Data processing method and related apparatus

Abstract

A data processing method and a related apparatus, which apply to the technical field of automobiles. In the method, a self-driving data recording system is deployed / integrated in a domain controller, thereby allowing for less external dependence, eliminating the need to add an ECU component, and reducing the cost of self-driving data recording system deployment.

Description

Data processing method and related apparatus

[0001] The present application claims priority to the Chinese patent application No. 202410799086.2, filed on June 19, 2024, and entitled "Data processing method and related apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of automobile technology, and in particular to a data processing method and related apparatus. BACKGROUND

[0003] As a mainstream application in the field of artificial intelligence (AI), the automatic driving technology has developed rapidly. Based on the driving automation level of vehicles, the existing SAE J3016 standard divides the driving automation into six levels, i.e., L0-L5 levels, which are no automation (L0), driver assistance (L1), partial automation (L2), conditional automation (L3), high automation (L4) and full automation (L5), respectively. With the popularization of high-order automatic driving technology, more and more vehicles in the future will have L3 and above functions. For intelligent connected vehicles with automatic driving function, the current regulations require that the automatic driving data recording system should record at least 15s of data before the collision, so as to be used for analyzing the vehicle state subsequently. At present, the automatic driving data recording system needs to be deployed in an independent electronic control unit (ECU), but this will make the whole vehicle deployment difficult and the cost is high. SUMMARY

[0004] The embodiments of the present application provide a data processing method and related apparatus, which can reduce the cost of deploying an automatic driving data recording system.

[0005] The present application will be described from different aspects below. It should be understood that the implementation and beneficial effects of the different aspects below can be mutually referenced.

[0006] In a first aspect, embodiments of the present application provide a data processing method, which can be executed by a controller. For example, the controller can be a domain controller, which can be arranged in a vehicle, and can be a specific device, or a chip (system) or circuit for the device, which is not limited in the present application. In the method, the domain controller obtains running state information of the vehicle and surrounding environment information of the vehicle, and caches the running state information and the surrounding environment information in a memory. Further, when the vehicle is in an abnormal state, the domain controller stores the running state information and the surrounding environment information in the memory into a non-volatile memory. It can be understood that the above-mentioned obtaining of the running state information of the vehicle and the surrounding environment information of the vehicle can refer to real-time running state information of the vehicle and real-time surrounding environment information of the vehicle, and the so-called "real-time" refers to the vehicle running state information and the vehicle surrounding environment information within t time before the current time, for example, t is 15s.

[0007] In the embodiments of the present application, by deploying / integrating the automatic driving data recording system in the domain controller, the external dependence is small, and no ECU component needs to be added, so that the cost of deploying the automatic driving data recording system can be reduced.

[0008] In a possible implementation, the domain controller comprises a processing module, and the vehicle comprises a detection device; the method further comprises:

[0009] The processing module receives detection data from the detection device;

[0010] The processing module determines that the vehicle is in an abnormal state based on the detection data.

[0011] In this implementation, by obtaining the detection data for detecting whether the vehicle is in an abnormal state, and triggering data writing in time when it is detected that the vehicle is in an abnormal state, it is beneficial to provide support for subsequent traffic accident liability identification of the automatic driving vehicle, and the accident can be analyzed and investigated through related data.

[0012] In a possible implementation, the detection device comprises an airbag, and the detection data comprises a collision signal from the airbag; the processing module determines that the vehicle is in an abnormal state based on the detection data, comprising:

[0013] In the case where the duty cycle of the collision signal changes, or the effective level of the collision signal changes, it is determined that the vehicle is in an abnormal state.

[0014] In this implementation, whether the vehicle is in an abnormal state is detected based on the hardware signal (i.e. the collision signal) collected by the airbag, the response speed is faster, the processing time is shorter, and thus it is beneficial to trigger writing, and the reliability is high.

[0015] In a possible implementation, the detection device comprises an environment perception sensor, and the detection data comprises perception data from the environment perception sensor; the processing module determines that the vehicle is in an abnormal state based on the detection data, comprising:

[0016] determining a distance between an obstacle and the vehicle based on the perception data;

[0017] determining that the vehicle is in an abnormal state if the distance is less than or equal to a distance threshold.

[0018] In this implementation, the radar / camera detected obstacle distance is used to determine whether the vehicle is in an abnormal state, which is operable.

[0019] In a possible implementation, the detection device comprises an acceleration sensor, and the detection data comprises lateral acceleration data and / or longitudinal acceleration data from the acceleration sensor; the processing module determines that the vehicle is in an abnormal state based on the detection data, comprising:

[0020] determining a lateral acceleration change value based on the lateral acceleration data, and / or determining a longitudinal acceleration change value based on the longitudinal acceleration data;

[0021] determining that the vehicle is in an abnormal state if the lateral acceleration change value is greater than or equal to a lateral acceleration threshold, and / or the longitudinal acceleration change value is greater than or equal to a longitudinal acceleration threshold.

[0022] In this implementation, the acceleration sensor detected lateral acceleration / longitudinal acceleration is used to determine whether the vehicle is in an abnormal state, which is operable.

[0023] In a possible implementation, the memory comprises a first memory and a second memory; the non-volatile memory comprises a first non-volatile memory and a second non-volatile memory;

[0024] The storing of the running state information and the surrounding environment information in the memory into the non-volatile memory comprises:

[0025] storing the running state information and the surrounding environment information cached in the first memory into the first non-volatile memory;

[0026] storing the running state information and the surrounding environment information cached in the second memory into the second non-volatile memory.

[0027] In this implementation, redundancy backup is used to enhance the reliability of disk writing.

[0028] In a possible implementation, the storing of the running state information and the surrounding environment information cached in the first memory into the first non-volatile memory comprises: storing the running state information and the surrounding environment information cached in the first memory into the first non-volatile memory in sequence according to data packet identifiers.

[0029] The storing of the running state information and the surrounding environment information cached in the second memory into the second non-volatile memory comprises: storing the running state information and the surrounding environment information cached in the second memory into the second non-volatile memory in reverse order according to data packet identifiers.

[0030] The data packet identifiers are used to identify data packets, and the data packets include the running state information of the vehicle and the surrounding environment information of the vehicle in a preset time period.

[0031] In this implementation, the reliability of the disk writing is higher through the bidirectional disk writing, that is, the integrity of the data can be ensured in an abnormal situation, and the loss of the data is avoided as much as possible.

[0032] In a possible implementation, the processing module in the domain controller comprises a first processing module and a second processing module.

[0033] The obtaining of the running state information of the vehicle and the surrounding environment information of the vehicle and the caching of the running state information and the surrounding environment information in the memory comprises:

[0034] The first processing module obtains the running state information of the vehicle and the surrounding environment information of the vehicle, and caches the running state information and the surrounding environment information in the first memory.

[0035] When the vehicle is in an abnormal state, the first processing module is further configured to store the running state information and the surrounding environment information cached in the first memory into the first non-volatile memory.

