CN111198774A - Unmanned vehicle simulation abnormity tracking method, device, equipment and computer readable medium - Google Patents
Unmanned vehicle simulation abnormity tracking method, device, equipment and computer readable medium Download PDFInfo
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Abstract
The invention provides a method, a device, equipment and a computer readable medium for tracking simulation abnormity of an unmanned vehicle, wherein the method comprises the following steps: creating a data probe in the emulation driver; capturing data flow information of the unmanned vehicle in the simulation process through the data probe; analyzing the state information of the current simulated vehicle according to the data flow message; and when the state of the simulation vehicle is abnormal, positioning the simulation module which has problems in the current simulation vehicle. According to the embodiment of the invention, the data probe is arranged in the simulation driver, so that the abnormal condition of the current vehicle can be quickly judged, and the abnormal simulation module can be quickly positioned, therefore, the detection speed can be improved, and the manpower can be greatly reduced.
Description
Technical Field
The invention relates to the technical field of simulation, in particular to a method, a device, equipment and a computer readable medium for tracking simulation exception of an unmanned vehicle.
Background
Currently, with the development of unmanned technology, many automobile manufacturers gradually open corresponding unmanned vehicle control systems. For the control accuracy of the operating system of the unmanned vehicle, it is necessary to perform simulation calculation first and evaluate the performance parameters of the operating system.
When the current unmanned vehicle is operated in a simulation mode, abnormal conditions such as simulation operation errors, vehicle stagnation, time sequence blockage and the like can be usually encountered. When problems are traced, all simulation modules are generally checked one by one, so that a great deal of labor and energy is consumed.
Disclosure of Invention
The embodiment of the invention provides an unmanned vehicle simulation abnormity tracking method, device and equipment and a computer readable medium, which are used for solving or relieving one or more technical problems in the prior art.
In a first aspect, an embodiment of the present invention provides an unmanned vehicle simulation anomaly tracking method, including:
creating a data probe in the emulation driver;
capturing data flow information of the unmanned vehicle in the simulation process through the data probe;
analyzing the state information of the current simulated vehicle according to the data flow message;
and when the state of the simulation vehicle is abnormal, positioning the simulation module which has problems in the current simulation vehicle.
In one embodiment, the capturing, by the data probe, data flow messages of the unmanned vehicle during the simulation process includes:
capturing data in each simulation module of the unmanned vehicle in a subject channel and a parameter channel respectively through the data probe; the theme channel is applied to mutual communication among different simulation modules of the unmanned vehicle, and the parameter channel is applied to communication among all simulation modules and the data memory in the unmanned vehicle.
In one embodiment, the analyzing the status information of the current simulated vehicle according to the data flow message comprises:
acquiring the operation parameters of the simulated vehicle from the current data flow message;
and when the operation parameter exceeds a set threshold range, judging that the current simulated vehicle is in an abnormal state.
In one embodiment, the locating a problem in a current simulated vehicle when the state of the simulated vehicle is abnormal includes:
extracting abnormal data from the captured data flow message;
and positioning the simulation module with the problem according to the abnormal data.
In a second aspect, an embodiment of the present invention provides an unmanned vehicle simulation anomaly tracking apparatus, including:
a creation module for creating a data probe in the emulation driver;
the capturing module is used for capturing data flow information of the unmanned vehicle in the simulation process through the data probe;
the analysis module is used for analyzing the state information of the current simulation vehicle according to the data flow message;
and the positioning module is used for positioning the simulation module which has problems in the current simulation vehicle when the state of the simulation vehicle is abnormal.
In one embodiment, the capturing module is specifically configured to capture data in each simulation module of the unmanned vehicle in a subject channel and a parameter channel, respectively, through the data probe; the theme channel is applied to mutual communication among different simulation modules of the unmanned vehicle, and the parameter channel is applied to communication among all simulation modules and the data memory in the unmanned vehicle.
