CN109147091A - Processing method, device, equipment and the storage medium of unmanned car data - Google Patents
Processing method, device, equipment and the storage medium of unmanned car data Download PDFInfo
- Publication number
- CN109147091A CN109147091A CN201810997644.0A CN201810997644A CN109147091A CN 109147091 A CN109147091 A CN 109147091A CN 201810997644 A CN201810997644 A CN 201810997644A CN 109147091 A CN109147091 A CN 109147091A
- Authority
- CN
- China
- Prior art keywords
- message
- file
- data
- block
- channel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/10—File systems; File servers
- G06F16/16—File or folder operations, e.g. details of user interfaces specifically adapted to file systems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/10—File systems; File servers
- G06F16/13—File access structures, e.g. distributed indices
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/10—File systems; File servers
- G06F16/14—Details of searching files based on file metadata
- G06F16/148—File search processing
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
Abstract
The embodiment of the invention discloses processing method, device, equipment and the storage mediums of a kind of unmanned car data.This method comprises: the access associated file destination of data read command；According to the file header and file index of the file destination, selection and the matched target message block of the data read command from each message blocks for including in file destination；Read the message content for including in the target message block.The reading that the embodiment of the present invention passes through message content in the message blocks to file destination, it realizes and the history data of unmanned vehicle system is effectively read, it ensures the trackability of unmanned vehicle system operation data, provides foundation for the analysis of later data and the improvement of system.
Description
Technical field
The present embodiments relate to unmanned vehicle technology field more particularly to a kind of processing method of unmanned car data, device,
Equipment and storage medium.
Background technique
With the development of science and technology, more and more smart machines pour in people's lives, to improve people's lives
Quality and usage experience, unmanned vehicle are also one of them.
Unmanned vehicle is integrated with the equipment such as radar, camera, satellite positioning, independent navigation and multiple sensors, at nobody
In vehicle driving process, user need to only input destination address to unmanned vehicle system, and unmanned vehicle can autonomous positioning, determining navigation road
The information such as line, automatic identification traffic sign and road conditions drive unmanned vehicle to pacify to destination address by large amount of data information
Full traveling.Wherein, the data being input in unmanned vehicle system are the primary data information (pdi) of each sensor or electronic equipment, nothing
What people's vehicle system passed through calculating output is the control data to unmanned vehicle, to ensure that unmanned vehicle adjusts traveling side according to real-time road
Formula.
However, the operation data since the information in actual environment changes constantly, in corresponding unmanned vehicle system
It is all unique and non-renewable.Therefore the history data of unmanned vehicle system is effectively read, is the later period
The analysis of data and the improvement of unmanned vehicle are very necessary.
Summary of the invention
The embodiment of the invention provides processing method, device, equipment and the storage mediums of a kind of unmanned car data, can be right
Data file in unmanned vehicle system is effectively read.
In a first aspect, the embodiment of the invention provides a kind of processing methods of unmanned car data, comprising:
Access the associated file destination of data read command；
According to the file header and file index of the file destination, from each message blocks for including in file destination selection with
The matched target message block of data read command；
Read the message content for including in the target message block.
Second aspect, the embodiment of the invention provides a kind of processing units of unmanned car data, comprising:
File access module, for accessing the associated file destination of data read command；
Message blocks determining module is wrapped from file destination for the file header and file index according to the file destination
Selection and the matched target message block of the data read command in each message blocks included；
Message content read module, for reading the message content for including in the target message block.
The third aspect, the embodiment of the invention provides a kind of equipment, comprising:
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes the processing method of unmanned car data described in any embodiment of that present invention.
Fourth aspect, the embodiment of the invention provides a kind of computer readable storage mediums, are stored thereon with computer journey
Sequence realizes the processing method of unmanned car data described in any embodiment of that present invention when the program is executed by processor.
The embodiment of the present invention is by the access associated file destination of data read command, according to the file header in file destination
And file index, selection and the matched target message block of data read command from each message blocks for including in file destination, from
And read the message content in target message block.The reading that the embodiment of the present invention passes through message content in the message blocks to file destination
It takes, realizes and the history data of unmanned vehicle system is effectively read, it is ensured that unmanned vehicle system operation data
Trackability provides foundation for the analysis of later data and the improvement of system.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the processing method for unmanned car data that the embodiment of the present invention one provides；
Fig. 2 is the data format exemplary diagram for the message blocks that the embodiment of the present invention one provides；
Fig. 3 is the data format for the file that the embodiment of the present invention one provides and the schematic diagram of reading data；
Fig. 4 is a kind of flow chart of the processing method of unmanned car data provided by Embodiment 2 of the present invention；
Fig. 5 is a kind of structural schematic diagram of the processing unit for unmanned car data that the embodiment of the present invention three provides；
Fig. 6 is a kind of structural schematic diagram for equipment that the embodiment of the present invention four provides.
