CN109284108B - Unmanned vehicle data storage method and device, electronic equipment and storage medium - Google Patents
Unmanned vehicle data storage method and device, electronic equipment and storage medium Download PDFInfo
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- CN109284108B CN109284108B CN201811002571.3A CN201811002571A CN109284108B CN 109284108 B CN109284108 B CN 109284108B CN 201811002571 A CN201811002571 A CN 201811002571A CN 109284108 B CN109284108 B CN 109284108B
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Abstract
The embodiment of the invention discloses a method and a device for storing data of an unmanned vehicle, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring target data to be stored and the data type of the target data; and constructing a subclass of the target data based on the template according to the data type, and storing the subclass of the target data in a mode of a base class, wherein the subclass is inherited to the base class, and the base class and the subclass are respectively predefined. The embodiment of the invention can realize data storage of the unmanned vehicle of any data type.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned vehicles, in particular to an unmanned vehicle data storage method and device, electronic equipment and a storage medium.
Background
Along with the development of science and technology, more and more tools in life tend to be intelligent, and especially the research of unmanned vehicles provides great convenience for the life of people in the future. In the research of the unmanned vehicle, data of different data types of different modules need to be stored in a data cache module of a calculation framework of the unmanned vehicle, and meanwhile, the reliability of data reading and writing and the storage efficiency are guaranteed. However, it is not known in advance what types of data need to be stored in the cache module, and it is also not possible to satisfy the requirement that the cache module can store all types of data when the framework is developed.
Based on this, the common implementation method in the prior art is to perform reading and writing after forcibly converting the object to be stored into a general type (void pointer). However, the scheme has two problems, one is that the type correctness of the data is difficult to ensure when the type conversion is forced, and the other is that if the type of the data to be stored is different from the general type, for example, a non-pointer, a pointer object needs to be forced to be newly created to implement the data type conversion, which leads to introduction of dynamic memory allocation and waste of resources.
Disclosure of Invention
The embodiment of the invention provides a method and a device for storing unmanned vehicle data, electronic equipment and a storage medium, which are used for storing unmanned vehicle data of any data type in a data cache module of an unmanned vehicle computing frame and ensuring the reliability and the storage efficiency of the unmanned vehicle data storage and reading process.
In a first aspect, an embodiment of the present invention provides a method for storing unmanned vehicle data, where the method includes:
acquiring target data to be stored and the data type of the target data;
and constructing a subclass of the target data based on the template according to the data type, and storing the subclass of the target data in a mode of a base class, wherein the subclass is inherited to the base class, and the base class and the subclass are respectively predefined.
Further, the method further comprises:
responding to a reading request of target data, and acquiring a data type of the target data, wherein the data type of the target data is specified through a template interface function;
and reading target data from the stored base class data according to the data type.
Further, the data type of the target data is recorded in the subclass of the target data;
correspondingly, after reading the target data, the method further comprises:
and checking the consistency of the data type recorded in the read subclass of the target data and the specified data type through a type checking function in the subclass.
In a second aspect, an embodiment of the present invention further provides an unmanned vehicle data storage device, where the device includes:
the first acquisition module is used for acquiring target data to be stored and the data type of the target data;
and the structure storage module is used for constructing a subclass of the target data based on the template according to the data type and storing the subclass of the target data in a mode of a base class, wherein the subclass is inherited to the base class, and the base class and the subclass are respectively predefined.
Further, the apparatus further comprises:
the second acquisition module is used for responding to a reading request of the target data and acquiring the data type of the target data, wherein the data type of the target data is specified through a template interface function;
and the reading module is used for reading the target data from the stored base class data according to the data type.
Further, the data type of the target data is recorded in the subclass of the target data;
correspondingly, the device further comprises:
and the checking module is used for checking the consistency between the data type recorded in the read subclass of the target data and the specified data type through a type checking function in the subclass.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
a memory for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of unmanned vehicle data storage according to any embodiment of the invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the unmanned vehicle data storage method according to any embodiment of the present invention.
The embodiment of the invention discloses a method and a device for storing unmanned vehicle data, electronic equipment and a storage medium.
Drawings
Fig. 1 is a flowchart of an unmanned vehicle data storage method according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for storing data of an unmanned aerial vehicle according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an unmanned vehicle data storage device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of an unmanned vehicle data storage method according to an embodiment of the present invention, where the method is applicable to a case of storing data of each module of an unmanned vehicle, and the method may be executed by an unmanned vehicle data storage device, where the unmanned vehicle data storage device may be implemented in software and/or hardware, and may be configured in an electronic device, where the electronic device may be configured on a vehicle, such as an unmanned vehicle with control and computing capabilities. As shown in fig. 1, the method specifically includes:
and S110, acquiring target data to be stored and the data type of the target data.
