CN111198774B - Unmanned vehicle simulation anomaly tracking method, device, equipment and computer readable medium - Google Patents
Unmanned vehicle simulation anomaly tracking method, device, equipment and computer readable medium Download PDFInfo
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- CN111198774B CN111198774B CN201811291319.9A CN201811291319A CN111198774B CN 111198774 B CN111198774 B CN 111198774B CN 201811291319 A CN201811291319 A CN 201811291319A CN 111198774 B CN111198774 B CN 111198774B
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/0703—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation
- G06F11/0751—Error or fault detection not based on redundancy
Abstract
The invention provides a method, a device, equipment and a computer readable medium for tracking simulation abnormality of an unmanned vehicle, wherein the method comprises the following steps: creating a data probe in the emulation driver; capturing a data flow message of the unmanned vehicle in the simulation process through the data probe; analyzing the state information of the current simulation vehicle according to the data flow information; and when the state of the simulation vehicle is abnormal, positioning a simulation module with a problem in the current simulation vehicle. According to the embodiment of the invention, the data probe is arranged in the simulation driver, so that the current abnormal situation of the vehicle can be rapidly judged, and the abnormal situation can be rapidly positioned in the abnormal simulation module, thereby improving the detection speed and greatly reducing the manpower.
Description
Technical Field
The present invention relates to the field of simulation technologies, and in particular, to a method and apparatus for tracking simulation anomalies of an unmanned vehicle, a device, and a computer readable medium.
Background
At present, along with the development of unmanned technology, many automobile manufacturers gradually open corresponding unmanned vehicle control systems. For the control accuracy of the operation system of the unmanned vehicle, the simulation calculation needs to be performed first, and the performance parameters and the like of the operation system need to be evaluated.
When the simulation of the unmanned vehicle is operated at present, abnormal conditions such as simulation operation errors, vehicle stagnation, time sequence blockage and the like are usually encountered. In the process of problem tracing, each simulation module is generally checked one by one, so that a great deal of manpower is consumed.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a computer readable medium for tracking simulation anomalies of an unmanned vehicle, 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 a method for tracking simulation anomalies of an unmanned vehicle, including:
creating a data probe in the emulation driver;
capturing a data flow message of the unmanned vehicle in the simulation process through the data probe;
analyzing the state information of the current simulation vehicle according to the data flow information;
and when the state of the simulation vehicle is abnormal, positioning a simulation module with a problem in the current simulation vehicle.
In one embodiment, the capturing, by the data probe, a data flow message of the unmanned vehicle in a simulation process includes:
capturing data in each simulation module of the unmanned vehicle in a theme channel and a parameter channel respectively through the data probes; the subject channel is applied to the intercommunication between different simulation modules of the unmanned vehicle, and the parameter channel is applied to the communication between all simulation modules and the data memory in the unmanned vehicle.
In one embodiment, the analyzing the state information of the current simulation vehicle according to the data flow message includes:
acquiring the operation parameters of the simulation vehicle from the current data stream message;
and when the running parameters exceed the set threshold range, judging that the current simulation vehicle is in an abnormal state.
In one embodiment, the simulation module for locating a problem in a current simulation vehicle when the state of the simulation vehicle is abnormal comprises:
extracting abnormal data from the captured data stream message;
and positioning a simulation module with a problem according to the abnormal data.
In a second aspect, an embodiment of the present invention provides an apparatus for tracking simulation anomalies of an unmanned vehicle, 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 information;
and the positioning module is used for positioning the simulation module with the problem 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, by the data probe, data in each simulation module of the unmanned vehicle in a subject channel and a parameter channel, respectively; the subject channel is applied to the intercommunication between different simulation modules of the unmanned vehicle, and the parameter channel is applied to the communication between all simulation modules and the data memory in the unmanned vehicle.
In one embodiment, the analysis module comprises:
the acquisition sub-module is used for acquiring the operation parameters of the simulation vehicle from the current data stream message;
and the judging sub-module is used for judging that the current simulation vehicle is in an abnormal state when the running parameter exceeds a set threshold range.
In one embodiment, the positioning module comprises:
an extraction sub-module for extracting abnormal data from the captured data stream 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, a configuration of the unmanned vehicle simulation anomaly tracking device includes a processor and a memory, the memory being configured to store a program for supporting the unmanned vehicle simulation anomaly tracking device to execute the unmanned vehicle simulation anomaly tracking method in the first aspect, the processor being configured to execute the program stored in the memory. The unmanned aerial vehicle simulation anomaly tracking device can further comprise a communication interface, and the communication interface is used for communicating the unmanned aerial vehicle simulation anomaly tracking device with other equipment or a communication network.
In a fourth aspect, an embodiment of the present invention provides a computer readable medium storing computer software instructions for use by the unmanned vehicle simulation anomaly tracking device, which includes a program for executing the unmanned vehicle simulation anomaly tracking method of the first aspect.
In a fifth aspect, embodiments of the present invention provide a computer program product comprising a computer program/instruction which, when executed by a processor, implements a method as described above.