Specific embodiment
The embodiment of the present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this
Locate described specific embodiment and is used only for explaining the embodiment of the present invention, rather than limitation of the invention.It further needs exist for
Bright, only parts related to embodiments of the present invention are shown for ease of description, in attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of flow chart of the processing method for unmanned car data that the embodiment of the present invention one provides, and the present embodiment can
The case where suitable for reading history message from the file pre-recorded for unmanned vehicle system operation data, this method can be by one
The processing unit of unmanned car data is planted to execute.This method specifically comprises the following steps:
S110, the access associated file destination of data read command.
In the specific embodiment of the invention, it can integrate data recording device (recorder) in unmanned vehicle system, be used for
The message data generated when to the operation of unmanned vehicle system records, and generates independent file and stored.Correspondingly, with
When family or staff need to inquire historical data pre-recorded in unmanned vehicle system, can to unmanned vehicle system or
Other copies of person transmit in the memory of the storage file and send data read command, to carry out the access of historical data.
It may include a plurality of be used in file header specifically, may include file header in storage file in the present embodiment
The head data of file attribute are described, the length of file header is fixed, and the length of each item head data of file header is fixed, and file header
Length be greater than each item head data the sum of length.Each item head data in file header can be the description of storage message in file
Information, such as: starting recording time terminates recording time, message block message, channel block message, file generated threshold information, block
Generate the attribute informations such as threshold information and version number.And then when reading file, foundation file header in information you can learn that
The summary info of this document.Under normal conditions, the file attribute information to be written in prespecified file header is recorded in data
When system carries out document creation, the corresponding head data of file attribute, and root are just initialized in file header according to preparatory regulation
The refreshing of file header is carried out according to the data of write-in.Wherein, the length based on file header is greater than the sum of the length of each item head data, text
Position has been reserved to the expansion of file for the later period in part head, such as has added certain head data in edition upgrading, but simultaneously still
Can guarantee head data information in legacy version can normal use, improve the expansibility and versatility of file.
It may include the starting recording time for the message to be read in the present embodiment, in data read command, terminate record
At least one of information such as time, message block message, channel block message or version number processed.Correspondingly, can be read according to data
The File header information of the information and file that include in instruction fetch, the corresponding file of the file header that information is matched is as target
File, so as to access data read command associated objects file.
Illustratively, it is prespecified will file starting recording time write-in file file header in.Assuming that reading data
The message in a certain special time period is read in instruction in instruction, and then according to the temporal information foundation for including in data read command
The file for meeting the special time period is determined as file destination by the File header information of each file.
S120, file header and file index according to file destination, select from each message blocks for including in file destination
With the matched target message block of data read command.
It can also include file body and file index in file in the specific embodiment of the invention.Wherein, remember in file body
The data when operation of unmanned vehicle system are recorded.Specifically, can be by multiple data chunks at data block may include in file body
The quantity of message blocks and channel block, message blocks or channel block is one or more.Wherein, certain period of time is had recorded in message blocks
The a plurality of monomer message that generates and transmit when middle unmanned vehicle system is run, attached in every monomer message corresponding time point with
Channel identication.Time point refers to generation time or the transmission time of corresponding message；The carrier that channel refers to message transmission and plays,
It can play to obtain corresponding message content by channel corresponding with message, channel identication, which refers to, can point at channel only
One identification information, such as channel designation etc..It is used for used by unmanned vehicle system current time correspondingly, being had recorded in channel block
The channel and its attribute information for transmitting message at least may include that channel designation, channel type and channel are explained, also may include
Corresponding temporal information.And then this can be found from channel module according to additional time point in monomer message and channel identication
The corresponding channel of message and its attribute information call when in case playing message.
Specifically, may include build, block message and block in data block.It wherein, may include a plurality of be used in build
The data information of message attributes in description block, the build length of data block is fixed in same file, and is write in data block
After entering in file, the information in data block, which immobilizes, to be added.The present embodiment is in order to improve data information in build
Readability under any circumstance has recorded the primary data information (pdi) of non-sequence in build, may include starting recording time,
Terminate recording time and block generates the information such as threshold information.Secondly, the serializing that block message is data information in build indicates,
Reduce the occupied memory space of primary data information (pdi) with binary data mode, while improving data block and unmanned vehicle
The compatibility of system, convenient in unmanned vehicle system to the storage of data and reading.Finally, having recorded the number of structuring in block
It is believed that breath.Wherein, the message of structuring is had recorded in the block of message blocks, message can specifically include a plurality of monomer message, often
It attached corresponding time point and channel identication in monomer message；It is had recorded used by current time in the block of channel block
Channel and its attribute information.
