Dual storage system for autonomous vehicles

Abstract

The dual storage device for an autonomous vehicle of the present invention may include a first device 1000, a second device 2000, and a node 3000 connected to the first device 1000 or the second device 2000 for processing data.

Description

[Technical field]

[0001] The present invention relates to a storage device, and more particularly to a device capable of storing data in a redundant manner as a storage device applied to an autonomous vehicle. [Background technology]

[0002] Availability is very important in a mission-critical system such as an electrical system for an autonomous vehicle, ensuring that each function is always operational. Therefore, important functions such as the network inside the vehicle are designed with availability in mind. However, until now, the storage devices for the autonomous driving electrical system have not been sufficiently applied with technology to ensure high availability. If a fault occurs in a storage device with low availability, access processing to read or write data from the storage device may not be performed, resulting in malfunction, which is highly likely to lead to a serious accident. Therefore, there is a need for a storage device for an autonomous vehicle that has high availability and can ensure safety even in the event of a system malfunction or temporary fault condition. Summary of the Invention [Problem to be solved by the invention]

[0003] An object of the present invention is to provide a storage device for an autonomous vehicle capable of storing data in a duplicated manner. [Means for solving the problem]

[0004] According to one embodiment, a dual storage device for an autonomous vehicle includes a first device, a second device, and a node connected to the first device or the second device for processing data, wherein the first device includes a first storage unit for storing data, a first synchronization unit for synchronizing with the second device using data stored in the first storage unit, a first management unit for transmitting and receiving a status-related signal with the second device, and a first network unit for transmitting the data stored in the first storage unit to the node, and the second device includes a second storage unit for storing data, a second synchronization unit for synchronizing with the first device using data stored in the second storage unit, a second management unit for transmitting and receiving a status-related signal with the first device, and a second network unit for transmitting the data stored in the second storage unit to the node.

[0005] Here, the first synchronizer may transmit data stored in the first storage unit to the second synchronizer and transmit data acquired from the second synchronizer to the first storage unit, and the second synchronizer may transmit data stored in the second storage unit to the first synchronizer and transmit data acquired from the first synchronizer to the second storage unit.

[0006] Here, the first management unit may transmit a first confirmation signal to the second management unit, the second management unit may transmit a first response signal to the first management unit in response to the first confirmation signal, the second management unit may transmit a second confirmation signal to the first management unit, and the first management unit may transmit a second response signal to the second management unit in response to the second confirmation signal, and the first management unit and the second management unit may periodically transmit the first confirmation signal and the second confirmation signal, respectively.

[0007] Here, the first storage unit may include a first duplicated data area and a first non-duplicated data area, the second storage unit may include a second duplicated data area and a second non-duplicated data area, the first synchronization unit may transmit data stored in the first duplicated data area to the second synchronization unit but not transmit data stored in the first non-duplicated data area, and the second synchronization unit may transmit data stored in the second duplicated data area to the first synchronization unit but not transmit data stored in the second non-duplicated data area.

[0008] Here, the first device may include a first control unit that classifies acquired data into duplicated data or non-duplicated data based on characteristics of the data, such that data classified as duplicated data is stored in the first duplicated data area, and data classified as non-duplicated data is stored in the first non-duplicated data area, and the second device may include a second control unit that classifies acquired data into duplicated data or non-duplicated data based on characteristics of the data, such that data classified as duplicated data is stored in the second duplicated data area, and data classified as non-duplicated data is stored in the second non-duplicated data area.

[0009] Here, the data characteristics may include security relevance, data size, temporality, and importance.

[0010] Here, the first network unit can transmit data stored in the first storage unit to the node when the first device is in an active state, and the second network unit can transmit data stored in the second storage unit to the node when the second device is in an active state.

[0011] Here, the first device may include a first control unit that determines whether the first device is in an active state based on whether the first response signal is acquired from the first management unit, and the second device may include a second control unit that determines whether the second device is in an active state based on whether the second response signal is acquired from the second management unit. Effect of the Invention

[0012] According to an embodiment of the present invention, a storage device for an autonomous vehicle capable of storing data in a duplicated manner may be provided. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a configuration diagram of a dual storage device for an autonomous vehicle according to an embodiment. [Diagram 2] FIG. 2 is a specific block diagram of a dual storage device for an autonomous vehicle according to an embodiment; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] The embodiments described in this specification are intended to clearly explain the concept of the present invention to those having ordinary skill in the art to which the present invention pertains. Therefore, the present invention is not limited to the embodiments described in this specification, and the scope of the present invention should be understood to include modifications or variations that do not deviate from the concept of the present invention.