[0036] The second processing module obtains the running state information of the vehicle and the surrounding environment information of the vehicle, and caches the running state information and the surrounding environment information in the second memory.

[0037] When the vehicle is in an abnormal state, the second processing module is further configured to store the running state information and the surrounding environment information cached in the second memory into the second non-volatile memory.

[0038] In this implementation, two processing modules are adopted to perform the disk writing, and the reliability is higher.

[0039] In a possible implementation, the storing of the running state information and the surrounding environment information in the memory into the non-volatile memory is implemented by a process;

[0040] The method further includes:

[0041] When the vehicle is in an abnormal state, increasing the input and output resource usage available to the process to store the running state information and the surrounding environment information in the memory into the non-volatile memory.

[0042] In this implementation, by increasing the input and output resource usage available to the process, the disk flushing rate can be improved.

[0043] In a possible implementation, the process corresponds to a control group; and the increasing of the input and output resource usage available to the process includes:

[0044] Adjusting the allocation ratio of input and output resource usage to increase the input and output resource usage quota of the control group.

[0045] In this implementation, by using the control group (cgroup) mechanism, the disk flushing of data can be guaranteed, and the disk flushing reliability can be improved.

[0046] In a possible implementation, the domain controller includes an intelligent driving domain controller, a cabin domain controller, a vehicle body domain controller, or a vehicle control domain controller.

[0047] In a second aspect, an embodiment of the present application provides a data processing apparatus, which can be a domain controller, and the domain controller is configured to implement the modules or units of the method according to any one of the first aspect. For example, the domain controller can be an intelligent driving domain controller, a cabin domain controller, a vehicle body domain controller, or a vehicle control domain controller.

[0048] In a possible design, the domain controller includes:

[0049] The processing module is configured to acquire running state information of the vehicle and surrounding environment information of the vehicle, and cache the running state information and the surrounding environment information in a memory;

[0050] The processing module is configured to store the running state information and the surrounding environment information in the memory into a non-volatile memory when the vehicle is in an abnormal state.

[0051] Optionally, the processing module can acquire the running state information of the vehicle and the surrounding environment information of the vehicle through a transceiver in the data processing apparatus.

[0052] In a possible implementation, the processing module is further configured to receive detection data from a detection device.

[0053] The processing module is further configured to determine that the vehicle is in an abnormal state based on the detection data.

[0054] In a possible implementation, the detection device includes an airbag, and the detection data includes a collision signal from the airbag; when determining that the vehicle is in an abnormal state based on the detection data, the processing module is specifically configured to:

[0055] determine that the vehicle is in an abnormal state when a duty cycle of the collision signal changes, or when an effective level of the collision signal changes.

[0056] In a possible implementation, the detection device includes an environment perception sensor, and the detection data includes perception data from the environment perception sensor; when determining that the vehicle is in an abnormal state based on the detection data, the processing module is specifically configured to:

[0057] determine a distance between an obstacle and the vehicle based on the perception data.

[0058] determine that the vehicle is in an abnormal state when the distance is less than or equal to a distance threshold.

[0059] In a possible implementation, the detection device includes an acceleration sensor, and the detection data includes lateral acceleration data and / or longitudinal acceleration data from the acceleration sensor; when determining that the vehicle is in an abnormal state based on the detection data, the processing module is specifically configured to:

[0060] determine a lateral acceleration change value based on the lateral acceleration data, and / or determine a longitudinal acceleration change value based on the longitudinal acceleration data.

[0061] determine that the vehicle is in an abnormal state when the lateral acceleration change value is greater than or equal to a lateral acceleration threshold, and / or the longitudinal acceleration change value is greater than or equal to a longitudinal acceleration threshold.

[0062] In a possible implementation, the memory includes a first memory and a second memory; the non-volatile memory includes a first non-volatile memory and a second non-volatile memory; when storing the running state information and the surrounding environment information in the memory into the non-volatile memory, the processing module is specifically configured to:

[0063] store the running state information and the surrounding environment information cached in the first memory into the first non-volatile memory;

[0064] store the running state information and the surrounding environment information cached in the second memory into the second non-volatile memory.

[0065] In a possible implementation, when the running state information and the surrounding environment information cached in the first memory are stored into the first non-volatile memory, the processing module is specifically configured to store the running state information and the surrounding environment information cached in the first memory into the first non-volatile memory in sequence according to data packet identifiers;

[0066] When the running state information and the surrounding environment information cached in the second memory are stored into the second non-volatile memory, the processing module is specifically configured to store the running state information and the surrounding environment information cached in the second memory into the second non-volatile memory in reverse order according to data packet identifiers;

[0067] The data packet identifiers are used to identify data packets, and the data packets include the running state information of the vehicle and the surrounding environment information of the vehicle in a preset time period.

[0068] In a possible implementation, the processing module includes a first processing module and a second processing module.

[0069] The first processing module is configured to acquire the running state information of the vehicle and the surrounding environment information of the vehicle, and cache the running state information and the surrounding environment information in the first memory.

[0070] When the vehicle is in an abnormal state, the first processing module is further configured to store the running state information and the surrounding environment information cached in the first memory into the first non-volatile memory.

[0071] The second processing module is configured to acquire the running state information of the vehicle and the surrounding environment information of the vehicle, and cache the running state information and the surrounding environment information in the second memory.

[0072] When the vehicle is in an abnormal state, the second processing module is further configured to store the running state information and the surrounding environment information cached in the second memory into the second non-volatile memory.

[0073] In a possible implementation, the storing of the running state information and the surrounding environment information in the memory into the non-volatile memory is implemented by a process; and the processing module is specifically configured to:

[0074] When the vehicle is in the abnormal state, the input and output resource usage amount available to the process is increased to store the running state information and the surrounding environment information in the memory into the non-volatile memory.

[0075] In a possible implementation, the process corresponds to a control group; and when the input and output resource usage amount available to the process is increased, the processing module is specifically configured to:

[0076] Adjust an allocation ratio of the input and output resource usage amount, and increase the input and output resource usage quota of the control group.

[0077] Optionally, in the data processing apparatus in the second aspect and any possible implementation of the second aspect,

[0078] In one design, the data processing apparatus is a communication device. When the data processing apparatus is a communication device, the transceiving module can be a transceiver, or an input / output interface; and the processing module can be at least one processor. Optionally, the transceiver can be a transceiving circuit. Optionally, the input / output interface can be an input / output circuit.

[0079] In another design, the data processing apparatus is a chip (system) or a circuit used in a communication device. When the data processing apparatus is a chip (system) or a circuit used in a communication device, the transceiving module can be a communication interface (input / output interface), an interface circuit, an output circuit, an input circuit, a pin, or a related circuit on the chip (system) or the circuit; and the processing module can be at least one processor, a processing circuit, or a logic circuit.