In one embodiment, the analysis module comprises:
the acquisition submodule is used for acquiring the operation parameters of the simulated vehicle from the current data flow message;
and the judgment submodule is used for judging that the current simulated vehicle is in an abnormal state when the operation parameter exceeds a set threshold range.
In one embodiment, the positioning module comprises:
the extraction submodule is used for extracting abnormal data from the captured data flow message;
and the positioning sub-module is used for positioning the simulation module with the problem according to the abnormal data.
In a third aspect, in one possible design, the unmanned vehicle simulation abnormality tracking device includes a processor and a memory, the memory is used for storing a program for supporting the unmanned vehicle simulation abnormality tracking device to execute the unmanned vehicle simulation abnormality tracking method in the first aspect, and the processor is configured to execute the program stored in the memory. The unmanned vehicle simulation abnormity tracking device can further comprise a communication interface, and the communication interface is used for communicating the unmanned vehicle simulation abnormity tracking device with other equipment or a communication network.
In a fourth aspect, an embodiment of the present invention provides a computer readable medium for storing computer software instructions for an unmanned vehicle simulation abnormality tracking apparatus, which includes a program for executing the above-mentioned unmanned vehicle simulation abnormality tracking method according to the first aspect.
According to the embodiment of the invention, the data probe is arranged in the simulation driver, so that the abnormal condition of the current vehicle can be quickly judged, and the abnormal simulation module can be quickly positioned, therefore, the detection speed can be improved, and the manpower can be greatly reduced.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the drawings and following detailed description.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
FIG. 1 is a flowchart of an unmanned vehicle simulation anomaly tracking method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an unmanned vehicle simulation architecture according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating the detailed process of step S130 according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating the detailed process of step S140 according to an embodiment of the present invention;
fig. 5 is a connection block diagram of an unmanned vehicle simulation anomaly tracking device according to an embodiment of the present invention;
FIG. 6 is a block diagram of the connection of an analysis module according to one embodiment of the invention;
FIG. 7 is a block diagram of a connection of a positioning module according to an embodiment of the invention;
fig. 8 is a block diagram of an unmanned vehicle simulation anomaly tracking device according to another embodiment of the present invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive. The embodiment of the invention mainly provides a method and a device for simulating abnormal tracking by an unmanned vehicle, and the technical scheme is developed and described by the following embodiments respectively.
The invention provides a method and a device for tracking simulation abnormity of an unmanned vehicle, and the specific processing flow and principle of the method and the device for tracking simulation abnormity of the unmanned vehicle according to the embodiment of the invention are described in detail below.
Fig. 1 is a flowchart of an unmanned vehicle simulation anomaly tracking method according to an embodiment of the present invention. The unmanned vehicle simulation abnormity tracking method provided by the embodiment of the invention can comprise the following steps:
s110: a data probe is created in the emulation drive.
Fig. 2 is a schematic diagram of an unmanned vehicle simulation architecture according to an embodiment of the present invention. In one embodiment, the simulation module of the unmanned vehicle may include: a router (router) simulation module, a planning (planning) simulation module, a perception (perception) simulation module, a control (control) simulation module, and the like. And connecting the simulation modules with a simulation driver through a controller (cybertron) platform, and transferring the operation of each simulation module through the simulation driver. In this step, probes are added to the simulation driver for capturing data between the various simulation modules. In creating probes, probes for a topic (topic) communication tool and probes for a parameter (parameter) communication tool may be created separately.
S120: and capturing data flow information of the unmanned vehicle in the simulation process through the data probe.
In one embodiment, the data in each simulation module of the unmanned vehicle may be captured in a subject channel and a parameter channel, respectively, by the data probe. The theme channel is applied to mutual communication among different simulation modules of the unmanned vehicle, and the parameter channel is applied to communication among all simulation modules and the data memory in the unmanned vehicle. For example, when running a very complex system, it is impractical to store data for all topic (topic) channels, such as a camera, which may generate large amounts of data. Thus, topic (topic) data of interest can be selectively stored and stored through a parameter channel.