It should be noted that when there is some damage in block message, it can be according to the initial data in build to block message
Restored, to ensure normal reading of the unmanned vehicle system for data block.
Illustratively, Fig. 2 is the data format exemplary diagram of message blocks.Wherein, message blocks attribute information is had recorded in build
Initial data, improve the readability of data and the restorability to data in block message；Serializing is had recorded in block message
Initial data, improve and the compatibility of unmanned vehicle system；A plurality of monomer information is had recorded in block.
The index information of each data block in file body is had recorded in the present embodiment, in file index.Specifically, file index
In may include identification information, routing information and temporal information of each message blocks or channel block etc..Further, since unmanned vehicle system
Message data volume when system operation is larger, and to occupy memory headroom larger for message itself, and remaining attribute information occupies memory sky
Between it is smaller, therefore file index also may include all information in file body other than message itself, so as in text
Partial data in part restores data when damaging.
It, can be according to being wrapped in file header specifically, the present embodiment is after determining file destination according to data read command
The routing information contained finds corresponding file destination, and by the file of the information for including in data read command and file destination
Index is matched, to obtain the message blocks to match with data read command, and according to message blocks each in file index
Routing information finds the message blocks as target message block.
Illustratively, the present embodiment can determine the recording time section of data to be read, foundation according to data read command
The file header and file index of file destination determine that recording time belongs to the message block identification of the recording time section, to will disappear
The associated message blocks of block identification are ceased as target message block.
S130, the message content for including in target message block is read.
In the specific embodiment of the invention, since the monomer message recorded in the block of message blocks is the message of structuring
Content, it is preferable with the compatibility of unmanned vehicle system.Therefore the message content for including in target message block can be read directly.
Illustratively, Fig. 3 is the data format of file and the schematic diagram of reading data.It as can be seen from Figure, can be with
The matching degree of the file header and data read command that are first depending on file determines file destination, secondly when reading file destination
Matching degree according to file index and data read command determines target message block, thus the final road according in file index
Diameter information reads the message content under the path of target message block place.
It is worth noting that, being the carrier of message in view of channel, no channel will be unable to really play and obtain in message
Content.Therefore after reading target message content, the channel designation for including in available objective monomer message, thus according to
Target channel and channel attribute are determined from each channel block of file destination according to channel designation；According to file index and channel category
Property, the channel content of target message content is obtained from each channel block for including in file destination.And then according to from target message
The channel content of the message content and message content that read in block, plays back message content.
In addition, in the present embodiment, due to may include the All Files information other than message itself in file index,
That is, may include all information in channel block in file index.Therefore the channel in channel block, channel attribute and
Specific channel content preserves at least two parts in entire file.And if then detecting there there is scarce any channel block in file destination
Damage, then can restore the channel block according to the file index of file destination, to ensure normally broadcasting for message content
It puts.
The technical solution of the present embodiment, by accessing the associated file destination of data read command, according in file destination
File header and file index, select to disappear with the matched target of data read command from each message blocks for including in file destination
Block is ceased, to read the message content in target message block.The embodiment of the present invention passes through message in the message blocks to file destination
The reading of content is realized and is effectively read to the history data of unmanned vehicle system, it is ensured that unmanned vehicle system fortune
The trackability of row data provides foundation for the analysis of later data and the improvement of system.
Embodiment two
On the basis of the above embodiment 1, one for providing the processing method of unmanned car data is preferred real for the present embodiment
Mode is applied, data recovery and expansion can be carried out to file.Fig. 4 is a kind of unmanned car data provided by Embodiment 2 of the present invention
The flow chart of processing method, as shown in figure 4, this method comprising the following specific steps
S410, the access associated file destination of data read command.
In the specific embodiment of the invention, it is integrated with data recording device in unmanned vehicle system, for unmanned vehicle system
The message data generated when operation is recorded, and is generated independent file and stored.Correspondingly, in user or staff
When needing to inquire historical data pre-recorded in unmanned vehicle system, can to unmanned vehicle system or other copy or
It transmits and sends data read command in the memory of the storage file, to carry out the access of historical data.