[0015] The terms used in this specification are selected from currently widely used general terms that are possible in consideration of the functions of the present invention, but this may change depending on the intention of a person having ordinary skill in the art to which the present invention belongs, precedents, the emergence of new technology, etc. However, when a specific term different from the above is defined and used with an arbitrary meaning, the meaning of the term will be described separately. Therefore, the terms used in this specification should be defined based on the substantial meaning of the term and the overall content of this specification, rather than simply the name of the term.

[0016] The drawings attached to this specification are intended to easily explain the present invention, and the shapes illustrated in the drawings are exaggerated as necessary to facilitate understanding of the present invention, and therefore the present invention is not limited by the drawings.

[0017] In this specification, if it is determined that a detailed description of a known structure or function related to the present invention may obscure the gist of the present invention, the detailed description thereof will be omitted as necessary.

[0018] FIG. 1 is a configuration diagram of a dual storage device for an autonomous vehicle according to an embodiment.

[0019] Referring to FIG. 1, a dual storage device for an autonomous vehicle according to an embodiment may include a first device 1000, a second device 2000, and a node 3000.

[0020] The dual storage device for an autonomous vehicle may have two or more storage devices therein to store data in duplicate. For example, the dual storage device for an autonomous vehicle may include a first device 1000 and a second device 2000 capable of storing data. Although FIG. 1 illustrates the dual storage device for an autonomous vehicle having two storage devices, the present invention is not limited thereto.

[0021] The first device 1000 and the second device 2000 may be internal data storage devices of the dual storage device for an autonomous vehicle. Specifically, the first device 1000 and the second device 2000 may be storage devices having separate controllers. For example, an operating system such as Linux (registered trademark) may be installed in the first device 1000 and the second device 2000, and each device may include, but is not limited to, a plurality of components for each function. The first device 1000 and the second device 2000 may communicate with each other to synchronize data and check each other's status (operational or non-operational).

[0022] The first device 1000 and the second device 2000 can communicate with the node 3000. Specifically, data stored in the first device 1000 and the second device 2000 can be routed to the activated node 3000 and transmitted to an external system. In this case, the external system may be a system that performs a function related to an autonomous vehicle. For example, the external system may be a device installed inside or outside a vehicle, such as a navigation system, a sensor, etc., but is not limited thereto.

[0023] The node 3000 may be an internal vehicle network (Automotive Ethernet) connected to an external system. There may be a plurality of nodes 3000, and the node 3000 may be an activated node among a plurality of nodes that communicate with the first device 1000 or the second device 2000.

[0024] The node 3000 can communicate only with an active device (the first device in FIG. 1). Specifically, the node 3000 does not communicate with two devices at the same time. If an error occurs in an active device, the node 3000 communicates with a standby device other than the active device through a network unit included in the standby device.

[0025] Any one of the first device 1000 and the second device 2000 can be in an active state and the other can be in a standby state. In this case, an external system can transmit data to a storage unit included in the active device through a node 3000 connected to the active device or obtain data from the storage unit.

[0026] At this time, an error may occur in the activated device, causing the activated device to not operate. In the case of a storage device for an autonomous vehicle, if data inside the storage device is not connected, serious problems may occur in vehicle operation. This may lead to serious accidents, such as loss of life. Therefore, the present invention proposes a duplicated storage device for an autonomous vehicle that has multiple storages inside the storage device and can prevent accidents by using a standby storage even in an emergency. According to the present invention, even if one storage device cannot operate normally, the other storage device that is duplicated and synchronized can be accessed normally, greatly improving the stability of the entire system in the autonomous vehicle.

[0027] FIG. 2 is a specific block diagram of a dual storage device for an autonomous vehicle according to an embodiment.

[0028] 2, a first device 1000 included in the dual storage device for an autonomous vehicle according to an embodiment may include a first control unit 1100, a first storage unit 1200, a first synchronization unit 1300, a first management unit 1400, and a first network unit 1500. Also, a second device 2000 included in the dual storage device for an autonomous vehicle according to an embodiment may include a second control unit 2100, a second storage unit 2200, a second synchronization unit 2300, a second management unit 2400, and a second network unit 2500.

[0029] 2 shows each component as a separate unit or device, but is not limited thereto, and some components may be configured as one device. For example, but is not limited thereto, the first synchronization unit 1300 and the first management unit 1400 may be expressed as one component. Also, for example, but is not limited thereto, the first control unit 1100 and the first network unit 1500 may be expressed as one component.

[0030] The first device 1000 may include a first control unit 1100. Specifically, the first control unit 1100 may transmit control commands to the first storage unit 1200, the first synchronization unit 1300, the first management unit 1400, and the first network unit 1500 to execute operations of each unit. Unless otherwise specified below, it may be construed that the operation of the first device 1000 is performed under the control of the first control unit 1100.