S130: and analyzing the state information of the current simulated vehicle according to the data flow message.
As shown in fig. 3, in an embodiment, when analyzing the state information of the current simulated vehicle according to the data flow message, specifically, the analyzing may include:
s131: the operating parameters of the simulated vehicle are obtained from the current dataflow message.
In one embodiment, operating parameters of the simulated vehicle may be obtained from the currently captured data, such as module operating parameters including a router simulation module, a planning simulation module, a perception simulation module, and a control simulation module.
S132: and when the operation parameter exceeds a set threshold range, judging that the current simulated vehicle is in an abnormal state.
In one embodiment, a parameter range may be preset, and whether the captured parameter is within the set range may be determined, so as to determine whether the current vehicle is in an abnormal state.
S140: and when the state of the simulation vehicle is abnormal, positioning the simulation module which has problems in the current simulation vehicle.
As shown in fig. 4, the simulation module for locating a problem occurring in the current simulated vehicle when the state of the simulated vehicle is abnormal includes:
s141: anomalous data is extracted from the captured data flow message.
In one embodiment, a data line exceeding a set normal range in the captured data may be extracted as the object of analysis.
S142: and positioning the simulation module with the problem according to the abnormal data.
In one embodiment, when exception data is retrieved, the simulation module of the source of the data may be located from the data type, parameters, etc. Then, the cause or classification of the problem may be determined according to the abnormal data, such as a failure in starting a router (router) simulation module, a failure in starting a planning simulation module or a control simulation module, and the like. And finally, after the collection and analysis of abnormal data are completed, the error result can be uploaded to the simulation driver, so that the next debugging is facilitated.
According to the embodiment of the invention, the data probe is arranged in the simulation driver, so that the abnormal condition of the current vehicle can be quickly judged, and the abnormal simulation module can be quickly positioned, therefore, the detection speed can be improved, and the manpower can be greatly reduced.
As shown in fig. 5, in another embodiment of the present invention, there is provided an unmanned vehicle simulation abnormality tracking apparatus, including:
a creation module 110 for creating a data probe in the emulation driver.
And the capturing module 120 is used for capturing the data flow message of the unmanned vehicle in the simulation process through the data probe.
The capturing module 120 is specifically configured to capture data in each simulation module of the unmanned vehicle in a subject channel and a parameter channel respectively through the data probe. The theme channel is applied to mutual communication among different simulation modules of the unmanned vehicle, and the parameter channel is applied to communication among all simulation modules and the data memory in the unmanned vehicle.
And the analysis module 130 is configured to analyze the state information of the current simulated vehicle according to the data stream message.
And the positioning module 140 is used for positioning the simulation module with the problem in the current simulation vehicle when the state of the simulation vehicle is abnormal.
As shown in fig. 6, the analysis module 130 includes:
and an obtaining submodule 131, configured to obtain the operation parameters of the simulated vehicle from the current dataflow message.
And the judging submodule 132 is configured to judge that the current simulated vehicle is in an abnormal state when the operating parameter exceeds the set threshold range.
As shown in fig. 7, the positioning module 140 includes:
the extracting submodule 141 is configured to extract abnormal data from the captured data stream message.
And the positioning sub-module 142 is used for positioning the simulation module with the problem according to the abnormal data.
The principle of the unmanned vehicle simulation abnormality tracking apparatus of the present embodiment is similar to that of the unmanned vehicle simulation abnormality tracking method of the above embodiment, and therefore, the detailed description thereof is omitted.
In another embodiment, the present invention further provides an unmanned vehicle simulation abnormality tracking apparatus, as shown in fig. 8, the apparatus including: a memory 510 and a processor 520, the memory 510 having stored therein computer programs that are executable on the processor 520. The processor 520, when executing the computer program, implements the unmanned vehicle simulation anomaly tracking method in the above embodiments. The number of the memory 510 and the processor 520 may be one or more.