Specifically, when may include the starting recording time for the message to be read in data read command, terminating to record
Between, at least one of information such as message block message, channel block message or version number.Correspondingly, can be referred to according to reading data
The File header information of the information and file that include in order, the corresponding file of the file header that information is matched is as target text
Part, so as to access the associated file destination of data read command.Data read command in the present embodiment can also include
Specific access path, and then according to the store path saved in the file header of file, it is directly obtained file destination.
Optionally, the length of file header is fixed, and the length of each item head data of file header is fixed, and the length of file header
Greater than the sum of the length of each item head data.
In the present embodiment, each item head data in file header can be numerous description informations of file, such as: start to record
Time terminates recording time, message block message, channel block message, file generated threshold information, block generation threshold information and version
This number equal attribute informations.And then when reading file, according to the information in file header you can learn that the summary info of this document.Base
It is greater than the sum of the length of each item head data in the length of file header, position has been reserved to the expansion of file for the later period in file header,
Such as certain head data are added in edition upgrading, but still be able to guarantee that the head data information in legacy version can normally make simultaneously
With improving the expansibility and versatility of file.
Illustratively, it is assumed that the length of file header is 2048K, provides to store 20 head data in file header in version 1, often
The length of item head data is 50K, therefore the memory headroom of 1048K length is also reserved in file header.In FileVersion upgrading,
Assuming that adding 1 head data based on being left white space in file header, the head data length that this corresponding increases also is 50K.
Therefore file header is expanded, and does not influence to expand the use of preceding document data.Correspondingly, file body be it is elongated, not
Influence the data block being wherein written.
S420, file header and file index according to file destination, select from each message blocks for including in file destination
With the matched target message block of data read command.
It, can be according to file after determining file destination according to data read command in the specific embodiment of the invention
The routing information for including in head finds corresponding file destination, and by the information for including in data read command and file destination
File index matched, to obtain the message blocks to match with the reading requirement in data read command, and according to text
The routing information of each message blocks finds the message blocks for meeting reading requirement as target message block in part index.Wherein, data
The reading requirement for including in instruction can be for data block in file to be all read out, or for the number for meeting particular requirement
It is read out according to block, such as designated time period requirement, release requirement or channel requirement etc..
Optionally, the recording time section of data to be read is determined according to data read command；File according to file destination
Head and file index, determine that recording time belongs to the message block identification of recording time section；By the associated message blocks of message block identification
As target message block.
In the present embodiment, if indicating the recording time section of data to be read in data read command, by file header and
Temporal information in file index is matched with the recording time section, so that it is determined that recording time belongs to disappearing for recording time section
Cease block, and determine according to file index the mark or routing information of the message blocks, using the associated message blocks of message block identification as
Target message block.
S430, the message content for including in target message block is read.
In the specific embodiment of the invention, since the monomer message recorded in the block of message blocks is the message of structuring
Content, it is preferable with the compatibility of unmanned vehicle system.Therefore the message content for including in target message block can be read directly.
S440, the channel attribute for obtaining each target message in target message block.
In the specific embodiment of the invention, target message is the message content of above-mentioned determination, target message can for
Item with can be a plurality of.Target message is as the monomer message in the block of message blocks, wherein not only comprising in specific message
Hold, further include time point and the channel identication of the monomer message, for example, the monomer message the start recording time, when terminating record
Between or channel designation.And then corresponding channel designation can be obtained from the target message in target message block, and according to channel
Title finds corresponding channel and its attribute information from each channel block of file destination, for playing message content with the later period
When call.
S450, foundation file index and channel attribute, obtain message content from each channel block for including in file destination
Channel content.
It, can be by the information recorded in file index and the channel attribute determined progress in the specific embodiment of the invention
Match, so that it is determined that the channel block of the channel comprising successful match is target channel block, and determines the target according to file index
The routing information of channel obtains the corresponding channel content of message content according to routing information from target channel block.
The channel content of message content and message content that S460, foundation are read from target message block, to message content
It is played back.
In the specific embodiment of the invention, since determining channel content and message content match, i.e., original
It is exactly to carry the transmission of message progress by the channel, therefore can use the channel content pair in the transmission process of message
The message content is played back, to obtain true readable primary data information (pdi).
Illustratively, it is assumed that include specific access path in data read command, saved in the file header of foundation file
Store path, be directly obtained file destination.It wherein, can also include the time for the message of being accessed in data read command
Data in section, such as August 10:00 to 10:01 on the 1st this 1 minute, and then according in the file header and file index of file destination
The information of record, the target message blocks of data is identified as No. 3 message blocks in lock reord this 1 minute, and according to file rope
Draw the routing information of No. 3 message blocks of record to obtain the message content in No. 3 message blocks, while according in No. 3 message blocks
What the channel attribute of each target message determined the target channel of the message content is identified as No. 7 channel blocks.To according to file rope
The information for drawing middle record determines the routing information of No. 7 channel blocks, obtains the frequency of the message content from No. 7 channel blocks according to path
Road content.Finally the message content is played back using the channel content, to obtain true readable primary data information (pdi).