[0080] In a third aspect, an embodiment of the present application provides a data processing apparatus, which includes a processor. The processor is coupled with a memory and is configured to execute instructions in the memory to implement the method in the first aspect and any possible implementation of the first aspect. Optionally, the data processing apparatus further includes the memory. Optionally, the data processing apparatus further includes a communication interface, and the processor is coupled with the communication interface.

[0081] In a fourth aspect, an embodiment of the present application provides a data processing apparatus, which includes a logic circuit and a communication interface. The communication interface is configured to receive information or send information; and the logic circuit is configured to receive information or send information through the communication interface, so that the data processing apparatus executes the method in the first aspect and any possible implementation of the first aspect.

[0082] In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, which is used to store a computer program (also referred to as code or instruction); when the computer program is run on a computer, the method in the first aspect and any possible implementation form is implemented.

[0083] In a sixth aspect, an embodiment of the present application provides a computer program product, which includes a computer program (also referred to as code or instruction); when the computer program is run, the computer executes the method in the first aspect and any possible implementation form.

[0084] In a seventh aspect, an embodiment of the present application provides a chip, which includes a processor, the processor is used to execute an instruction, when the processor executes the instruction, the chip executes the method in the first aspect and any possible implementation form. Optionally, the chip further includes a communication interface, the communication interface is used to receive a signal or send a signal.

[0085] In an eighth aspect, an embodiment of the present application provides a vehicle, which includes at least one data processing apparatus in the second aspect, or the data processing apparatus in the third aspect, or the data processing apparatus in the fourth aspect, or the data processing apparatus in the fifth aspect, or the chip in the seventh aspect. Optionally, the vehicle further includes a detection apparatus, for example, the detection apparatus can be one or more of an airbag, an environmental perception sensor (for example, a vision-based sensor or a radar-based sensor), an acceleration sensor, etc.

[0086] In addition, in the process of executing the method in the first aspect and any possible implementation form, the process of sending information and / or receiving information in the method can be understood as the process of outputting information by the processor, and / or the process of receiving input information by the processor. When the information is output, the processor can output the information to the transceiver (or the communication interface or the sending module) so as to be transmitted by the transceiver. After the information is output by the processor, it can also need to be processed in other manners before reaching the transceiver. Similarly, when the processor receives the input information, the transceiver (or the communication interface or the sending module) receives the information and inputs it to the processor. Furthermore, after the transceiver receives the information, the information can need to be processed in other manners before being input to the processor.

[0087] Based on the above principle, for example, the sending information mentioned in the foregoing method can be understood as the output information by the processor. For another example, the receiving information can be understood as the input information received by the processor.

[0088] Optionally, for the transmission, sending, receiving and other operations involved by the processor, if no special description is made, or if it is not contrary to the actual role or inherent logic in the related description, it can be more generally understood as the processor output and receiving, input and other operations.

[0089] Optionally, in the process of executing the method of the first aspect and any possible implementation, the processor can be a processor specially used for executing the method, or a processor executing the method by executing computer instructions in the memory, such as a general-purpose processor. The memory can be a non-transitory memory, such as a read only memory (ROM), which can be integrated on the same chip as the processor, or separately arranged on different chips. The type of memory and the arrangement of the memory and the processor are not limited in the embodiments of the present application.

[0090] In a possible implementation, the at least one memory is located outside the device.

[0091] In another possible implementation, the at least one memory is located inside the device.

[0092] In another possible implementation, part of the at least one memory is located inside the device, and the other part of the at least one memory is located outside the device.

[0093] In the present application, the processor and the memory can also be integrated into one device, that is, the processor and the memory can also be integrated together. BRIEF DESCRIPTION OF DRAWINGS

[0094] FIG. 1 is a schematic diagram of a system architecture suitable for the embodiments of the present application;

[0095] FIG. 2 is a schematic diagram of a data processing method provided by the embodiments of the present application;

[0096] FIG. 3 is a schematic diagram of data bidirectional discarding provided by the embodiments of the present application;

[0097] FIG. 4 is a schematic diagram of adjusting the allocation ratio of input and output resource usage provided by the embodiments of the present application;

[0098] FIG. 5 is a schematic diagram of the structure of a data processing device provided by the embodiments of the present application;

[0099] FIG. 6 is a schematic diagram of the structure of another data processing device provided by the embodiments of the present application;

[0100] FIG. 7 is a schematic diagram of the structure of a chip provided by the embodiments of the present application. DETAILED DESCRIPTION

[0101] The embodiments of the present application will be described below in conjunction with the accompanying drawings. It should be noted that the terms "exemplary" or "for example" in the present application are used to mean "an example of" or "an example", and not "preferred" or "superior" over other embodiments. In fact, the terms "exemplary" or "for example" are used to present concepts in a concrete manner.

[0102] In the present application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or the like means any combination of the items, including a single item or any combination of multiple items. For example, at least one of a, b, or c can mean a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, and c can be single or multiple. "And / or" describes the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which can mean that A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects.

[0103] In addition, unless otherwise stated, the ordinal numbers "first", "second", etc. used in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, time sequence, priority or importance of the multiple objects. For example, the first message and the second message are only used to distinguish different message types, and do not mean that the structures, importance, etc. of the two messages are different.

[0104] First, some terms in the present application are explained and described to facilitate understanding by those skilled in the art.

[0105] 1. Intelligent connected vehicle (ICV)

[0106] ICV can refer to the organic combination of Internet of Vehicles and intelligent vehicles, which is a new generation of vehicles equipped with advanced on-board sensors, controllers, actuators and other devices, and integrates modern communication and network technologies to realize intelligent information exchange and sharing between vehicles, people, roads and clouds, and to realize safe, comfortable, energy-saving and efficient driving, and ultimately to replace human operation. Among them, the Internet of Vehicles can refer to the on-board devices of vehicles using wireless communication technology to effectively utilize all vehicle dynamic information in the information network platform to provide different functional services in vehicle operation. The Internet of Vehicles can provide protection for the distance between vehicles and reduce the probability of vehicle collision accidents; the Internet of Vehicles can help the vehicle owner to navigate in real time and improve the efficiency of traffic operation through communication with other vehicles and network systems. Intelligent vehicles can refer to the new generation of vehicles with multiple functions integrated, which integrates computer, modern sensing, information fusion, communication, artificial intelligence and automatic control technologies.

[0107] 2、Domain controller

[0108] At present, the whole vehicle can be divided into several domains (also referred to as "functional domains") according to the functions of each part of the vehicle. For example, in some implementations, the whole vehicle can be divided into intelligent driving domains, cabin domains, chassis domains, power domains, body domains, etc. It can be understood that different manufacturers may have different domains according to their own concepts, and in addition, multiple domains can be fused to obtain a fusion domain. The controllers of each domain can use stronger processing power to relatively centrally control the corresponding domain to achieve the integration of vehicle computing required by multiple functions. Exemplarily, the domain controller mentioned in the present application can be any one or more of the fusion domain of the intelligent driving domain controller, the cabin domain controller, the body domain controller, the vehicle control domain controller, or the whole vehicle controller, etc. Among them, the intelligent driving domain controller (such as a mobile data center (MDC)) is the "brain" that realizes intelligent driving perception, map and sensor fusion positioning, path planning, decision control and other functions. For the convenience of understanding, hereinafter, the domain controller is mainly understood as an intelligent driving domain controller.