The unmanned vehicle generally comprises a plurality of modules such as sensing, traffic light detection, obstacle detection, decision making, vehicle control and the like, and the modules are integrated together by an unmanned vehicle computing framework, and meanwhile, software and hardware resources of the unmanned vehicle are coordinated to ensure that the unmanned vehicle automatically drives. Therefore, the data of each module needs to be transmitted to the data cache module of the unmanned vehicle computing framework for uniform storage, so as to be integrated in the computing framework.
The obtaining of the target data to be stored is that is, obtaining data transmitted by each module, and because each module adopts different data types, the data type of the target data is obtained while obtaining the target data, where the data type may be integer, real, floating point, and the like, and is not limited specifically here.
And S120, constructing a subclass of the target data based on the template according to the data type, and storing the subclass of the target data in a mode of a base class, wherein the subclass is inherited to the base class, and the base class and the subclass are respectively defined in advance.
In this embodiment, a base class and a template-based subclass for storing general type data are defined in the data cache module in advance, for example, an AnyStorage base class (any type of Storage base class) and a template-based Storage subclass (Storage subclass) are defined, where the subclass is inherited from the base class. For example, the target data acquired in S110 is data transmitted by the sensing module, the data type of the target data is a, and when the target data is received, memory storage with a corresponding size is dynamically allocated to the target data according to the size of the target data. And constructing a subclass of the target data as a Storage A based on the template according to the data type A, and storing the subclass of the Storage A into the data buffer module from the memory according to the type of the base class Anystorage. Therefore, the unmanned vehicle data transmitted by each module can be stored in the data cache module according to the same method.
Further, if the obtained target data is data of a shared _ ptr structure, where the shared _ ptr is a shared pointer and the data of the shared _ ptr structure is data of a fixed length, the target data is stored in a stack object (heap object) of a fixed length created in advance, so that dynamic memory allocation introduced by a newly created object can be avoided. And then constructing a subclass of the target data based on the template according to the type of the target data of the shared _ ptr structure, and storing the subclass of the target data in a mode of a base class.
In the embodiment of the invention, the base class for storing the general type data and the subclass based on the template are constructed in advance, the subclass inherits the base class, the data object to be stored is obtained, the subclass of the data object is constructed based on the template and is stored in a base class mode in a unified mode, and therefore the unmanned vehicle data storage of any data type is realized. Moreover, for a common data structure such as shared _ ptr, a stack object with a fixed length is created in a class for storage, so that dynamic memory allocation introduced by a newly created object can be avoided.
Example two
Fig. 2 is a flowchart of an unmanned vehicle data storage method according to a second embodiment of the present invention, and this embodiment is further optimized based on the foregoing embodiment. As shown in fig. 2, the method includes:
and S210, acquiring target data to be stored and the data type of the target data.
S220, constructing a subclass of the target data based on the template according to the data type, and storing the subclass of the target data in a mode of a base class, wherein the subclass is inherited to the base class, and the base class and the subclass are respectively defined in advance.
In this embodiment, when constructing the subclass of the target data based on the template, a field is created in the subclass to identify the type of the subclass of the target data, that is, the data type of the target data recorded in the subclass of the target data. Illustratively, a type field (type field) is created within the sub-class to identify the type of the sub-class, e.g., create type = a to identify the type of the sub-class as a. Thereby facilitating verification of the extracted data when subsequently extracting the target data by recording the type of the target data in the subclass.
And S230, responding to a reading request of the target data, and acquiring the data type of the target data, wherein the data type of the target data is specified through a template interface function.
In this embodiment, when the target data needs to be extracted from the data caching module, the template is entered through the template interface function, and the type of the target data to be extracted is specified through the template, for example, type a is specified. In response to a read request for target data, a data type of the specified target data is obtained, e.g., a specified type A is obtained.
And S240, reading target data from the stored base class data according to the data type.
For example, after the data type of the target data is obtained, the target data may be read from the stored base class data through a get () function. For example, if the type of the obtained target data is a, the base class is converted into an a-type subclass through a function get (a), and the target data is read.
And S250, checking the consistency of the data type recorded in the read subclass of the target data and the specified data type through a type checking function in the subclass.
A type check function may be defined in advance in each subclass, by which a type corresponding to a field type in the corresponding subclass can be checked and is identical to a type specified by the template interface function, thereby ensuring that read and stored data types are identical.
In the embodiment of the invention, the data object to be stored is obtained, the subclass of the data object is constructed based on the template, and then the data object is uniformly stored in a base class mode, so that the unmanned vehicle data of any data type is stored. Meanwhile, when data are read, the data type to be read is appointed through a template interface function, the data corresponding to the type are directly read from the base class based on the appointed data type, and then consistency check is carried out on the read type through a type checking function, so that the consistency of the read and stored data types is ensured, and the reliability and the storage efficiency of data storage and reading and writing of the unmanned vehicle are ensured.