Optionally, if detecting, any channel block has defect in file destination, the file index pair according to file destination
The channel block is restored.
In the present embodiment, due to may include the All Files information other than message itself in file index, also
It is to say, may include all information in channel block in file index.Therefore the channel in channel block, channel attribute and specific
Channel content at least two parts are preserved in entire file.And then channel or and its information presence damage in file destination
In the case where bad, the channel block can be restored according to the file index of file destination, to ensure message content
Normal play.
The technical solution of the present embodiment passes through the target text that the associated file header length of access data read command is fixed
Part, according to the file header and file index in file destination, selection is read with data from each message blocks for including in file destination
The matched target message block of instruction fetch reads the message content in target message block.And from being obtained in target message in the message
Hold corresponding channel attribute, is determined according to file index and channel attribute and obtain the corresponding channel content of the message content, with this
Message content is played back using channel content.And it can use file index and the channel information in file restored.
The embodiment of the present invention carries out obtaining for message content from the file that file header length is fixed and greater than the sum of all data lengths
It takes, and stores the same data message in file in file index, and then by message in the message blocks to file destination
Hold and the acquisition of the corresponding channel content of message content, the history data progress realized to unmanned vehicle system are effective
Playback, provides foundation for the analysis of later data and the improvement of system, it is ensured that unmanned vehicle system operation data can be traced
Property and readability, improve the expansibility, system compatibility and restorability of file.
Embodiment three
Fig. 5 is a kind of structural schematic diagram of the processing unit for unmanned car data that the embodiment of the present invention three provides, this implementation
Example is applicable to the case where history message is read from the file pre-recorded for unmanned vehicle system operation data, which can
Realize the processing method of unmanned car data described in any embodiment of that present invention.The device specifically includes:
File access module 510, for accessing the associated file destination of data read command；
Message blocks determining module 520, for the file header and file index according to the file destination, from file destination
Including each message blocks in selection with the matched target message block of the data read command；
Message content read module 530, for reading the message content for including in the target message block.
Optionally, the message blocks determining module 520, comprising:
Reading requirement determination unit, for determining the recording time section of data to be read according to the data read command；
It identifies determination unit and determines that recording time belongs to for the file header and file index according to the file destination
The message block identification of the recording time section；
Message blocks determination unit, for using the associated message blocks of message block identification as target message block.
Further, described device further include:
Channel attribute determination module 540, for it is described read the message content for including in the target message block after,
Obtain the channel attribute of each target message in the target message block；
Channel content obtains module 550, for being wrapped from file destination according to the file index and the channel attribute
The channel content of the message content is obtained in each channel block included.
Further, described device further include:
Message playback module 560, for being obtained in the message from each channel block for including in file destination described
After the channel content of appearance, according to out of, the message content and the message content that are read in the target message block channel
Hold, the message content is played back.
Further, described device further include:
Data recovery module 570, if any channel block has defect in file destination for detecting, according to file destination
File index the channel block is restored.
Optionally, the length of the file header is fixed, and the length of each item head data of the file header is fixed, and described
The length of file header is greater than the sum of the length of each item head data.
The technical solution of the present embodiment realizes data read command by the mutual cooperation between each functional module
Reception, the matching of the file information, the determination of file destination, the determination of target message block, the reading of message content, channel attribute
The functions such as acquisition, the determination of channel block, the acquisition of channel content, the broadcasting of message content and the recovery of data.The present invention
Embodiment carries out the acquisition of message content, and text from the file that file header length is fixed and greater than the sum of all data lengths
The same data message in file is stored in part index, and then by message content in the message blocks to file destination and is disappeared
The acquisition for ceasing the corresponding channel content of content, realizes and is effectively played back to the history data of unmanned vehicle system, be
The analysis of later data and the improvement of system provide foundation, it is ensured that the trackability of unmanned vehicle system operation data and readable
Property, improve the expansibility, system compatibility and restorability of file.
Example IV
Fig. 6 is a kind of structural schematic diagram for equipment that the embodiment of the present invention four provides, and Fig. 6, which is shown, to be suitable for being used to realizing this
The block diagram of the example devices of inventive embodiments embodiment.The equipment that Fig. 6 is shown is only an example, should not be to the present invention
The function and use scope of embodiment bring any restrictions.