[0109] 3、Lateral acceleration and longitudinal acceleration of the vehicle

[0110] The lateral acceleration of the vehicle refers to the acceleration in the direction perpendicular to the direction of travel of the vehicle, which is caused by the centrifugal force when the vehicle is turning. That is, the tendency of the vehicle to be "flung" off the travel path. The greater this acceleration, the more likely the vehicle is to be "flung" off the travel path in theory.

[0111] The longitudinal acceleration of the vehicle refers to the acceleration along the direction of travel of the vehicle.

[0112] 4、Process

[0113] In a narrow sense, a process is an instance of a program that is running. In a broad sense, a process is a running activity of a program on a certain data set in a computer, is a basic unit of resource allocation and scheduling of a system, and is the basis of the structure of an operating system. In a traditional operating system, a process is both a basic allocation unit and a basic execution unit.

[0114] 5、Control group (cgroup)

[0115] A cgroup is a feature of the Linux kernel that is used to limit, record, and isolate the use of resources by a group of processes. Specifically, by configuring a cgroup, the amount of use of a specific resource by a process can be limited. When there is a conflict of resources, the amount of resource that a process can use compared to a process in another cgroup can also be controlled.

[0116] 6、Hardware signal

[0117] A hardware signal can refer to a signal transmitted through a cable. Alternatively, a hardware signal can also be understood as a signal that can directly obtain a certain amount of information without being processed by a software algorithm, for example, the size of the collision signal collected by a collision sensor (such as an airbag) after a collision occurs can represent the severity of the collision.

[0118] 7、Memory

[0119] Memory is a storage space for temporarily storing programs and data, and is characterized by fast access rate, but the information in the memory will be lost after power off.

[0120] 8、Non-volatile memory

[0121] Non-volatile memory refers to a memory in which stored data does not disappear when the current is turned off.

[0122] It should be noted that the current intelligent connected vehicle can be configured with an automatic driving system, and as the popularity of high-level automatic driving technology, more and more vehicles in the future will have L3 and above functions. For intelligent connected vehicles with automatic driving function, the current regulations require that the automatic driving data recording system should record at least 15s of data before the collision, so as to be used for analyzing the vehicle state in the future. At present, the automatic driving data recording system needs to be deployed in an independent electronic control unit (ECU), but this will make the deployment of the whole vehicle difficult and the cost is high.

[0123] Based on this, the present application proposes a data processing method, which can reduce the deployment difficulty and cost of the automatic driving data recording system, in addition to which, the reliability of the automatic driving data recording can also be improved.

[0124] Exemplarily, refer to FIG. 1, which is a schematic diagram of a system architecture to which the embodiments of the present application are applicable. As shown in FIG. 1, the system can be an intelligent driving domain controller system (or an auxiliary driving controller system, an automatic driving controller system), for example, a mobile data center (MDC). The system includes a first processing module and a second processing module, a first memory and a second memory, a first non-volatile memory and a second non-volatile memory, a microcontroller unit (MCU), a sensor, a fault management module, a regulation and control module, a whole vehicle chassis, a perception module, a positioning module, a connector, a power supply, and the like. The sensor involved in the present application includes an acceleration sensor, an airbag, and an environmental perception sensor. The environmental perception sensor can include a visual system sensor and / or a radar system sensor, without limitation. Exemplarily, the visual system sensor includes a fisheye, a hawk eye, a monocular, a binocular, a four-way camera, and the like, without limitation. The radar system sensor can include a radar (radio detection and ranging, Radar), a laser radar (light detection and ranging, LiDAR), a millimeter wave radar, an ultrasonic radar, and the like, without limitation. In actual application, the visual system sensor can more intuitively present the real-time position of the target vehicle and the driving condition of the target vehicle, the radar system sensor can be used to detect the distance between the obstacle and the vehicle, and the collision sensor (for example, the airbag) is used to collect the size of the collision signal after the collision occurs. Specifically, the first processing module and the second processing module process the collision signal, the perception data collected by the environmental perception sensor, and the acceleration data collected by the acceleration sensor, and when the trigger condition is met, the running state information and the surrounding environment information cached in the memory are stored in the storage, so as to provide support for the traffic accident liability identification of the automatic driving vehicle in the future, and the accident can be analyzed and investigated through related data.

[0125] The data processing method and the related device provided by the present application are described in detail as follows.

[0126] Please refer to FIG. 2, which is a flowchart of a data processing method according to an embodiment of the present application. The method execution subject shown in FIG. 2 can be a vehicle, or the method execution subject shown in FIG. 2 can also be a controller in the vehicle, for example, a domain controller. Hereinafter, the domain controller is taken as an example of an intelligent driving domain controller for illustrative description. It should be noted that FIG. 2 is a schematic flowchart of the method embodiment of the present application, which shows the detailed communication steps or operations of the method, but these steps or operations are only examples, and other operations or variations of the various operations in FIG. 2 can also be performed by the method embodiment of the present application. In addition, the various steps in FIG. 2 can be performed in a different order from that shown in FIG. 2, and it is possible that not all the operations in FIG. 2 are to be performed.

[0127] In S201, the intelligent driving domain controller acquires the running state information of the vehicle and the surrounding environment information of the vehicle, and caches the running state information and the surrounding environment information in the memory.

[0128] In some possible implementations, the intelligent driving domain controller can acquire the running state information of the vehicle and the surrounding environment information of the vehicle in real time, and cache the running state information and the surrounding environment information in the memory. The running state information of the vehicle includes chassis information, acceleration data (such as lateral acceleration data, longitudinal acceleration data, etc.), and the like, which are not limited. The surrounding environment information of the vehicle includes image data collected by a visual sensor, radar signals collected by a radar sensor, and the like, which are not limited.

[0129] It can be understood that the so-called real-time acquisition refers to acquiring the running state information of the vehicle and the surrounding environment information of the vehicle at the current time and within t time before the current time. That is, the memory can cache the running state information of the vehicle and the surrounding environment information of the vehicle in the recent period of time, for example, the memory can cache the running state information of the vehicle and the surrounding environment information of the vehicle at the current time and within t time before the current time, for example, the above-mentioned t is not less than (i.e., greater than or equal to) 15s. For example, t can be equal to 15s, that is, the memory can cache the data in the recent 15s. It can be understood that the present application does not limit the specific value of t. For the convenience of understanding, hereinafter, t = 15s is taken as an example for illustrative description.