[0031] The first controller 1100 may classify data acquired by the first device 1000 as duplicated data or non-duplicated data. Specifically, the first controller 1100 may classify data based on characteristics of the data. In this case, the characteristics of the data may include the degree of relevance to security, the size of the data, its temporality, and its importance.

[0032] According to an embodiment, the first control unit 1100 may classify data directly related to safety into duplicated data. For example, data directly related to safety may be sensor data used to search for surrounding obstacles, current vehicle status data, etc., but is not limited thereto.

[0033] According to another embodiment, the first controller 1100 may classify data that is too large to be fully stored in the first duplicated data area 1210 as non-duplicated data. For example, the data that is too large may be, but is not limited to, a black box image.

[0034] According to another embodiment, the first controller 1100 may classify data that is temporarily used and then becomes unnecessary or that can be re-downloaded online as non-duplicated data. For example, data that is highly temporary may be map information for navigation, but is not limited thereto.

[0035] According to another embodiment, the first controller 1100 may classify data of high importance as duplicated data. For example, the data of high importance may be, but is not limited to, core data (metadata or parity data) of data classified as non-duplicated data. In this case, the core data may include information such as temporary modifications of the non-duplicated data and data format.

[0036] Data classified as duplicated data according to the classification of the first control unit 1100 may be stored in the first duplicated data area 1210. Also, data classified as non-duplicated data according to the classification of the first control unit 1100 may be stored in the first non-duplicated data area 1220. At this time, the data stored in the first duplicated data area 1210 may be synchronized with the second device 2000, but the data stored in the first non-duplicated data area 1220 may not be synchronized with the second device 2000. Also, at this time, regardless of the classification of duplicated data or non-duplicated data, the data stored in the first storage unit 1200 may be transmitted to an external system through the node 3000.

[0037] The first storage unit 1200 may store various data and programs required for the autonomous vehicle electrical system to operate, and may store all data, such as data acquired by the first device 1000 and data processed by an external system.

[0038] The first storage unit 1200 may store data temporarily or semi-permanently. The first storage unit 1200 may be implemented as various modules for storing data, including, but not limited to, a hard disk drive (HDD), a solid state drive (SSD), a flash memory, a read-only memory (ROM), a random access memory (RAM), or a cloud storage.

[0039] The first storage unit 1200 may include a first duplicated data area 1210 and a first non-duplicated data area 1220. The first duplicated data area 1210 may store duplicated data that is highly relevant to security, has a small data size, requires permanent storage, or is highly important. The first non-duplicated data area 1220 may store non-duplicated data that is less relevant to security, has a large data size, is highly temporary, or is less important.

[0040] The first synchronizer 1300 may perform a data synchronization function with the second device 2000. Specifically, the first synchronizer 1300 may transmit data stored in the first storage unit 1200 to the second device 2000 while the first device 1000 is in an active state and communicating with the node 3000. At this time, the data transmitted by the first synchronizer 1300 to the second device 2000 may be data stored in the first duplicated data area 1210 of the first storage unit 1200. That is, the first synchronizer 1300 transmits data included in the first duplicated data area 1210 to the second device 2000, but does not transmit data included in the first non-duplicated data area 1220.

[0041] The first management unit 1400 may transmit a current state of the first device 1000 or may check the state of the second device 2000 through signal transmission and reception with the second device 2000. Specifically, the first management unit 1400 may transmit a first confirmation signal to the second device 2000. If the first management unit 1400 receives a first response signal in response to the first confirmation signal from the second device 2000, the first management unit 1400 may check that the second device 2000 is in an operational state. If no response to the first confirmation signal is received from the second device 2000, the first management unit 1400 may check that an error exists in the second device 2000.

[0042] Also, the first management unit 1400 may transmit a second response signal in response to the second confirmation signal transmitted by the second management unit 2400 of the second device 2000. For example, the first response signal or the second response signal may be a simple ACK signal. Also, for example, the first response signal or the second response signal may be a signal including specific status information of the first device 1000 or the second device 2000. At this time, the specific status information may include various information such as a specific function cannot be performed, an error has occurred, or normal operation.

[0043] In addition, when the first device 1000 is in an activated state, the first management unit 1400 may manage a virtual IP address so that an access from an external system is routed to a node of the first device 1000. Through the virtual IP address managed by the first management unit 1400, the first device 1000 may obtain data from the node 3000 or transmit data to the node 3000.