The equipment 12 that Fig. 6 is shown is only an example, should not function to the embodiment of the present invention and use scope bring
Any restrictions.
As shown in fig. 6, equipment 12 is showed in the form of universal computing device.The component of equipment 12 may include but unlimited
In one or more processor 16, system storage 28, different system components (including system storage 28 and processing are connected
Device 16) bus 18.
Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
Equipment 12 typically comprises a variety of computer system readable media.These media can be it is any can be by equipment 12
The usable medium of access, including volatile and non-volatile media, moveable and immovable medium.
System storage 28 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (RAM) 30 and/or cache memory 32.Equipment 12 may further include it is other it is removable/nonremovable,
Volatile/non-volatile computer system storage medium.Only as an example, storage system 34 can be used for reading and writing irremovable
, non-volatile magnetic media (Fig. 6 do not show, commonly referred to as " hard disk drive ").Although being not shown in Fig. 6, use can be provided
In the disc driver read and write to removable non-volatile magnetic disk (such as " floppy disk "), and to removable anonvolatile optical disk
The CD drive of (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driver can
To be connected by one or more data media interfaces with bus 18.System storage 28 may include that at least one program produces
Product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform of the invention real
Apply the function of each embodiment of example.
Program/utility 40 with one group of (at least one) program module 42 can store and store in such as system
In device 28, such program module 42 includes but is not limited to operating system, one or more application program, other program modules
And program data, it may include the realization of network environment in each of these examples or certain combination.Program module 42
Usually execute the function and/or method in described embodiment of the embodiment of the present invention.
Equipment 12 can also be communicated with one or more external equipments 14 (such as keyboard, sensing equipment, display 24 etc.),
Can also be enabled a user to one or more equipment interacted with the equipment 12 communication, and/or with enable the equipment 12 with
One or more of the other any equipment (such as network interface card, modem etc.) communication for calculating equipment and being communicated.It is this logical
Letter can be carried out by input/output (I/O) interface 22.Also, equipment 12 can also by network adapter 20 and one or
The multiple networks of person (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet) communication.As shown,
Network adapter 20 is communicated by bus 18 with other modules of equipment 12.It should be understood that although not shown in the drawings, can combine
Equipment 12 uses other hardware and/or software module, including but not limited to: microcode, device driver, redundant processor, outer
Portion's disk drive array, RAID system, tape drive and data backup storage system etc..
Processor 16 is by running at least one program in the multiple programs being stored in system storage 28, to hold
Row various function application and data processing, such as realize the processing method of unmanned car data provided by the embodiment of the present invention.
Embodiment five
The embodiment of the present invention five also provides a kind of computer readable storage medium, be stored thereon with computer program (or
For computer executable instructions), for executing a kind of processing method of unmanned car data, the party when which is executed by processor
Method includes:
Access the associated file destination of data read command；
According to the file header and file index of the file destination, from each message blocks for including in file destination selection with
The matched target message block of data read command；
Read the message content for including in the target message block.
The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media
Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable
Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or
Device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes: tool
There are electrical connection, the portable computer diskette, hard disk, random access memory (RAM), read-only memory of one or more conducting wires
(ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable storage
Medium can be any tangible medium for including or store program, which can be commanded execution system, device or device
Using or it is in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
Can with one or more programming languages or combinations thereof come write for execute the embodiment of the present invention operation
Computer program code, described program design language include object oriented program language-such as Java,
Smalltalk, C++, further include conventional procedural programming language-such as " C " language or similar program design language
Speech.Program code can be executed fully on the user computer, partly be executed on the user computer, as an independence
Software package execute, part on the user computer part execute on the remote computer or completely in remote computer or
It is executed on server.In situations involving remote computers, remote computer can pass through the network of any kind --- packet
It includes local area network (LAN) or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as benefit
It is connected with ISP by internet).
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being implemented by above embodiments to the present invention
Example is described in further detail, but the embodiment of the present invention is not limited only to above embodiments, is not departing from structure of the present invention
It can also include more other equivalent embodiments in the case where think of, and the scope of the present invention is determined by scope of the appended claims
It is fixed.
Claims (14)
1. a kind of processing method of unmanned car data characterized by comprising
Access the associated file destination of data read command；
According to the file header and file index of the file destination, from each message blocks for including in file destination selection with it is described
The matched target message block of data read command；
Read the message content for including in the target message block.
2. the method according to claim 1, wherein the file header and file rope according to the file destination
Draw, selection and the matched target message block of the data read command from each message blocks for including in file destination, comprising:
The recording time section of data to be read is determined according to the data read command；
According to the file header and file index of the file destination, determine that recording time belongs to the message blocks of the recording time section
Mark；
Using the associated message blocks of message block identification as target message block.