EXAMPLE III
Fig. 3 is a schematic structural diagram of an unmanned vehicle data storage device according to a fifth embodiment of the present invention, and as shown in fig. 3, the device includes:
a first obtaining module 310, configured to obtain target data to be stored and a data type thereof;
and a configuration storage module 320, configured to configure, according to the data type, a subclass of the target data based on the template, and store the subclass of the target data in a manner of a base class, where the subclass is inherited to the base class, and the base class and the subclass are respectively predefined.
In this embodiment, by previously constructing a base class for storing the general type data and a subclass based on the template, the subclass is inherited to the base class. The first acquisition module acquires the data object and the data type to be stored, the construction storage module constructs subclasses of the data object and the data type based on the template, and then the subclasses are uniformly stored in a base class mode, so that the data of any data type can be uniformly stored.
On the basis of the above embodiment, the apparatus further includes:
the second acquisition module is used for responding to a reading request of the target data and acquiring the data type of the target data, wherein the data type of the target data is specified through a template interface function;
and the reading module is used for reading the target data from the stored base class data according to the data type.
On the basis of the above embodiment, the data type of the target data is also recorded in the subclass of the target data;
correspondingly, the device further comprises:
and the checking module is used for checking the consistency of the data type recorded in the read subclass of the target data and the specified data type through a type checking function in the subclass.
The unmanned vehicle data storage device provided by the embodiment of the invention can execute the unmanned vehicle data storage method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention. FIG. 4 illustrates a block diagram of an exemplary electronic device 12 suitable for use in implementing embodiments of the present invention. The electronic device 12 shown in fig. 4 is only an example and should not bring any limitation to the function and the scope of use of the embodiment of the present invention.
As shown in fig. 4, electronic device 12 is in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a memory 28, and a bus 18 that couples various system components including the memory 28 and the processors 16.
Memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination of which may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processor 16 executes various functional applications and data processing by running the program stored in the memory 28, for example, to implement the method for storing the data of the unmanned vehicle according to the embodiment of the present invention, including:
acquiring target data to be stored and the data type of the target data;
and constructing a subclass of the target data based on the template according to the data type, and storing the subclass of the target data in a mode of a base class, wherein the subclass is inherited to the base class, and the base class and the subclass are respectively predefined.
EXAMPLE five
In an embodiment of the invention, there is provided a storage medium containing computer executable instructions which, when executed by a computer processor, are operable to perform a method of unmanned vehicle data storage, the method comprising:
acquiring target data to be stored and the data type of the target data;
and constructing a subclass of the target data based on the template according to the data type, and storing the subclass of the target data in a mode of a base class, wherein the subclass is inherited to the base class, and the base class and the subclass are respectively predefined.
Of course, the storage medium provided in the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the method operations described above, and may also perform related operations in the text playing method applied to the terminal provided in any embodiment of the present invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. An unmanned vehicle data storage method is characterized by comprising the following steps:
acquiring target data to be stored and data types of the target data, wherein the target data are data transmitted among modules integrated by a computing frame of the unmanned vehicle;
according to the data types, constructing subclasses of target data based on a template, and storing the subclasses of the target data in a mode of a base class, wherein the subclasses are inherited to the base class, the base class and the subclasses are respectively predefined, the base class used for storing general type data and the subclasses based on the template are predefined in a data cache module, and the data types comprise integer types, real types and floating point types.
2. The method of claim 1, further comprising:
responding to a reading request of target data, and acquiring a data type of the target data, wherein the data type of the target data is specified through a template interface function;
and reading target data from the stored base class data according to the data type.
3. The method of claim 2, wherein the subclass of target data further records a data type of the target data;
correspondingly, after reading the target data, the method further comprises:
and checking the consistency of the data type recorded in the read subclass of the target data and the specified data type through a type checking function in the subclass.
4. An unmanned vehicle data storage device, comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring target data to be stored and data types of the target data, and the target data is data transmitted among all modules integrated by a computing framework of the unmanned vehicle;
and the construction storage module is used for constructing a subclass of the target data based on the template according to the data type and storing the subclass of the target data in a mode of a base class, wherein the subclass is inherited to the base class, the base class and the subclass are respectively predefined, the base class for storing general type data and the subclass based on the template are predefined in the data cache module, and the data type comprises an integer type, a real type and a floating point type.
5. The apparatus of claim 4, further comprising:
the second acquisition module is used for responding to a reading request of the target data and acquiring the data type of the target data, wherein the data type of the target data is specified through a template interface function;
and the reading module is used for reading the target data from the stored base class data according to the data type.
6. The apparatus of claim 5, wherein the subclass of the target data further records therein a data type of the target data;
correspondingly, the device further comprises:
and the checking module is used for checking the consistency between the data type recorded in the read subclass of the target data and the specified data type through a type checking function in the subclass.
7. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the unmanned vehicle data storage method of any of claims 1-3.
8. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the unmanned vehicle data storage method according to any one of claims 1-3.
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| CN102541927A (en) * | 2010-12-30 | 2012-07-04 | 北京新媒传信科技有限公司 | Method and device for realizing data cache |
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