[0044] The first network unit 1500 may help the first device 1000 and the node 3000 to transmit and receive data. Specifically, the first network unit 1500 may transmit data stored in the first storage unit 1200 to the node 3000. When the first device 1000 is in an activated state, the first network unit 1500 may expose the first device 1000 on the network so that an external system can access the first device 1000 like a local storage through a virtual IP address managed by the first management unit 1400.

[0045] Also, the first network unit 1500 can obtain data of an external system from the node 3000 and store the data in the first storage unit 1200. At this time, before the data is stored in the first storage unit 1200, the data is classified by the first control unit 1100, and it can be determined whether the data is stored in the first duplicated data area 1210 or the first non-duplicated data area 1220 based on the classification result.

[0046] When the first device 1000 is in an active state, the first network unit 1500 can transmit data stored in the first storage unit 1200 to the node 3000. However, when the first device 1000 is in a standby state or an error occurs in the first device 1000, the first network unit 1500 may not transmit or receive data to or from the node 3000.

[0047] The second device 2000 may include a second control unit 2100. Specifically, the second control unit 2100 may transmit control commands to the second storage unit 2200, the second synchronization unit 2300, the second management unit 2400, and the second network unit 2500 to execute operations of each unit. Unless otherwise specified below, it may be construed that the operation of the second device 2000 is performed under the control of the second control unit 2100.

[0048] The second controller 2100 can classify data acquired by the second device 2000 into duplicated data or non-duplicated data, similar to the first controller 1100. The details of the data classification of the second controller 2100 are the same as those of the first controller 1100, and therefore a detailed description thereof will be omitted.

[0049] Data classified as duplicated data according to the classification of the second control unit 2100 may be stored in the second duplicated data area 2210. Also, data classified as non-duplicated data according to the classification of the second control unit 2100 may be stored in the second non-duplicated data area 2220. At this time, the data stored in the second duplicated data area 2210 may be synchronized with the first device 1000, but the data stored in the second non-duplicated data area 2220 may not be synchronized with the first device 1000. Also, at this time, regardless of the classification of duplicated data or non-duplicated data, the data stored in the second storage unit 2200 may be transmitted to an external system through the node 3000.

[0050] The second storage unit 2200 can store various data and programs required for the autonomous vehicle electrical system to operate, similar to the first storage unit 1200. The contents of the second storage unit 2200 overlap with the contents of the first storage unit 1200, so detailed description thereof will be omitted.

[0051] The second synchronizer 2300 may perform a data synchronization function with the first device 1000. Specifically, the second synchronizer 2300 may transmit data stored in the second storage unit 2200 to the first synchronizer 1300 of the first device 1000 while the second device 2000 is in an active state and communicating with the node 3000. At this time, the data transmitted by the second synchronizer 2300 to the first synchronizer 1300 of the first device 1000 may be data stored in the second duplicated data area 2210 of the second storage unit 2200. That is, the second synchronizer 2300 may transmit data included in the second duplicated data area 2210 to the first synchronizer 1300, but may not transmit data included in the second non-duplicated data area 2220.

[0052] The second management unit 2400 may transmit the current state of the second device 2000 or may check the state of the first device 1000 through signal transmission and reception with the first management unit 1400 of the first device 1000. Specifically, the second management unit 2400 may transmit a second confirmation signal to the first management unit 1400. If the second management unit 2400 receives a second response signal in response to the second confirmation signal from the first management unit 1400, the second management unit 2400 may check that the first device 1000 is in an operational state. If the second management unit 2400 does not receive a response to the second confirmation signal from the first management unit 1400, the second management unit 2400 may check that an error exists in the first device 1000.

[0053] Also, the second manager 2400 can transmit a first response signal in response to the first confirmation signal transmitted by the first manager 1400. A description thereof will be omitted since it is the same as that described above.

[0054] In addition, when the second device 2000 is in an activated state, the second management unit 2400 may manage a virtual IP address so that an access from an external system is routed to a node of the second device 2000. Through the virtual IP address managed by the second management unit 2400, the second device 2000 may obtain data from the node 3000 or transmit data to the node 3000.

[0055] The second network unit 2500 may help the second device 2000 and the node 3000 to transmit and receive data. Specifically, the second network unit 2500 may transmit data stored in the second storage unit 2200 to the node 3000. When the second device 2000 is in an activated state, the second network unit 2500 may expose the second device 2000 on the network so that an external system can access the second device 2000 like a local storage through a virtual IP address managed by the second management unit 2400.

[0056] Also, the second network unit 2500 can obtain data of an external system from the node 3000 and store the data in the second storage unit 2200. At this time, before the data is stored in the second storage unit 2200, the data is classified by the second control unit 2100, and it can be determined whether the data is stored in the second duplicated data area 2210 or the second non-duplicated data area 2220 based on the classification result.