[0130] In one possible implementation, the data in the memory in the recent 15s can be written into the matching non-volatile memory in real time, that is, real-time disk landing. This real-time disk landing implementation generally requires that the capacity of the non-volatile memory be large enough.

[0131] In another possible implementation, the 15s of data cached in the memory can also be written into the matched non-volatile storage when there is a need for disk dumping. For the convenience of understanding, the following will be mainly described by way of example based on disk dumping of the data cached in the memory based on the disk dumping requirement.

[0132] It can be understood that when the system architecture shown in FIG. 1 is adopted, the first processing module and the second processing module in the intelligent driving domain control can respectively acquire the running state information of the vehicle and the surrounding environment information of the vehicle, and buffer the running state information and the surrounding environment information in the first memory and the second memory respectively, that is, the first processing module buffers the acquired running state information and surrounding environment information in the first memory, and the second processing module buffers the acquired running state information and surrounding environment information in the second memory.

[0133] S202, when the vehicle is in an abnormal state, the running state information and the surrounding environment information in the memory are stored into the non-volatile storage.

[0134] In some possible implementations, the processing module in the intelligent driving domain controller can receive detection data collected by the detection device, and by processing the detection data, it can be determined whether the vehicle is in an abnormal state.

[0135] In a design 1, the detection device includes an airbag, and the detection data includes a collision signal from the airbag, which can be a hardware signal. Specifically, when the duty cycle of the collision signal changes, or when the effective level of the collision signal changes, it is determined that the vehicle is in an abnormal state.

[0136] In another design 2, the detection device includes an environment perception sensor, and the detection data includes perception data from the environment perception sensor, for example, the environment perception sensor can be a radar-based sensor, and the perception data collected by the radar-based sensor can be a radar signal. Specifically, the processing module in the intelligent driving domain controller can determine the distance between the obstacle and the vehicle based on the radar signal, and when the distance is not greater than (or less than or equal to) a distance threshold, it is determined that the vehicle is in an abnormal state.

[0137] In yet another design 3, the detection device includes an acceleration sensor, and the detection data includes lateral acceleration data and / or longitudinal acceleration data from the acceleration sensor. Specifically, the processing module in the intelligent driving domain controller can determine a lateral acceleration change value based on the lateral acceleration data. Optionally, the processing module in the intelligent driving domain controller can also determine a longitudinal acceleration change value based on the longitudinal acceleration data. In a case where the lateral acceleration change value exceeds (or is understood to be greater than or equal to) a lateral acceleration threshold value, and / or the longitudinal acceleration change value exceeds (or is understood to be greater than or equal to) a longitudinal acceleration threshold value, it is determined that the vehicle is in an abnormal state.

[0138] It should be noted that when any one of the triggering conditions in the above designs 1-3 is met, the memory can be flushed. The implementation of storing the running state information and the surrounding environment information in the memory into the non-volatile memory will be described below.

[0139] In some possible implementations, the memory involved in the present application can include a first memory and a second memory, and the non-volatile memory includes a first non-volatile memory and a second non-volatile memory. Accordingly, the processing module in the intelligent driving domain controller includes a first processing module and a second processing module. Wherein, the intelligent driving domain controller storing the running state information and the surrounding environment information in the memory into the non-volatile memory can be understood as: when the vehicle is in an abnormal state, the first processing module stores the running state information and the surrounding environment information cached in the first memory into the first non-volatile memory, and the second processing module stores the running state information and the surrounding environment information cached in the second memory into the second non-volatile memory.

[0140] Optionally, the first processing module stores the running state information and the surrounding environment information cached in the first memory into the first non-volatile memory, comprising: the first processing module stores the running state information and the surrounding environment information cached in the first memory into the first non-volatile memory in sequence according to the data packet identifier. The second processing module stores the running state information and the surrounding environment information cached in the second memory into the second non-volatile memory, comprising: the second processing module stores the running state information and the surrounding environment information cached in the second memory into the second non-volatile memory in reverse sequence according to the data packet identifier. It can be understood that the data packet identifier is used to identify a data packet, and the data packet includes the running state information and the surrounding environment information in a preset time period, for example, a data packet includes the running state information and the surrounding environment information of the vehicle every 5s. Exemplarily, as shown in FIG. 3, it is assumed that there are N data packets, which are data packet #1, data packet #2, …, data packet #N, wherein the above 1, 2, …, N can be understood as data packet identifiers. N is an integer greater than 1. The first processing module can store the cached data packets of the first memory into the first non-volatile memory in the order of data packet #1 to data packet #N, and the second processing module can store the cached data packets of the second memory into the second non-volatile memory in the order of data packet #N to data packet #1.

[0141] It should be understood that the processing mode of the first processing module using sequential disk writing and the second processing module using reverse sequence disk writing is beneficial to improving the integrity of data storage, because for a single processing module, if the corresponding battery is damaged before all the data packets are completely written, the other processing module can still continue to write, which is beneficial to ensuring the reliability of data writing. For example, as shown in FIG. 1, if battery 1 is damaged during the writing process, causing the first processing module to be unable to continue writing, and battery 2 is normal, then the second processing module can continue to complete the writing. For another example, as shown in FIG. 1, if battery 2 is damaged during the writing process, causing the second processing module to be unable to continue writing, and battery 1 is normal, then the first processing module can continue to complete the writing. For another example, as shown in FIG. 1, if battery 1 and battery 2 are damaged in sequence during the writing process, it is assumed that the first non-volatile memory has successfully written data packet #1, data packet #2, …, data packet #X before battery 1 is damaged, and the second non-volatile memory has successfully written data packet #N, data packet #N-1, …, data packet #X+1 before battery 2 is damaged, then by splicing / combining the written data in the first non-volatile memory and the second non-volatile memory, the complete data can be obtained. That is, the implementation mode of the bidirectional writing of the present application can better guarantee the integrity of the written data.

[0142] It should be noted that storing the running state information and the surrounding environment information in the memory to the non-volatile memory is implemented by a process. Generally, one processing module can correspond to one process. For the convenience of description, the first processing module corresponds to the first process, and the second processing module corresponds to the second process are taken as examples for illustrative description. It should be understood that when the vehicle is in an abnormal state, the first processing module can store the running state information and the surrounding environment information in the first memory to the first non-volatile memory by increasing the input and output resource usage amount available to the first process. Similarly, the second processing module can store the running state information and the surrounding environment information in the second memory to the second non-volatile memory by increasing the input and output resource usage amount available to the second process. Generally, one process can correspond to one control group (cgroup), for example, the first process corresponds to the first control group, and the second process corresponds to the second control group. To increase the input and output resource usage amount available to a certain process, the allocation ratio of the input and output resource usage amount can be adjusted to increase the input and output resource usage amount quota of the control group corresponding to the certain process. As shown in FIG. 4, before triggering the disk landing, the input and output resource usage amount quotas of the first control group and the second control group are small, and when the vehicle is in an abnormal state (for example, when a collision is detected), the allocation ratio of the input and output resource usage amount is adjusted to increase the input and output resource usage amount quotas of the first control group and the second control group, and to reduce the input and output resource usage amount quotas of other control groups, so as to ensure the disk landing of data.

