are used cyclically. When the last time marker is used, the memory area marked by the first time marker is released, since the trigger only records data for a limited number of seconds (typically about 5 to 10 seconds) before and after the trigger time. For clarification, reference is made to the exemplary embodiment according to [reference to figure]. Fig. 2. Referenced.

[0021] Fig. Figure 2 shows a schematic representation of the ring buffer with time markers according to an example of the present invention.

[0022] In the upper part of Fig. Figure 2 shows the ring buffer 100, which is sequentially labeled by the timestamps tg0, tg1, tg2 ... tg10. The head section H of the ring buffer 100 is located at the position of timestamp tg0, while the tail section T of the ring buffer 100 is located at the position of timestamp tg10. During the data cycle, when all timestamps (tg0, tg1, tg2 ... tg10) of the ring buffer 100 have been used, the earliest timestamp used in the ring buffer 100 is released to make room for new data. For example, in the ring buffer 100, at the top of Fig. 2. When the last timestamp tg10 has been used, the memory area marked by the first timestamp tg0 is released. In this case, the head H and tail T of the ring buffer 100 are as shown in the lower part of Fig. Figure 2 shows the head section H at the position of time marker tg1 and the tail section T at the position of time marker tg0. This cyclical use of the time markers ensures efficient use of the time markers while avoiding unnecessary resource allocation.

[0023] In a preferred embodiment, the time unit of the timestamps is set to one second, i.e., one timestamp per second. In this way, the position of the respective memory area corresponding to a specific time can be quickly located using the timestamps according to the invention, without having to search the entire buffer for the data of that time (since the data volume of the vehicle-related topic data is very large and close to 50 MB per second, such a search would be extremely time-consuming). Furthermore, with one timestamp per second, it is not necessary to record the time for each data packet, thus enabling faster localization of the respective data with less memory.

[0024] To describe in more detail the ring buffer and the timestamps used in the method for storing vehicle-related topic data of the present invention, an example is given below. Fig. 3. Referenced.

[0025] Fig. Figure 3 shows a schematic representation of the ring buffer with time markers according to another example of the present invention.

[0026] In the upper part of Fig. Figure 3 shows the ring buffer 100, with the head part H of the ring buffer 100 located at the position of the time marker tg3 and the tail part T of the ring buffer 100 at the position of the time marker tg2. When the last time marker tg2 of the upper part of Fig. Once the ring buffer 100 shown in section 3 has been used, the memory area marked by the first time marker tg3 is released. In this case, the head section H and the tail section T of the ring buffer 100 are as shown in the lower part of Fig. Figure 3 shows the head section H at the position of time marker tg4 and the tail section T at the position of time marker tg3. As in Fig.As shown in Figure 3, the timestamps are used cyclically. When the ring buffer reaches the tail section T, new data is stored from the free space at the head section H. This ensures that the ring buffer can be used continuously without interrupting data recording. In this way, the limited storage space can be used efficiently, and the continuity and integrity of the data are guaranteed. As described above, in the inventive method for storing vehicle-related topic data, all vehicle-related topic data before and after the trigger event is stored in the ring buffer of the present invention. Using the structure of the ring buffer and the timestamps of the present invention, the topic data can be accurately recorded and located for each second. For example, the timestamp makes it possible to quickly locate the storage position of data for a specific second in the ring buffer.In this way, the received vehicle-related topic data can be stored in an organized manner to ensure data integrity and traceability. Furthermore, in the inventive method for storing vehicle-related topic data, all data is stored in the ring buffer, so that the data can be retrieved using the timestamps (or at a speed on the order of seconds) without having to search the disk for the recorded data or perform additional I / O operations.

[0027] Furthermore, in the inventive method for storing vehicle-related topic data, the topic data is directly compressed in the ring buffer for each second, then sent to the slave core, and subsequently forwarded to the cloud. No further storage operations are required in this process, which reduces intermediate data processing operations and improves transmission efficiency.

[0028] Furthermore, if it is necessary to retrieve topic data for a specific period, this data can be quickly located and retrieved using the timestamps. Since all data is stored in the ring buffer, it is no longer necessary to search the disk as in the conventional way, which significantly reduces data retrieval time and improves system response speed. In summary, the method for storing vehicle-related topic data and the timestamp ring buffer of the present invention can provide an efficient and low-overload storage method for processing vehicle-related topic data in shadow mode, avoiding the use of I / O operations and reducing I / O and CPU load. It has been tested that using the method for storing vehicle-related topic data of the present invention reduces I / O and CPU load by more than 50% compared to the prior art.

[0029] Only specific embodiments of the present application are described above, but the scope of protection of the present application is not limited thereto. Other possible modifications or substitutions can be derived by a person skilled in the art in accordance with the technical scope disclosed in the present application. Such modifications or substitutions all fall within the scope of protection of the present application. In the case of no conflict, the embodiments and features in the embodiments of the present application can be combined with one another in any combination. The scope of protection of the present application should depend on the claims.

Claims

A method for storing vehicle-related topic data, characterized in that it comprises: receiving vehicle-related topic data in response to a predetermined trigger event; and temporarily storing the vehicle-related topic data in a ring buffer, wherein the ring buffer is sequentially marked by N time markers set according to a predetermined time unit, where N is a natural number, and wherein the vehicle-related topic data is cyclically written successively into the ring buffer according to the storage positions marked by the N time markers. Method for storing vehicle-related topic data according to claim 1, characterized in that it further comprises: compressing the vehicle-related topic data temporarily stored in the ring buffer; and sending the compressed vehicle-related topic data. Method for storing vehicle-related topic data according to claim 1, characterized in that the cyclic writing of the vehicle-related topic data successively into the ring buffer according to the storage positions marked by the N timestamps comprises the following: releasing a storage area of ​​the ring buffer marked by the earliest of the N timestamps for the subsequent writing of vehicle-related topic data when a storage area of ​​the ring buffer marked by the last of the N timestamps is occupied. Method for storing vehicle-related topic data according to claim 1, characterized in that the timestamps comprise: a start position and an end position in the ring buffer; a start time and an end time for writing the vehicle-related topic data; and a marker state indicating whether the corresponding storage position of the ring buffer is occupied or free. Method for storing vehicle-related topic data according to claim 1, characterized in that the specified time unit corresponds to one second. Method for storing vehicle-related topic data according to claim 1, characterized in that N is set to less than or equal to 20. Shadow-mode data processing method, characterized in that the data processing method comprises: receiving vehicle-related topic data in response to a predetermined trigger event; and temporarily storing the vehicle-related topic data in a ring buffer, wherein the ring buffer is sequentially marked by N timestamps set according to a predetermined time unit, where N is a natural number, and wherein the vehicle-related topic data is cyclically written to the ring buffer successively according to the storage positions marked by the N timestamps. Shadow mode data processing method according to claim 7, characterized in that the predetermined trigger event comprises: a fault event detected by video perception; and a fault event detected by lidar perception. Domain controller comprising a memory module, a processor and a computer program that is stored on the memory module and can run on the processor, characterized in that the method for storing vehicle-related topic data according to one of claims 1 to 6 is implemented when the processor executes the computer program. Computer program product comprising a computer program, characterized in that the method for storing vehicle-related topic data according to one of claims 1 to 6 is implemented when the computer program is executed by a processor. A computer-readable medium on which a computer program is stored, wherein the method for storing vehicle-related topic data according to any one of claims 1 to 6 is implemented when the computer program is executed by a processor.

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