[0057] When the second device 2000 is in an active state, the second network unit 2500 can transmit data stored in the second storage unit 2200 to the node 3000. However, when the second device 2000 is in a standby state or an error occurs in the second device 2000, the second network unit 2500 may not transmit or receive data to or from the node 3000.

[0058] The method according to the embodiment may be embodied in the form of program instructions that can be executed by various computer means and recorded on a computer readable medium. The computer readable recording medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the computer readable recording medium may be specially designed and configured for the embodiment, or may be known and available to those skilled in the art of computer software. Examples of computer readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program instructions, such as ROMs, RAMs, flash memories, and the like. Examples of program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, and the like. The hardware devices may be configured to operate as one or more software modules to perform the processes according to the present invention, and vice versa.

[0059] Although the embodiments of the present invention have been described above with reference to limited embodiments and drawings, those skilled in the art may make various modifications and variations from the above description. For example, the described techniques may be performed in a different order than described, and / or the components of the described systems, structures, devices, circuits, etc. may be combined or combined in a different manner than described, or may be replaced or substituted by other components or equivalents, and still achieve suitable results.

[0060] Accordingly, other implementations, embodiments, and equivalents of the claims are intended to be within the scope of the following claims. [Explanation of symbols]

[0061] 1000 1st device, 2000 2nd device, 3000 nodes.

Claims

1. A first device; A second device; and a node coupled to the first device or the second device for processing data; The first device is A first storage unit for storing data; a first synchronization unit for synchronizing with the second device using data stored in the first storage unit; a first management unit for transmitting and receiving a status-related signal to and from the second device; a first network unit that transmits data stored in the first storage unit to the node; The second device is A second storage unit for storing data; a second synchronization unit for synchronizing with the first device using data stored in the second storage unit; a second management unit for transmitting and receiving a status-related signal to and from the first device; and a second network unit that transmits the data stored in the second storage unit to the node.

2. The first synchronization unit is transmitting data stored in the first storage unit to the second synchronization unit and transmitting data acquired from the second synchronization unit to the first storage unit; The second synchronization unit is 2. The dual storage device for an autonomous vehicle according to claim 1, wherein the data stored in the second storage unit is transmitted to the first synchronization unit, and the data acquired from the first synchronization unit is transmitted to the second storage unit.

3. the first management unit transmits a first confirmation signal to the second management unit, and the second management unit transmits a first response signal to the first management unit in response to the first confirmation signal; the second management unit transmits a second confirmation signal to the first management unit, and the first management unit transmits a second response signal to the second management unit in response to the second confirmation signal; The dual storage device for an autonomous vehicle according to claim 1 , wherein the first management unit and the second management unit periodically transmit the first confirmation signal and the second confirmation signal, respectively.

4. the first storage unit includes a first duplicated data area and a first non-duplicated data area; the second storage unit includes a second duplicated data area and a second non-duplicated data area; the first synchronization unit transmits data stored in the first duplicated data area to the second synchronization unit, and does not transmit data stored in the first non-duplicated data area to the second synchronization unit; 2. The duplicated storage device for an autonomous vehicle according to claim 1, wherein the second synchronization unit transmits the data stored in the second duplicated data area to the first synchronization unit and does not transmit the data stored in the second non-duplicated data area to the first synchronization unit.

5. the first device includes a first control unit that classifies acquired data into duplicated data or non-duplicated data based on a characteristic of the data, such that data classified as duplicated data is stored in the first duplicated data area and data classified as non-duplicated data is stored in the first non-duplicated data area; 5. The duplicated storage device for an autonomous vehicle according to claim 4, wherein the second device includes a second control unit that classifies acquired data into duplicated data or non-duplicated data based on characteristics of the data so that data classified as duplicated data is stored in the second duplicated data area and data classified as non-duplicated data is stored in the second non-duplicated data area.

6. The dual storage device for an autonomous vehicle according to claim 5 , wherein the characteristics of the data include relevance to safety, size of the data, transience, and importance.

7. the first network unit transmits data stored in the first storage unit to the node when the first device is in an active state; The dual storage device for an autonomous vehicle according to claim 3 , wherein the second network unit transmits the data stored in the second storage unit to the node when the second device is in an active state.

8. the first device includes a first controller configured to determine whether the first device is in an active state based on whether the first response signal is acquired from the first manager; 8. The dual storage device for an autonomous vehicle according to claim 7, wherein the second device includes a second control unit that determines whether the second device is in an active state based on whether the second response signal is acquired from the second management unit.

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