[0143] In the embodiment of the present application, by deploying / integrating the automatic driving data recording system in the domain controller, the external dependence is small, the ECU component does not need to be increased, and the cost of deploying the automatic driving data recording system can be reduced. In addition, by accessing the pre-warning signal (for example, a pre-warning signal triggered due to the change of the lateral / longitudinal acceleration of the whole vehicle exceeding a set value, or the detection of an obstacle being too close) and the hardware signal as the source of triggering the disk landing, and by using the dual-domain (that is, the first processing module and the second processing module process in parallel) and the bidirectional disk landing, the processing delay of the disk landing can be reduced, the disk landing time is short, and the reliability is higher.

[0144] The above describes the method of the embodiment of the present application in detail, and the following provides an apparatus for implementing any one of the methods in the embodiment of the present application, for example, an apparatus including modules / units (or means) for implementing each step performed by the device in any one of the above methods.

[0145] Please refer to FIG. 5, which is a structural schematic diagram of a data processing apparatus provided by an embodiment of the present application.

[0146] As shown in FIG. 5, the data processing apparatus 50 can include a transceiver module 501 and a processing module 502. The transceiver module 501 and the processing module 502 can be software, hardware, or a combination of software and hardware.

[0147] The transceiver module 501 can implement a sending function and / or a receiving function. The transceiver module 501 can also be described as a transceiver module. The transceiver module 501 can also be a unit that integrates an acquisition unit (also referred to as a receiving unit) and a sending unit. The acquisition unit is configured to implement a receiving function, and the sending unit is configured to implement a sending function. Optionally, the transceiver module 501 can be configured to receive information sent by another apparatus, and can also be configured to send information to another apparatus.

[0148] In a possible design, the data processing apparatus 50 can correspond to a chip in a controller (for example, a domain controller, which is mainly taken as an example of an intelligent driving domain controller in the following description) in the method embodiment shown in FIG. 2. The data processing apparatus 50 can include units / modules configured to perform operations performed by the intelligent driving domain controller in the method embodiment shown in FIG. 2, and each unit / module in the data processing apparatus 50 is configured to implement operations performed by the intelligent driving domain controller in the method embodiment shown in FIG. 2.

[0149] The units / modules are described as follows.

[0150] The processing module 502 is configured to acquire running state information of the vehicle and surrounding environment information of the vehicle, and buffer the running state information and the surrounding environment information in a memory.

[0151] The processing module 502 is configured to store the running state information and the surrounding environment information in the memory into a nonvolatile memory when the vehicle is in an abnormal state.

[0152] Optionally, the processing module 502 can acquire the running state information of the vehicle and the surrounding environment information of the vehicle by using the transceiver module 501.

[0153] In a possible implementation, the processing module 502 is further configured to receive detection data from a detection apparatus.

[0154] The processing module 502 is further configured to determine, based on the detection data, that the vehicle is in an abnormal state.

[0155] In a possible implementation, the detection apparatus includes an airbag, and the detection data includes a collision signal from the airbag. When the processing module 502 determines, based on the detection data, that the vehicle is in an abnormal state, the processing module 502 can be specifically configured to:

[0156] In a case where the duty cycle of the collision signal changes, or, in a case where the effective level of the collision signal changes, it is determined that the vehicle is in an abnormal state.

[0157] In a possible implementation, the detection apparatus includes an environment perception sensor, and the detection data includes perception data from the environment perception sensor; in a case where it is determined that the vehicle is in an abnormal state based on the detection data, the processing module 502 is specifically configured to:

[0158] determine a distance between an obstacle and the vehicle based on the perception data;

[0159] In a case where the distance is less than or equal to a distance threshold, it is determined that the vehicle is in an abnormal state.

[0160] In a possible implementation, the detection apparatus includes an acceleration sensor, and the detection data includes lateral acceleration data and / or longitudinal acceleration data from the acceleration sensor; in a case where it is determined that the vehicle is in an abnormal state based on the detection data, the processing module 502 is specifically configured to:

[0161] determine a lateral acceleration change value based on the lateral acceleration data, and / or determine a longitudinal acceleration change value based on the longitudinal acceleration data;

[0162] In a case where the lateral acceleration change value is greater than or equal to a lateral acceleration threshold, and / or the longitudinal acceleration change value is greater than or equal to a longitudinal acceleration threshold, it is determined that the vehicle is in an abnormal state.

[0163] In a possible implementation, the memory includes a first memory and a second memory; the non-volatile memory includes a first non-volatile memory and a second non-volatile memory; in a case where the processing module 502 stores the running state information and the surrounding environment information in the memory into the non-volatile memory, the processing module 502 is specifically configured to:

[0164] store the running state information and the surrounding environment information cached in the first memory into the first non-volatile memory;

[0165] store the running state information and the surrounding environment information cached in the second memory into the second non-volatile memory.

[0166] In a possible implementation, when the processing module 502 stores the running state information and the surrounding environment information cached in the first memory into the first non-volatile memory, the processing module 502 is specifically configured to store the running state information and the surrounding environment information cached in the first memory into the first non-volatile memory in sequence according to data packet identifiers.

[0167] When the processing module 502 stores the running state information and the surrounding environment information cached in the second memory into the second non-volatile memory, the processing module 502 is specifically configured to store the running state information and the surrounding environment information cached in the second memory into the second non-volatile memory in reverse order according to data packet identifiers.

[0168] The data packet identifiers are used to identify data packets, and the data packets include the running state information of the vehicle and the surrounding environment information of the vehicle in a preset time period.

[0169] In a possible implementation, the processing module 502 includes a first processing module 502 and a second processing module 502.

[0170] The first processing module 502 is configured to acquire the running state information of the vehicle and the surrounding environment information of the vehicle, and cache the running state information and the surrounding environment information in the first memory.

[0171] When the vehicle is in an abnormal state, the first processing module 502 is further configured to store the running state information and the surrounding environment information cached in the first memory into the first non-volatile memory.

[0172] The second processing module 502 is configured to acquire the running state information of the vehicle and the surrounding environment information of the vehicle, and cache the running state information and the surrounding environment information in the second memory.

[0173] When the vehicle is in an abnormal state, the second processing module 502 is further configured to store the running state information and the surrounding environment information cached in the second memory into the second non-volatile memory.

[0174] In a possible implementation, the storing of the running state information and the surrounding environment information in the memory into the non-volatile memory is implemented by a process; and the processing module 502 is specifically configured to:

[0175] When the vehicle is in an abnormal state, the process is increased in input and output resource usage to store the running state information and the surrounding environment information in the memory into the non-volatile memory.