According to the embodiment of the invention, the data probe is arranged in the simulation driver, so that the current abnormal situation of the vehicle can be rapidly judged, and the abnormal situation can be rapidly positioned in the abnormal simulation module, thereby improving the detection speed and greatly reducing the manpower.
The foregoing summary is for the purpose of the specification 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 become apparent by reference to the drawings and the following detailed description.
Drawings
In the drawings, the same reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily drawn to scale. It is appreciated that these drawings depict only some embodiments according to the disclosure and are not therefore to be considered limiting of its scope.
FIG. 1 is a flowchart of a method for tracking simulation anomalies of an unmanned vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of an unmanned vehicle simulation architecture according to an embodiment of the present invention;
FIG. 3 is a flowchart showing a step S130 according to an embodiment of the present invention;
FIG. 4 is a flowchart showing a 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 illustrating the connection of analysis modules according to an embodiment of the present invention;
FIG. 7 is a block diagram illustrating a connection of a positioning module according to an embodiment of the present invention;
FIG. 8 is a block diagram of an unmanned vehicle simulation anomaly tracking device in accordance with another embodiment of the present invention.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways 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 tracking simulation anomalies of a unmanned vehicle, and the following description of the technical scheme is carried out through the following embodiments respectively.
The invention provides a method and a device for tracking simulation anomalies of an unmanned aerial vehicle, and the specific processing flow and principle of the method and the device for tracking simulation anomalies of the unmanned aerial vehicle are described in detail below.
Fig. 1 is a flowchart of a method for tracking simulation anomalies of an unmanned vehicle according to an embodiment of the invention. The unmanned vehicle simulation anomaly tracking method of the embodiment of the invention can comprise the following steps:
s110: a data probe is created in the emulation driver.
Fig. 2 is a schematic diagram of an unmanned vehicle simulation architecture according to an embodiment of the invention. In one embodiment, the simulation module of the drone may include: a router (router) simulation module, a planning (planning) simulation module, a perception (admission) simulation module, a control (control) simulation module and the like. The simulation modules are connected with a simulation driver through a control machine (cybertron) platform, and the operation of each simulation module is mobilized through the simulation driver. In this step, probes are added to the simulation driver to capture data between the various simulation modules. In creating the probes, probes for a theme (topic) communication tool and probes for a parameter (parameter) communication tool may be created, respectively.
S120: and capturing a data flow message of the unmanned vehicle in the simulation process through the data probe.
In one embodiment, the data probe can capture the data in each simulation module of the unmanned vehicle in the subject channel and the parameter channel respectively. The subject channel is applied to the intercommunication between different simulation modules of the unmanned vehicle, and the parameter channel is applied to the communication between all simulation modules and the data memory in the unmanned vehicle. For example, when running a very complex system, it is impractical to save all subject (topic) channel data, such as a camera, which may generate large amounts of data. Thus, topic of interest (topic) data can be selectively stored and stored via a parameter channel.
S130: and analyzing the state information of the current simulation vehicle according to the data flow information.
As shown in fig. 3, in an embodiment, when analyzing the state information of the current simulation vehicle according to the data flow message, the method specifically may include:
s131: and acquiring the operation parameters of the simulation vehicle from the current data flow message.
In one embodiment, the operating parameters of the simulated vehicle may be obtained from the currently captured data, such as module operating parameters including a router (router) simulation module, a planning (planning) simulation module, a perception (preference) simulation module, and a control (control) simulation module.
S132: and when the running parameters exceed the set threshold range, judging that the current simulation vehicle is in an abnormal state.
In one embodiment, a parameter range may be preset, and it is determined whether the captured parameter is within the set range, thereby determining whether the current vehicle is in an abnormal state.
S140: and when the state of the simulation vehicle is abnormal, positioning a simulation module with a problem in the current simulation vehicle.
As shown in fig. 4, when the state of the simulation vehicle is abnormal, the simulation module for locating the problem in the current simulation vehicle includes:
s141: abnormal data is extracted from the captured data stream message.
In one embodiment, the data lines exceeding the set normal range in the captured data may be extracted first as the object of analysis.
S142: and positioning a simulation module with a problem according to the abnormal data.
In one embodiment, when the anomaly data is acquired, a 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, for example, a router (router) simulation module start failure, a planning simulation module or a control simulation module start failure may be mentioned. Finally, after the acquisition and analysis of the abnormal data are completed, the error result can be uploaded to the simulation driver, so that the next debugging is convenient.
According to the embodiment of the invention, the data probe is arranged in the simulation driver, so that the current abnormal situation of the vehicle can be rapidly judged, and the abnormal situation can be rapidly positioned in the abnormal simulation module, thereby improving the detection speed and greatly reducing the manpower.
As shown in fig. 5, in another embodiment, the present invention further provides an apparatus for tracking simulation anomalies of an unmanned vehicle, 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, by using the data probe, data in each simulation module of the unmanned vehicle in a subject channel and a parameter channel, respectively. The subject channel is applied to the intercommunication between different simulation modules of the unmanned vehicle, and the parameter channel is applied to the communication between all simulation modules and the data memory in the unmanned vehicle.