3. the method according to claim 1, wherein reading the message for including in the target message block described
After content, further includes:
Obtain the channel attribute of each target message in the target message block；
According to the file index and the channel attribute, obtained in the message from each channel block for including in file destination
The channel content of appearance.
4. according to the method described in claim 3, it is characterized in that, being obtained from each channel block for including in file destination described
After the channel content for taking the message content, further includes:
According to the channel content of the message content and the message content read from the target message block, in the message
Appearance is played back.
5. the method according to claim 1, wherein further include:
If detecting, any channel block has defect in file destination, and the file index according to file destination carries out the channel block
Restore.
6. the method according to claim 1, wherein the length of the file header is fixed, and the file header
The length of each item head data is fixed, and the length of the file header is greater than the sum of the length of each item head data.
7. a kind of processing unit of unmanned car data characterized by comprising
File access module, for accessing the associated file destination of data read command；
Message blocks determining module includes from file destination for the file header and file index according to the file destination
Selection and the matched target message block of the data read command in each message blocks；
Message content read module, for reading the message content for including in the target message block.
8. device according to claim 7, which is characterized in that the message blocks determining module, comprising:
Reading requirement determination unit, for determining the recording time section of data to be read according to the data read command；
Determination unit is identified, for the file header and file index according to the file destination, it is described to determine that recording time belongs to
The message block identification of recording time section；
Message blocks determination unit, for using the associated message blocks of message block identification as target message block.
9. device according to claim 7, which is characterized in that further include:
Channel attribute determination module, for it is described read the message content for including in the target message block after, obtain institute
State the channel attribute of each target message in target message block；
Channel content obtains module, for according to the file index and the channel attribute, include from file destination to be each
The channel content of the message content is obtained in channel block.
10. device according to claim 9, which is characterized in that further include:
Message playback module, in the channel for obtaining the message content from each channel block for including in file destination
After content, according to the channel content of the message content and the message content read from the target message block, to described
Message content is played back.
11. device according to claim 7, which is characterized in that further include:
Data recovery module, if any channel block has defect in file destination for detecting, the file according to file destination
Index restores the channel block.
12. device according to claim 7, which is characterized in that the length of the file header is fixed, and the file header
The length of each item head data is fixed, and the length of the file header is greater than the sum of the length of each item head data.
13. a kind of equipment characterized by comprising
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now such as the processing method of unmanned car data described in any one of claims 1 to 6.
14. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The processing method such as unmanned car data described in any one of claims 1 to 6 is realized when execution.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810997644.0A CN109147091B (en) | 2018-08-29 | 2018-08-29 | Method, device and equipment for processing data of unmanned vehicle and storage medium |
| CN202210344470.4A CN114780493A (en) | 2018-08-29 | 2018-08-29 | Unmanned vehicle data processing method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810997644.0A CN109147091B (en) | 2018-08-29 | 2018-08-29 | Method, device and equipment for processing data of unmanned vehicle and storage medium |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210344470.4A Division CN114780493A (en) | 2018-08-29 | 2018-08-29 | Unmanned vehicle data processing method, device, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109147091A true CN109147091A (en) | 2019-01-04 |
| CN109147091B CN109147091B (en) | 2022-04-19 |
Family
ID=64829162
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810997644.0A Active CN109147091B (en) | 2018-08-29 | 2018-08-29 | Method, device and equipment for processing data of unmanned vehicle and storage medium |
| CN202210344470.4A Pending CN114780493A (en) | 2018-08-29 | 2018-08-29 | Unmanned vehicle data processing method, device, equipment and storage medium |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210344470.4A Pending CN114780493A (en) | 2018-08-29 | 2018-08-29 | Unmanned vehicle data processing method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN109147091B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110502475A (en) * | 2019-07-25 | 2019-11-26 | 长沙行深智能科技有限公司 | A kind of more data access methods of unmanned vehicle, device, medium and equipment |