[0176] In a possible implementation, the process corresponds to a control group; when the input and output resource usage available to the process is increased, the processing module 502 is specifically configured to:

[0177] adjust the allocation ratio of the input and output resource usage, and increase the input and output resource usage quota of the control group.

[0178] As to the technical effects brought by the design and any possible implementation, reference can be made to the introduction of the technical effects corresponding to FIG. 2 and the corresponding implementation.

[0179] Optionally, in the design of the data processing apparatus 50 shown in FIG. 5:

[0180] In an implementation, the data processing apparatus is an intelligent driving domain controller. When the data processing apparatus is an intelligent driving domain controller, the transceiver module can be a transceiver, or an input / output interface; the processing module can be at least one processor. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0181] In another implementation, the data processing apparatus is a chip (system) or circuit used in an intelligent driving domain controller. When the data processing apparatus is a chip (system) or circuit used in an intelligent driving domain controller, the transceiver module can be a communication interface (input / output interface), interface circuit, output circuit, input circuit, pin or related circuit on the chip (system) or circuit; the processing module can be at least one processor, processing circuit or logic circuit, etc.

[0182] According to the embodiments of the present application, each unit in the apparatus shown in FIG. 5 can be respectively or wholly combined into one or several other units to constitute, or some of the units can also be further split into a plurality of units with smaller functions to constitute, which can realize the same operation without affecting the realization of the technical effects of the embodiments of the present application. The above units are divided based on logical functions, and in actual application, the function of one unit can also be realized by multiple units, or the functions of multiple units can be realized by one unit. In other embodiments of the present application, the electronic device can also include other units, and in actual application, these functions can also be realized by other units and can be realized by multiple units in cooperation.

[0183] It should be noted that the implementation of each unit can also correspond to the description of the corresponding method embodiments shown in FIG. 2 above, which will not be repeated here.

[0184] In the data processing apparatus 50 described in FIG. 5, by deploying / integrating the autonomous driving data recording system in the domain controller, the external dependence is small, no ECU component needs to be added, and the cost of deploying the autonomous driving data recording system can be reduced. In addition, by accessing both the early warning signal (for example, an early warning signal triggered due to the change of the lateral / longitudinal acceleration of the whole vehicle exceeding a set value, or the detection of an obstacle being too close) and the hardware signal as the source of triggering the disc writing, and by using the dual-domain (i.e., the first processing module and the second processing module process in parallel) and the bidirectional disc writing, the disc writing processing delay can be reduced, the disc writing time is short, and the reliability is higher.

[0185] Please refer to FIG. 6, which is a structural schematic diagram of a data processing apparatus provided in an embodiment of the present application.

[0186] It should be understood that the data processing apparatus 60 shown in FIG. 6 is only an example, and the data processing apparatus of the embodiment of the present application can also include other components, or include components similar in function to the components in FIG. 6, or not all the components in FIG. 6.

[0187] The data processing apparatus 60 includes a communication interface 601 and at least one processor 602.

[0188] The data processing apparatus 60 can correspond to any device in the intelligent driving domain controller in which the detection software is deployed. The communication interface 601 is used for transceiving signals, and the at least one processor 602 executes program instructions, so that the data processing apparatus 60 implements the corresponding processes of the method performed by the corresponding device in the above-mentioned method embodiment of FIG. 2.

[0189] In the data processing apparatus 60 described in FIG. 6, by deploying / integrating the autonomous driving data recording system in the domain controller, the external dependence is small, no ECU component needs to be added, and the cost of deploying the autonomous driving data recording system can be reduced. In addition, by accessing both the early warning signal (for example, an early warning signal triggered due to the change of the lateral / longitudinal acceleration of the whole vehicle exceeding a set value, or the detection of an obstacle being too close) and the hardware signal as the source of triggering the disc writing, and by using the dual-domain (i.e., the first processing module and the second processing module process in parallel) and the bidirectional disc writing, the disc writing processing delay can be reduced, the disc writing time is short, and the reliability is higher.

[0190] For the case where the data processing apparatus can be a chip or a chip system, please refer to the structural schematic diagram of the chip shown in FIG. 7.

[0191] As shown in FIG. 7, the chip 70 includes a processor 701 and an interface 702. Among them, the number of the processor 701 can be one or more, and the number of the interface 702 can be multiple. It should be noted that the functions of the processor 701 and the interface 702 can be realized by hardware design, software design, or a combination of software and hardware, which is not limited here.

[0192] Optionally, the chip 70 can further include a memory 703, which is used to store necessary program instructions and data.

[0193] In the present application, the processor 701 can be used to call the implementation program of the data processing method provided by one or more embodiments of the present application in one or more devices of the intelligent driving domain controller in which the detection software is deployed, and execute the instructions contained in the program. The interface 702 can be used to output the execution result of the processor 701. In the present application, the interface 702 can be specifically used to output various messages or information of the processor 701.

[0194] The data processing method provided by one or more embodiments of the present application can refer to the foregoing embodiments shown in FIG. 2, which will not be repeated here.

[0195] The processor in the embodiments of the present application can be a central processing module (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0196] The memory in the embodiments of the present application is used to provide a storage space, and the storage space can store data such as operating systems and computer programs. The memory includes but is not limited to random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0197] According to the method provided in the embodiments of the present application, the embodiments of the present application also provide a computer readable storage medium, and the computer readable storage medium stores a computer program. When the computer program runs on one or more processors, the method shown in FIG. 2 can be implemented.

[0198] According to the method provided in the embodiments of the present application, the embodiments of the present application also provide a computer program product, and the computer program product includes a computer program. When the computer program runs on a processor, the method shown in FIG. 2 can be implemented.

[0199] The embodiments of the present application also provide a system, which includes at least one data processing device 50 or data processing device 60 or chip 70 as described above, and is used to execute the steps executed by the corresponding devices in any of the embodiments of FIG. 2.

[0200] The embodiments of the present application also provide a system, which includes an intelligent driving domain controller deployed with detection software, and the intelligent driving domain controller is used to execute the steps executed by the corresponding devices in the embodiments shown in FIG. 2.

[0201] The embodiments of the present application also provide a data processing device, which includes a processor and an interface. The processor is used to execute the method in any of the method embodiments.

[0202] It should be appreciated that the above data processing apparatus can be a chip. For example, the data processing apparatus can be a field programmable gate array (FPGA), can be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, can also be a system chip (SoC), can also be a central processor unit (CPU), can also be a network processor (NP), can also be a digital signal processing circuit (DSP), can also be a micro controller unit (MCU), can also be a programmable logic device (PLD) or other integrated chip. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as hardware code processor execution, or executed by hardware and software module combination in code processor. The software module can be located in random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, register and other mature storage medium in the art. The storage medium is located in the memory, and the processor reads the information in the memory, and combines the hardware to complete the steps of the above method.