The apparatus further comprises:
the communication interface 530 is used for communicating with an external device to perform data interactive transmission.
If the memory 510, the processor 520, and the communication interface 530 are implemented independently, the memory 510, the processor 520, and the communication interface 530 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 8, but this is not intended to represent only one bus or type of bus.
Optionally, in an implementation, if the memory 510, the processor 520, and the communication interface 530 are integrated on a chip, the memory 510, the processor 520, and the communication interface 530 may complete communication with each other through an internal interface.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
The computer readable medium described in embodiments of the present invention may be a computer readable signal medium or a computer readable storage medium or any combination of the two. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM). Additionally, the computer-readable storage medium may even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
In embodiments of the present invention, a computer readable signal medium may comprise 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 also 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, input method, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, Radio Frequency (RF), etc., or any suitable combination of the preceding.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present invention, and these should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. An unmanned vehicle simulation abnormity tracking method is characterized by comprising the following steps:
creating a data probe in the emulation driver;
capturing data flow information of the unmanned vehicle in the simulation process through the data probe;
analyzing the state information of the current simulated vehicle according to the data flow message;
and when the state of the simulation vehicle is abnormal, positioning the simulation module which has problems in the current simulation vehicle.
2. The method of claim 1, wherein capturing data flow messages of the unmanned vehicle during the simulation process by the data probe comprises:
capturing data in each simulation module of the unmanned vehicle in a subject channel and a parameter channel respectively through the data probe; the theme channel is applied to mutual communication among different simulation modules of the unmanned vehicle, and the parameter channel is applied to communication among all simulation modules and the data memory in the unmanned vehicle.
3. The method of claim 1, wherein analyzing the status information of the currently simulated vehicle from the dataflow messages includes:
acquiring the operation parameters of the simulated vehicle from the current data flow message;
and when the operation parameter exceeds a set threshold range, judging that the current simulated vehicle is in an abnormal state.
4. The method of claim 1, wherein locating a simulation module having a problem with a current simulated vehicle when the status of the simulated vehicle is abnormal comprises:
extracting abnormal data from the captured data flow message;
and positioning the simulation module with the problem according to the abnormal data.
5. An unmanned vehicle simulation abnormity tracking device is characterized by comprising:
a creation module for creating a data probe in the emulation driver;
the capturing module is used for capturing data flow information of the unmanned vehicle in the simulation process through the data probe;
the analysis module is used for analyzing the state information of the current simulation vehicle according to the data flow message;
and the positioning module is used for positioning the simulation module which has problems in the current simulation vehicle when the state of the simulation vehicle is abnormal.
6. The apparatus according to claim 5, wherein the capturing module is specifically configured to capture data in each simulation module of the unmanned vehicle in a subject channel and a parameter channel, respectively, via the data probe; the theme channel is applied to mutual communication among different simulation modules of the unmanned vehicle, and the parameter channel is applied to communication among all simulation modules and the data memory in the unmanned vehicle.
7. The apparatus of claim 5, wherein the analysis module comprises:
the acquisition submodule is used for acquiring the operation parameters of the simulated vehicle from the current data flow message;
and the judgment submodule is used for judging that the current simulated vehicle is in an abnormal state when the operation parameter exceeds a set threshold range.
8. The apparatus of claim 5, wherein the positioning module comprises:
the extraction submodule is used for extracting abnormal data from the captured data flow message;
and the positioning sub-module is used for positioning the simulation module with the problem according to the abnormal data.
9. An unmanned vehicle simulation anomaly tracking device, characterized in that the device comprises:
one or more processors;
storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the unmanned vehicle simulation anomaly tracking method of any of claims 1-4.
10. A computer-readable medium storing a computer program, wherein the program, when executed by a processor, implements the unmanned vehicle simulation anomaly tracking method according to any one of claims 1-4.
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| CN111198774B (en) | 2023-09-29 |
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