And the analysis module 130 is used for analyzing the state information of the current simulation vehicle according to the data flow 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:
an obtaining sub-module 131 is configured to obtain the operation parameters of the simulated vehicle from the current data stream message.
And the judging sub-module 132 is used for judging that the current simulation vehicle is in an abnormal state when the operation parameter exceeds a set threshold range.
As shown in fig. 7, the positioning module 140 includes:
an extraction sub-module 141 for extracting anomalous data from the captured data stream message.
A positioning sub-module 142, configured to position the simulation module with a problem according to the abnormal data.
The simulation anomaly tracking device of the unmanned vehicle in this embodiment is similar to the simulation anomaly tracking method of the unmanned vehicle in the above embodiment, and therefore will not be described in detail.
In another embodiment, the present invention further provides an apparatus for tracking simulation anomalies of an unmanned vehicle, as shown in fig. 8, the apparatus comprising: memory 510 and processor 520, memory 510 stores a computer program executable on processor 520. The processor 520 implements the unmanned vehicle simulation anomaly tracking method in the above embodiment when executing the computer program. The number of memory 510 and processors 520 may be one or more.
The apparatus further comprises:
and the communication interface 530 is used for communicating with external equipment and carrying out data interaction transmission.
Memory 510 may comprise high-speed RAM memory or may further comprise non-volatile memory (non-volatile memory), such as at least one disk memory.
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 and communicate with each other through buses. The bus may be an industry standard architecture (ISA, industry Standard Architecture) bus, a peripheral component interconnect (PCI, peripheral Component) bus, or an extended industry standard architecture (EISA, extended Industry Standard Component) bus, among others. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 8, but not only one bus or one type of bus.
Alternatively, in a specific 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 communicate with each other through internal interfaces.
An embodiment of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements a method as described in any of the embodiments above.
Embodiments of the present invention provide a computer program product comprising a computer program/instruction which, when executed by a processor, implements a method as described in any of the embodiments above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly 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 further 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.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing 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 according to the 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 at least 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). In addition, the computer-readable storage medium may even be paper or other suitable medium upon which the program is printed, as the program may 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 an embodiment of the invention, the computer readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with computer readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. 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), and the like, or any suitable combination of the foregoing.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that various changes and substitutions are possible within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The unmanned vehicle simulation anomaly tracking method is characterized by comprising the following steps of:
creating a data probe in the emulation driver;
capturing a data flow message of the unmanned vehicle in the simulation process through the data probe;
analyzing the state information of the current simulation vehicle according to the data flow information;
when the state of the simulation vehicle is abnormal, positioning a simulation module with a problem in the current simulation vehicle;
the capturing, by the data probe, a data flow message of the unmanned vehicle in a simulation process includes:
capturing data in each simulation module of the unmanned vehicle in a theme channel and a parameter channel respectively through the data probes; the subject channel is applied to the intercommunication between different simulation modules of the unmanned vehicle, and the parameter channel is applied to the communication between all simulation modules and the data memory in the unmanned vehicle.
2. The method of claim 1, wherein analyzing the status information of the current simulated vehicle from the data flow message comprises:
acquiring the operation parameters of the simulation vehicle from the current data stream message;
and when the running parameters exceed the set threshold range, judging that the current simulation vehicle is in an abnormal state.
3. The method of claim 1, wherein locating a simulation module that is problematic in a current simulated vehicle when the state of the simulated vehicle is abnormal, comprises:
extracting abnormal data from the captured data stream message;
and positioning a simulation module with a problem according to the abnormal data.
4. An unmanned vehicle simulation anomaly tracking device, 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 information;
the positioning module is used for positioning the simulation module with problems in the current simulation vehicle when the state of the simulation vehicle is abnormal;
the capture module is specifically used for capturing data in each simulation module of the unmanned vehicle in a theme channel and a parameter channel respectively through the data probe; the subject channel is applied to the intercommunication between different simulation modules of the unmanned vehicle, and the parameter channel is applied to the communication between all simulation modules and the data memory in the unmanned vehicle.
5. The apparatus of claim 4, wherein the analysis module comprises:
the acquisition sub-module is used for acquiring the operation parameters of the simulation vehicle from the current data stream message;
and the judging sub-module is used for judging that the current simulation vehicle is in an abnormal state when the running parameter exceeds a set threshold range.
6. The apparatus of claim 4, wherein the positioning module comprises:
an extraction sub-module for extracting abnormal data from the captured data stream message;
and the positioning sub-module is used for positioning the simulation module with the problem according to the abnormal data.
7. An unmanned vehicle simulation anomaly tracking device, the device comprising:
one or more processors;
a 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 drone simulation anomaly tracking method of any one of claims 1-3.
8. A computer readable medium storing a computer program, wherein the program when executed by a processor implements the unmanned vehicle simulation anomaly tracking method of any one of claims 1 to 3.
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