[0203] It is to be appreciated that the memory in the embodiments of the application can be volatile, nonvolatile, or a combination of both. The non-volatile memory can be, for example, read only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically EPROM (EEPROM), or flash memory. The volatile memory can be, for example, random access memory (RAM), which acts as external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM). It is to be appreciated that the system and method described herein can employ any of such memories or drives or a combination thereof.

[0204] In the embodiments described above, all or some of the steps can be implemented by using software, hardware, firmware or any combination thereof. When implemented by using software, all or some of the steps can be implemented in form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded into and executed by a computer, all or some of the procedures or functions as described in the embodiments of the present application are performed. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatuses. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center through wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) manner. The computer readable storage medium can be any available medium or a set of medium that is accessible by a computer or a data storage device such as a server, data center, etc. that includes one or more available media. The available medium can be a magnetic medium (for example, floppy disk, hard disk, magnetic tape), an optical medium (for example, high-density digital video disc (DVD)), or a semiconductor medium (for example, solid state disk (SSD)), etc.

[0205] The units in the various device embodiments and the electronic devices in the method embodiments fully correspond, and the corresponding steps are performed by the corresponding modules or units, for example, the transceiving module (transceiver) performs the steps of receiving or transmitting in the method embodiments, and the steps other than transmitting and receiving can be performed by the processing module (processor). The functions of the specific units can refer to the corresponding method embodiments. The processor can be one or more.

[0206] It can be understood that the electronic device in the embodiments of the present application can perform some or all of the steps in the embodiments of the present application, and these steps or operations are only examples, and the embodiments of the present application can also perform other operations or various modifications of the operations. In addition, each step can be performed in a different order from that presented in the embodiments of the present application, and it is possible that not all operations in the embodiments of the present application are performed.

[0207] Those skilled in the art can clearly understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0208] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0209] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the above-described device embodiments are merely schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0210] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0211] In addition, each functional unit in each embodiment of the present application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0212] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that make contributions or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk, and various media that can store program codes.

[0213] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application.

Claims

1. A data processing method, characterized in that, Applied to a domain controller, which is contained in a vehicle, the method includes: The vehicle's operating status information and the vehicle's surrounding environment information are acquired, and the operating status information and the surrounding environment information are cached in memory; When the vehicle is in an abnormal state, the operating status information and the surrounding environment information in the memory are stored in non-volatile memory.

2. The method according to claim 1, characterized in that, The domain controller includes a processing module, and the vehicle includes a detection device; the method further includes: The processing module receives detection data from the detection device; Based on the detection data, the processing module determines that the vehicle is in an abnormal state.

3. The method according to claim 2, characterized in that, The detection device includes an airbag, and the detection data includes a collision signal from the airbag; Based on the detection data, the processing module determines that the vehicle is in an abnormal state, including: The vehicle is determined to be in an abnormal state if the duty cycle of the collision signal changes, or if the effective level of the collision signal changes.

4. The method according to claim 2, characterized in that, The detection device includes an environmental sensing sensor, and the detection data includes sensing data from the environmental sensing sensor. Based on the detection data, the processing module determines that the vehicle is in an abnormal state, including: The distance between the obstacle and the vehicle is determined based on the perceived data; If the distance is less than or equal to a distance threshold, the vehicle is determined to be in an abnormal state.

5. The method according to claim 2, characterized in that, The detection device includes an acceleration sensor, and the detection data includes lateral acceleration data and / or longitudinal acceleration data from the acceleration sensor; Based on the detection data, the processing module determines that the vehicle is in an abnormal state, including: Based on the lateral acceleration data, determine the lateral acceleration change value, and / or, based on the longitudinal acceleration data, determine the longitudinal acceleration change value; If the change in lateral acceleration is greater than or equal to a lateral acceleration threshold, and / or the change in longitudinal acceleration is greater than or equal to a longitudinal acceleration threshold, the vehicle is determined to be in an abnormal state.

6. The method according to any one of claims 1-5, characterized in that, The memory includes a first memory and a second memory; the non-volatile memory includes a first non-volatile memory and a second non-volatile memory. The step of storing the running state information and the surrounding environment information in the memory into non-volatile memory includes: The running status information and the surrounding environment information cached in the first memory are stored in the first non-volatile memory; The running status information and the surrounding environment information cached in the second memory are stored in the second non-volatile memory.

7. The method according to claim 6, characterized in that, The step of storing the running status information and the surrounding environment information cached in the first memory into the first non-volatile memory includes: sequentially storing the running status information and the surrounding environment information cached in the first memory into the first non-volatile memory according to the data packet identifier; The step of storing the running state information and the surrounding environment information cached in the second memory into the second non-volatile memory includes: storing the running state information and the surrounding environment information cached in the second memory into the second non-volatile memory in reverse order according to the data packet identifier; The data packet identifier is used to identify the data packet, which includes the vehicle's operating status information and the vehicle's surrounding environment information within a preset time period.

8. The method according to claim 6 or 7, characterized in that, The processing modules in the domain controller include a first processing module and a second processing module; The step of acquiring the vehicle's operating status information and the vehicle's surrounding environment information, and caching the operating status information and the surrounding environment information in memory, includes: The first processing module acquires the vehicle's operating status information and the vehicle's surrounding environment information, and caches the operating status information and the surrounding environment information in the first memory; When the vehicle is in an abnormal state, the first processing module is also used to store the running status information and the surrounding environment information cached in the first memory into the first non-volatile memory. The second processing module acquires the vehicle's operating status information and the vehicle's surrounding environment information, and caches the operating status information and the surrounding environment information in the second memory; When the vehicle is in an abnormal state, the second processing module is also used to store the running status information and the surrounding environment information cached in the second memory into the second non-volatile memory.

9. The method according to any one of claims 1-5, characterized in that, The process is responsible for storing the running state information and the surrounding environment information in the memory into non-volatile memory. The method further includes: When the vehicle is in an abnormal state, the amount of input and output resources available to the process is increased in order to store the running state information and the surrounding environment information in the memory into non-volatile memory.

10. The method according to claim 9, characterized in that, The process corresponds to a control group; increasing the amount of input and output resources available to the process includes: Adjust the allocation ratio of input and output resource usage to increase the input and output resource usage quota of the control group.

11. The method according to any one of claims 1-10, characterized in that, The domain controller includes an intelligent driving domain controller, a cockpit domain controller, a body domain controller, or a vehicle control domain controller.

12. A domain controller, characterized in that, Includes units or modules for performing the method as described in any one of claims 1-11.

13. A computer-readable storage medium, characterized in that, include: The computer-readable storage medium is used to store instructions or computer programs that, when executed, cause the method as described in any one of claims 1-11 to be implemented.

14. A vehicle, characterized in that, Includes a domain controller for implementing the method of claims 1-11.

15. A computer program product, characterized in that, Includes computer program code, which, when run on a computer, implements the method of any one of claims 1-11.

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