| CN110619693A (en) * | 2018-06-20 | 2019-12-27 | 北京图森未来科技有限公司 | Automatic driving data management system and method and data processing system |
| CN110896533A (en) * | 2019-06-28 | 2020-03-20 | 腾讯科技（深圳）有限公司 | Vehicle communication message processing method and device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102521306A (en) * | 2011-12-01 | 2012-06-27 | 苏州迈科网络安全技术股份有限公司 | Application method for data storage system |
| CN102891997A (en) * | 2011-07-20 | 2013-01-23 | 深圳市快播科技有限公司 | Audio and video frequency multi-media file format for fast play, playing method and playing device |
| CN103778188A (en) * | 2013-12-31 | 2014-05-07 | 网秦（北京）科技有限公司 | Method and equipment for inquiring and/or maintaining data in library file |
| CN107632996A (en) * | 2016-07-18 | 2018-01-26 | 福特全球技术公司 | Vehicle data library storage and search method and system |
| CN108460075A (en) * | 2017-12-28 | 2018-08-28 | 上海顶竹通讯技术有限公司 | A kind of file content search method and system |
-
2018
- 2018-08-29 CN CN201810997644.0A patent/CN109147091B/en active Active
- 2018-08-29 CN CN202210344470.4A patent/CN114780493A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102891997A (en) * | 2011-07-20 | 2013-01-23 | 深圳市快播科技有限公司 | Audio and video frequency multi-media file format for fast play, playing method and playing device |
| CN102521306A (en) * | 2011-12-01 | 2012-06-27 | 苏州迈科网络安全技术股份有限公司 | Application method for data storage system |
| CN103778188A (en) * | 2013-12-31 | 2014-05-07 | 网秦（北京）科技有限公司 | Method and equipment for inquiring and/or maintaining data in library file |
| CN107632996A (en) * | 2016-07-18 | 2018-01-26 | 福特全球技术公司 | Vehicle data library storage and search method and system |
| CN108460075A (en) * | 2017-12-28 | 2018-08-28 | 上海顶竹通讯技术有限公司 | A kind of file content search method and system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110619693A (en) * | 2018-06-20 | 2019-12-27 | 北京图森未来科技有限公司 | Automatic driving data management system and method and data processing system |
| CN110619693B (en) * | 2018-06-20 | 2022-01-07 | 北京图森未来科技有限公司 | Automatic driving data management system and method and data processing system |
| CN110896533A (en) * | 2019-06-28 | 2020-03-20 | 腾讯科技（深圳）有限公司 | Vehicle communication message processing method and device |
| CN110896533B (en) * | 2019-06-28 | 2023-07-14 | 腾讯科技（深圳）有限公司 | Vehicle communication message processing method and device |
| CN110502475A (en) * | 2019-07-25 | 2019-11-26 | 长沙行深智能科技有限公司 | A kind of more data access methods of unmanned vehicle, device, medium and equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114780493A (en) | 2022-07-22 |
| CN109147091B (en) | 2022-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3709212A1 (en) | Image processing method and device for processing image, server and storage medium | |
| CN110914872A (en) | Navigating video scenes with cognitive insights | |
| JP2019046471A (en) | Similar video lookup method, apparatus, equipment and program | |
| JP6756079B2 (en) | Artificial intelligence-based ternary check method, equipment and computer program | |
| WO2019029199A1 (en) | Sectional speed limit value obtaining method and device and terminal device | |
| CN109147091A (en) | Processing method, device, equipment and the storage medium of unmanned car data | |
| CN110472095B (en) | Voice guidance method, device, equipment and medium | |
| CN109635861B (en) | Data fusion method and device, electronic equipment and storage medium | |
| CN110912870B (en) | Method, device, medium and electronic equipment for synchronizing data of electronic whiteboard | |
| US20190376796A1 (en) | Method and device for acquiring road track, and storage medium | |
| WO2010004612A1 (en) | Information processing apparatus, information generating apparatus, information processing method, information generation method, information processing program, information generating program, and recording medium | |
| CN108648499A (en) | Parking lot vehicle localization method, device, server and storage medium | |
| CN110379406B (en) | Voice comment conversion method, system, medium and electronic device | |
| CN108847066A (en) | A kind of content of courses reminding method, device, server and storage medium | |
| CN108534794A (en) | Display methods, device, equipment and the medium of logo in a kind of navigation | |
| CN114333404A (en) | Vehicle searching method and device for parking lot, vehicle and storage medium | |
| CN112102648B (en) | Vacant parking space pushing method, device, equipment and storage medium | |
| CN109347899A (en) | The method of daily record data is written in distributed memory system | |
| CN110186472A (en) | Vehicle yaw detection method, computer equipment, storage medium and Vehicular system | |
| EP3674178A1 (en) | Parking control method and apparatus, electronic device and storage medium | |
| CN114067790A (en) | Voice information processing method, device, equipment and storage medium | |
| CN111324202A (en) | Interaction method, device, equipment and storage medium | |
| CN111833847A (en) | Speech processing model training method and device | |
| CN109272602A (en) | Method for recording, device, equipment and the storage medium of unmanned car data | |
| CN113835671A (en) | Audio data fast playing method, system, computer equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |